Baumer Electric AG
Hummelstrasse 17
CH-8501 Frauenfeld
Phone +41 52 728 11 22
Fax +41 52 728 11 44 09.16
sales.ch@baumer.com 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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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).
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3 System Overview
3.1 General
The cable transducer is a linear measuring system with a CANopen interface. It supports scaling and presetting.
In consideration of “CAN in Automation” (CiA) Profile 406 for Encoders, it’s an absolute linear encoder - Class C2
(exception diagnostic part).
3.2 Supported Profiles
Following CANopen profiles are supported:
CiA 301 / Version 4.1 (Communication)
CiA 305 / Version 1.0 (LSS)
CiA 406 / Version 3.2 (Encoder Profile)
o Absolute encoder redundant with cable-pull: Absolute linear encoder
3.3 Supported CANopen Services
Following CANopen services are supported:
1 Network Management (according to CiA 301)
1 SDO Server (according to CiA 301)
2 TPDOs (according to CiA 301/CiA 406)
1 Emergency Producer (according to CiA 301/CiA 406)
1 Heartbeat Producer (according to CiA 301)
3.4 Function Principle
3.4.1 Overview
Figure 1: Function principle overview
3.4.2 Scaling
The step size for all position objects can be adapted in the object 0x6005. The basic unit is nanometer
Example 1: A position step setting of 1’000’000 nm/step means that the position output unit is 1 mm.
Physical
Position
User Zero
Point
(Offset)
Scaling
Direction
Correction
[Inc]
[Inc]
[Steps]
[Steps]
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4 NMT Service
4.1 Supported commands
Following NMT commands are supported:
NMT Start
NMT Preoperational
NMT Stop
NMT Reset
NMT Communication Reset
There is no difference between NMT Reset and NMT Communication Reset
4.2 Boot up message
Send NMT message to initialize the device
COB-ID
Len
D0
D1
0x000
2
0x01
ID
Note: ID can be 0 for broadcast initialization
After a power-on or NMT reset, the device will send a Boot up message.
COB ID
Byte 0
700h + node ID
00
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5 SDO service
5.1 General
The device supports 1 SDO server (Expedited read/write, segmented read)
5.2 Save/load parameters
The device supports saving parameters to a non-volatile memory.
5.2.1 Save
Writing “save” to 0x1010-x saves the corresponding objects to the non-volatile memory. After a reset or power-on, the
parameters are loaded from the non-volatile memory. The SDO request to 1010h-x is answered after saving.
5.2.2 Load
Writing “load” to 1011h-x restores the corresponding objects. The parameters are restored after a reset or power-on.
5.2.3 Safe non-volatile operation
To ensure safe non-volatile operation, the time between access object 1010h-x or 1011h-x and a reset or power-on has
to be at least 600 ms.
5.2.4 Side effect
Save/Load operations interrupt the updating of position.
5.3 Examples writing parameters
5.3.1 How to save data
See paragraph 5.2.1 respectively send SDO message
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x23
0x10
0x10
0x01
0x73
0x61
0x76
0x65
5.3.2 How to change the node ID
Send the SDO message
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2F
0x01
0x30
0x00
ID
0x00
0x00
0x00
Note: values below 1 or above 127 are not accepted and the existing setting remains valid. After setting the new entries
a SAVE command (see par. “How to save data”) followed by a turnoff and on.
5.3.3 How to change the baud rate
Send the SDO message
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2F
0x00
0x30
0x00
BR
0x00
0x00
0x00
Note: Values above 7 are not accepted and the existing setting remains valid. After setting the new entries
a SAVE command (see par. “How to save datas”) followed by a turnoff and on.
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5.3.4 How to change the length direction
There are 2 ways for changing direction.
5.3.4.1 Reverse both channels simultaneously
send the SDO message.
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2B
0x00
0x60
0x00
PAR
0x00
0x00
0x00
where PAR is the parameter setting as follow
PAR
MEANING
0x00
Positive direction (length increase pulling the cable), length expressed in 0.1mm unit
0x01
Negative direction (length decrease pulling the cable), length expressed in 0.1mm unit
0x04
Positive direction (length increase pulling the cable), resolution depends on object 0x6005
0x05
Negative direction (length decrease pulling the cable), resolution depends on object 0x6005
5.3.4.2 Reverse both channels individually
send the SDO message for channel 1
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2F
0x02
0x21
0x01
DIR
0x00
0x00
0x00
send the SDO message for channel 2
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2F
0x02
0x21
0x02
DIR
0x00
0x00
0x00
where DIR is the direction: 0 = positive, 1 = negative
Note1: if at least one of the two channels has the positive direction, the object 6000 specifies a positive direction.
