Baumer GNAMG Series Посібник - Сторінка 19

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Baumer GNAMG Series Посібник
Object
Name
Sub-Index
02h Communication
Parameters
03h Application
Parameters
04h Manufacturer
Specific Parameters
1014h
Emergency COB-ID
1016h
Consumer heartbeat
time
00h Maximum Subindex
01h Consumer heartbeat
time
1017h
Producer Heartbeat
Time
1018h
Identity Object
00h Maximum Subindex
01h VendorID
02h Product Code
03h Revision Number
04h Serial Number
1029h
Error behaviour
00h Maximum Subindex
01h Communication error U8
1800h
Transmit PDO1
Parameter
00h Maximum subindex
01h COB-ID
02h PDO Type
05h EventTimer
1A00h Transmit PDO1
Mapping
00h Maximum Subindex
01h Content of PDO1
02h Content of PDO1
2100h
Baud rate
2101h
Node-ID
2110h
Manufacturer_
Options
2201h
Statistics
00h Maximum subindex
01h Total of position
errors
Manual_GNAMG_CANopen_EN.doc
21.11.12
Format
Access
Default
U32
rw
U32
rw
U32
rw
U32
rw
80h + Node-
ARR
U8
ro
U32
rw
U16
rw
REC
ro
U8
ro
U32
ro
U32
ro
U32
ro
U32
ro
ARR
U8
ro
rw
REC
U8
ro
U32
rw
U8
rw
U16
rw
ARR
U8
ro
I32
ro
61100020h
I32
61200020h
U8
rw
U8
rw
U32
rw
REC
U8
ro
U32
ro
19/41
Save
="load" (0x6C6F6164) to load
="load" (0x6C6F6164) to load
="load" (0x6C6F6164) to load
yes
COB-ID of the emergency object
ID
yes
1h
10000h
yes
Bit0..15 Consumer Heartbeat time in ms
Bit16..23 Node-ID
0h
yes
Producer Heartbeat time in ms
4h
ECh
Vendor ID specified by CiA
32h
Product Code:
0x32 = GNAMG.x225xxx
0x33 = GNAMG.x215xxx
0x34 = GNAMG.x235xxx
Works-
yes
Product revision number
defined
Works-
yes
Unique successive serial number
defined
Error behaviour
1h
1h
yes
0h = go to pre-operational mode
1h = no change of mode
2h = go to stop mode
3h = Node reset
5h
180h+id
ja
PDO ID = 180h + Node-ID
FEh
ja
FEh=User defined, cyclic
203h
ja
Cycle time in ms
2h
Slope angle Slope Long , Y-axis
Slope angle Slope Lateral, X-axis
2h
ja
Setting the baud rate must be followed by
saving operation in EEPROM and re-init.
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
1h
yes
Node ID available from 1..127
Setting the baud rate must be followed by a
saving operation in EEPROM and re-init.
8h
yes
Bit3 = 0 no BusOFF reset
1 if BusOFF there is a bus reset
Bit5 = 0 Heartbeat protocol active
1 Nodeguarding protocol active
3h
yes
Meaning
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany