Baumer GCA5 C8 User Manual

Baumer Electric AG
Hummelstrasse 17
CH-8501 Frauenfeld
Phone [phone]

Fax [phone]
[e-mail] Subject to modification in technic and design.
www.baumer.com Errors and commissions excepted.

Manual

Cable transducer GCA5 with CANopen

Software Revision (Firmware Version) 3.2

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28.09.2016 Frauenfeld, Switzerland

Contents

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

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8.2 COB-ID ........................................................................................................................................................ 13

8.3 Timing .......................................................................................................................................................... 13

9 LSS slave .................................................................................................................................................... 13

9.1 General ........................................................................................................................................................ 13

9.2 Supported commands .................................................................................................................................. 13

9.3 LSS address ................................................................................................................................................ 13

10 Object directory ......................................................................................................................................... 14

10.1 Communication Profile Area ........................................................................................................................ 14

10.2 Manufacturer Specific Profile Area .............................................................................................................. 15

10.3 Standardized Device Profile Area ................................................................................................................ 16

11 Appendix .................................................................................................................................................... 16

11.1 Pin Assignment ............................................................................................................................................ 16

11.1.1 Pin assignment connector 1 x M12 .............................................................................................................. 16

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Disclaimer of liability

The present manual was compiled with utmost care, errors and omissions reserved. For this reason
Baumer rejects any liability for the information compiled in the present manual.
Baumer nor the author will accept any liability for direct or indirect damages resulting from the use of the
present information.

At any time we should be pleased receiving your comments and proposals for further improvement of the
present manual.

1 Introduction

1.1 Scope of delivery

Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number the delivery may include:

1.2 Product classification

Product

Device Name

EDS-file

Redundant cable transducer

GCA5 C8

GCA5.eds

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2 Safety and operating instructions

Intended use

 The cable transducer is a precision measuring device that is used to record positions and speeds. It provides

measuring values as electronic output signals for the subsequently connected device. It must not be used for any
other purpose. Unless this product is specially labeled, it may not be used for operation in potentially explosive
environments.

 Make sure by appropriate safety measures, that in case of error or failure of the cable transducer, no danger to

persons or damage to the system or operating facilities occurs. Do not directly connect with on board supply system
but with a DC/DC converter which is released by automotive standardization group.

Personnel qualification

 Installation and assembly of this product may be performed only by a person qualified in electronics and precision

mechanics.

Maintenance

 The cable transducer is maintenance-free and must not be opened up nor mechanically or electronically modified.
 Opening up the cable transducer can lead to injury caused by the spring..

Disposal

 The cable transducer contains electronic components. At its disposal, local environmental guidelines must be

followed.

Assembly

 Fit cable transducer on a plain base to avoid excessive force on housing.
 Make sure that drainage holes are free.
 It is recommended to use flat washers.

Supplementary information

 The present manual is intended as a supplement to already existing documentation (e.g. catalogues, data sheets or

mounting instructions).