Note2: after setting the new entries a SAVE command (see par. “How to save data”) followed by a turnoff and on.
5.3.5 How to change the length resolution
Set the parameters as explained in previous paragraph, then send the SDO message
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x23
0x05
0x60
0x01
R0
R1
R2
R3
where R0...R3 represents the unit of measure of the output length, expressed in nm (nanometer).
For example, to obtain a resolution of 1mm:
R0 = 0x40, R1 = 0x42, R2 = 0x0F, R3 = 0x00
It means R = 0x000F4240 (1000000 decimal) = 1000000nm = 1mm.
Note: after setting the new entries a SAVE command (see par. “How to save data”) followed by a turnoff and on.
5.3.6 How to set the length zero
Send the SDO message to set the zero of channel 1
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x23
0x01
0x21
0x01
0x00
0x00
0x00
0x00
Send the SDO message to set the zero of channel 2
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x23
0x01
0x21
0x02
0x00
0x00
0x00
0x00
Note: after setting the new entries a SAVE command (see paragraph 5.2 Save/load) followed by a turnoff
and on.
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6 PDO Service
6.1 General
The device supports TPDO1 and TPDO2. PDOs are only transmitted in NMT operational mode.
6.2 PDO transmission types
The following transmission types are supported (object 180x-2):
Synchronous transmission (1-240)
Asynchronous transmission (255)
Manufacturer transmission (254)
Both PDOs support all transmission types.
Transmission type 255 and 254: The PDO is transmitted timer driven. The time interval between 2 PDOs can be
adapted in the object 180xh-5
Transmission type 1-240: The PDO is transmitted after the n-th sync frame.
Transmission type 1: The PDO is transmitted after one sync frame.
Transmission type 2: The PDO is transmitted after two sync frames.
etc.
6.3 COB-ID
The COB-ID for both PDOs is changeable (in Object 180xh-1)
The format of the TPDO is:
TPDO
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x180 + ID
8
P0a
P1a
P0b
P1b 0 0 0 0
where P is the actual position value in 0.1mm or other scale (depending on the resolution settings) and the suffixes ’a’
and ’b’ refers to channels ’a’ and ’b’ respectively.
Interpretation example
Considering a resolution of 0.1mm:
P0 = 0x10, P1 = 0x27
It means P = 0x00002710 (10000 decimal) = 1000mm
The channel ’b’ is represented in a similar way (but typically in a reverse order so, in the zero position, channel ’b’ is
4700mm and at FS his value is 0).
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6.4 PDO mapping
The encoder supports dynamic mapping.
6.4.1 Mappable objects
The following objects are mappable:
Mapping content
Mapping entry
Description
Channel 1 length
0x60040020
Object 6004h Subindex 00h, data length 32 Bit
Channel 1 length
0x60200120
Object 6020h Subindex 01h, data length 32 Bit
Channel 2 length
0x60200220
Object 6020h Subindex 02h, data length 32 Bit
Channel 1 speed
0x60300120
Object 6030h Subindex 01h, data length 32 Bit
Channel 2 speed
0x60300220
Object 6030h Subindex 02h, data length 32 Bit
Channel 1 raw length
0x20000120
Object 2000h Subindex 01h, data length 32 Bit
Channel 2 raw length
0x20000220
Object 2000h Subindex 02h, data length 32 Bit
Channel 1 length
0x21100120
Object 2110h Subindex 01h, data length 32 Bit
Channel 2 length
0x21100220
Object 2110h Subindex 02h, data length 32 Bit
Channel 1 length inverted
0x21100320
Object 2110h Subindex 03h, data length 32 Bit
Channel 2 length inverted
0x21100420
Object 2110h Subindex 04h, data length 32 Bit
Channel 1 length
0x21110110
Object 2111h Subindex 01h, data length 16 Bit (Default
position encoder A in TPDO1, bytes D0-D1)
Channel 2 length
0x21110210
Object 2111h Subindex 02h, data length 16 Bit (Default
position encoder B in TPDO1, bytes D2-D3)
Channel 1 length inverted
0x21110310
Object 2111h Subindex 03h, data length 16 Bit
Channel 2 length inverted
0x21110410
Object 2111h Subindex 04h, data length 16 Bit
Empty space
0x21970020
Object 2197h Subindex 00h, data length 32 Bit (Default
empty spaces in TPDO1, bytes D4-D7)
Empty space
0x21980010
Object 2198h Subindex 00h, data length 16 Bit
Empty space
0x21990008
Object 2199h Subindex 00h, data length 8 Bit
To change PDO mapping first disable the mapping by writing 0 to 0x1A0x-0. Write the desired mapping entry and enable
the mapping again by writing the number of PDO contents to 0x1A0x-0.
