Baumer GNAMG Series Руководство - Страница 18
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3.4. Inclination sensor profile
3.4.1. Inclination sensor object overview
According to CiA (CAN in Automation) the objects are subdivided into three groups:
Standard objects:
1000h, 1001h, 1018h
Manufacturer-specific objects:
2000h - 5FFFh
Device-specific objects:
All remaining objects from 1000h - 1FFFh, 6000h - FFFFh
The table below is giving a summary of all SDO objects supported by the inclination sensor.
Object
Object number in Hex
Name
---
Format
U/I = Unsigned/Integer, number = number bit, ARR = Array, REC = Record
Access
ro = ReadOnly, wo = WriteOnly, rw = ReadWrite
Default
Default upon first init or restore default
yes saved in EEPROM
Save
Meaning
supplementary description
Object
Name
Sub-Index
1000h
Device Type
1001h
Error Register
1003h
PreDefined
ErrorField
00h Maximum Subindex
01h Latest entry
.. ..
08h Oldest entry
1005h
Sync COB-ID
1008h
DeviceName
1009h
Hardware Version
100Ah Software Version
100Ch Guard Time
100Dh Life Time factor
1010h
Store Parameters
00h Maximum Subindex
01h Save all parameters
02h Communication
parameters
03h Application
parameters
04h Manufacturer-
specific parameters
1011h
Restore Default
Parameters
00h Größter Subindex
01h Alle Parameter
Manual_GNAMG_CANopen_EN.doc
21.11.12
Format
Access
Default
U32
ro
0004019Ah
U8
ro
ARR
U8
rw
U32
ro
..
..
U32
ro
U32
rw
U32
ro
U32
ro
werkseitig
U32
ro
werkseitig
U16
rw
U8
rw
ARR
U8
ro
U32
rw
U32
rw
U32
rw
U32
rw
ARR
U8
ro
U32
rw
18/41
Save
0x019A = 410 = device profile inclination
sensor
0x0004 = Two axis with resolution max.
32-bit
0h
Bit0 = Generic error
Bit4 = Communication error (overrun, ...)
Bit7 = Manufacturer -specific
Comprises the last 8 errors or warnings
0h
ja
Number of messages saved (0..8)
Latest error or warning
1000h Generic Error
5530h EEPROM Error
6010h Software Reset (Watchdog)
7510h Internal Communication Error
8130h Life Guard Error or Heartbeat Error
..
..
Error or warning, see Sub-Index 01h
80h
ja
COB-ID of Sync Oject
Device name
"GNAM"
GNAMG inclination sensor
Product Hardware Version in ASCII
Product Software Version in ASCII
0h
ja
Timer Nodeguarding
0h
ja
Guard Time Multiplier
4h
="save" (0x73617665) to save
="save" (0x73617665) to save
="save" (0x73617665) to save
="save" (0x73617665) to save
4h
="load" (0x6C6F6164) to load
Meaning
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany