Baumer GCA5 C8 Podręcznik - Strona 2
Przeglądaj online lub pobierz pdf Podręcznik dla Przyrządy pomiarowe Baumer GCA5 C8. Baumer GCA5 C8 16 stron. Cable transducer gca5 with canopen
Drukuj stronęContents
1
Introduction .................................................................................................................................................. 4
1.1
Scope of delivery ........................................................................................................................................... 4
1.2
Product classification ..................................................................................................................................... 4
2
Safety and operating instructions .............................................................................................................. 5
3
System Overview ......................................................................................................................................... 6
3.1
General .......................................................................................................................................................... 6
3.2
Supported Profiles ......................................................................................................................................... 6
3.3
Supported CANopen Services ....................................................................................................................... 6
3.4
Function Principle .......................................................................................................................................... 6
3.4.1
Overview ........................................................................................................................................................ 6
3.4.2
Scaling ........................................................................................................................................................... 6
4
NMT Service ................................................................................................................................................. 7
4.1
Supported commands .................................................................................................................................... 7
4.2
Boot up message ........................................................................................................................................... 7
5
SDO service.................................................................................................................................................. 8
5.1
General .......................................................................................................................................................... 8
5.2
Save/load parameters .................................................................................................................................... 8
5.2.1
Save .............................................................................................................................................................. 8
5.2.2
Load ............................................................................................................................................................... 8
5.2.3
Safe non-volatile operation ............................................................................................................................ 8
5.2.4
Side effect ...................................................................................................................................................... 8
5.3
Examples writing parameters......................................................................................................................... 8
5.3.1
How to save data ........................................................................................................................................... 8
5.3.2
How to change the node ID ........................................................................................................................... 8
5.3.3
How to change the baud rate ......................................................................................................................... 8
5.3.4
How to change the length direction ................................................................................................................ 9
5.3.5
How to change the length resolution .............................................................................................................. 9
5.3.6
How to set the length zero ............................................................................................................................. 9
6
PDO Service ............................................................................................................................................... 10
6.1
General ........................................................................................................................................................ 10
6.2
PDO transmission types .............................................................................................................................. 10
6.3
COB-ID ........................................................................................................................................................ 10
6.4
PDO mapping .............................................................................................................................................. 11
6.4.1
Mappable objects ......................................................................................................................................... 11
6.4.2
Default mapping of absolute encoder redundant with cable-pull ................................................................. 11
6.5
Timing .......................................................................................................................................................... 11
6.6
Exceptions of accurate calculation of process data ..................................................................................... 11
7
Emergency Service .................................................................................................................................... 12
7.1
General ........................................................................................................................................................ 12
7.2
COB-ID ........................................................................................................................................................ 12
7.3
Emergency message ................................................................................................................................... 12
7.4
Error register ................................................................................................................................................ 12
7.4.1
Communication error ................................................................................................................................... 12
7.4.2
Generic error................................................................................................................................................ 12
7.5
Error codes / EMCY messages.................................................................................................................... 12
8
Heartbeat Service ...................................................................................................................................... 13
8.1
General ........................................................................................................................................................ 13
Baumer_GCA5_CANopen_MA_EN_V1_02.docx
28.09.2016
2/16
Baumer Electric AG
Frauenfeld, Switzerland