Baumer GCA5 C8 Посібник - Сторінка 14

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10 Object directory

The following tables provide a summary of all SDO objects supported by the encoder.
Object
Object number
Name
Object name
Format
U/I = Unsigned/Integer , No. = no of bits, ARR = Array, REC = Record, STR = String
Access
ro = read only, wo = write only, rw = read write, m = mappable
Default
Default value on first init
Description
Additional information

10.1 Communication Profile Area

Name
0x1000
0
Device type
0x1001
0
Error register
0x1003
0
Predefined error list
1...8
History errors
0x1005
0
COB ID Sync object
0x1008
0
Device name
0x1009
0
HW version
0x100A
0
SW version
0x1010
0
Numbers of save-
options
"save all parameters"
1
0x1011
0
Numbers of restore-
options
Reset for all
parameters
0x1014
0
COB ID Emergency
0x1017
0
Producer heartbeat
time
0x1018
0
Numbers of
identity-options
Vendor ID
Product code
Revision number
Serial number
0x1200
0
Server SDOs
1
COB ID Rx SDO
2
COB ID Tx SDO
0x1800
0
TPDO1
1
COB ID TPDO1
2
Transmission type
3
Inhibit time
5
Event time TPDO1
0x1801
0
TPDO2
1
COB ID TPDO2
2
Transmission type
3
Inhibit time
5
Event time TPDO2
0x1A00
0
TPDO1 mapping
1
index in obj directory
2
index in obj directory
Baumer_GCA5_CANopen_MA_EN_V1_02.docx
28.09.2016
Type
Default value
U32, ro
0x00080196
U8, ro
0x00
U8, ro
0x00
U32, ro
0x00000000
U32, rw
0x00000080
str, ro
SDSx_CB
str, ro
x.xx
str, ro
x.xx
U8, ro
0x01
U32, rw
0x00000001
U8, ro
0x01
U32, rw
0x00000001
U32, rw
0x40000080+ID
U16, rw
0x00
U8, ro
0x01
U32, ro
0x00000000
U32, ro
0x00000000
U32, ro
0x00000000
U32, ro
0x00000000
U8, ro
0x02
U32, ro
0x600 + ID
U32, ro
0x580 +ID
U8, rw
0x05
U32, rw
0x180+Node
ID
U8, rw
0xFE
U16, rw
0x0000
U16, rw
0x0064
U8, rw
0x05
U32, rw
0x280+Node ID
U8, rw
0xFE
U16, rw
0x0000
U16, rw
0x0064
U8, ro
0x02
U16, ro
0x21110110
U16, ro
0x21110210
14/16
Description
CiA406
Bit-coded to profile CiA406
0x00: no error
0x01: generic error
0x10: communication error
0x20: device profile error
0x80: manufacturer specific error
Errors in the list (up to 8)
Errors occured according to the Error codes list, the last error is in
the sub-index
Sensor generates no sync message (bit 30 =0)
11-bits indentifier system (bit 29=0)
Device designation
Hardware version
Software version
The parameters are saved only writing the key string "save"
(0x73-0x61-0x76-0x65
If the key string "load" (0x6C-0x6F-0x61-0x64) is entered here, the
parameters are assigned to the factory default values and are valid
after the next reset.
bit 30 = 1 The sensor generates EMCY message
Time interval [ms] where sensor generates a producer heartbeat
bit 31=0 –> valid SDO
bit 31=0 –> valid SDO
Number of the entries TPDO1
Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
Transmission type (synchronous/asynchronous)
Minimum interval time between consecutive TPDOs
Used if 1800.02 is 0xFE or 0xFF
Number of the entries TPDO2
Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
Transmission type (synchronous/asynchronous)
Minimum interval time between consecutive TPDOs
Used if 1801.02 is 0xFE or 0xFF
Number of objects integrated in TPDO1
Cable length channel 1
Cable length channel 2
Baumer Electric AG
Frauenfeld, Switzerland