6.4.2 Default mapping of absolute encoder redundant with cable-pull
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
181h
8
xx
xx
xx
xx
yy
yy
yy
yy
Byte 0..1: length A (Object 2110h-1)
Byte 2..3: length B (Object 2110h-2)
Byte 4..7: Dummy Double word (Object 2197h-0)
6.5 Timing
The minimal cycle time for TPDOs is 1 ms.
6.6 Exceptions of accurate calculation of process data
The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and
alarms:
- Non-volatile operations
- Changing the scaling parameters
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7 Emergency Service
7.1 General
If there is an error on the device, the device commits an emergency message and sets the corresponding bits in the error
register (Object 1001h).
Error codes are accessible by the error field (object 1003h-x). A history of maximal 8 error codes is stored in the error
field.
7.2 COB-ID
The COB-ID for the emergency message can be modified in object 1014h.
Default Value: 80h + node ID
Changes will be applied immediately.
The COB-ID is stored internally as a difference to the default COB-ID. Example:
Node ID: 4 COB-ID Emergency: 84h (Default value)
COB-ID Emergency: 87h (Changed by user)
Node ID: 9 COB-ID Emergency: 89h (Adapted automatic)
7.3 Emergency message
The emergency message is transmitted if an error is indicated in the error register.
COB-ID
DLC
Byte0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
80h+node ID
8
Error code
Error register
(object 1001h)
- - - - -
7.4 Error register
Error register (object 1001h)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Manufacturer error
- - Communication error
Generic error
7.4.1 Communication error
Communication errors are indicated if the internal CAN message buffers are overflowed or there are malformed CAN
frames on the bus. After a communication error the device changes to pre-operational mode.
7.4.2 Generic error
A generic error is indicated for all other errors.
An encoder specific alarm or warning will also cause a generic error.
After a generic error the device changes to pre-operational mode.
7.5 Error codes / EMCY messages
The following error codes are generated by the device:
Error Code
Meaning
0x0000000000000000
Error reset or no error
0x0010010000000000
Generic error
0x1081110000000000
CAN RX overflow
0x1082110000000000
PDO not processed due to length error
0x01FF810000000000
Wire break
0x02FF810000000000
Error reading length
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8 Heartbeat Service
8.1 General
The device supports a heartbeat producer according CiA 301.
8.2 COB-ID
The COB-ID for the heartbeat message is 700h + node ID.
8.3 Timing
The minimal cycle time for heartbeat messages is 1 ms.
9 LSS slave
9.1 General
The baud rate and node ID can be configured by LSS (according to CiA 305). Another possibility to change the baud rate
and node ID is to access to the objects 0x3000 and 0x3001 (see object directory).
The LSS service is only available in NMT Stopped Mode.
9.2 Supported commands
Switch state global
Switch state selective
Configure node ID protocol
Configure bit timing parameters
Store configuration
Inquire identity serial number
Inquire identity node ID
9.3 LSS address
The needed value for LSS addressing as serial number is printed on a label on the encoder housing.
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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
Object
Sub-index
Name
Type
Default value
Description
0x1000
0
Device type
U32, ro
0x00080196
CiA406
0x1001
0
Error register
U8, ro
0x00
Bit-coded to profile CiA406
0x00: no error
0x01: generic error
0x10: communication error
0x20: device profile error
0x80: manufacturer specific error
0x1003
0
Predefined error list
U8, ro
0x00
Errors in the list (up to 8)
1…8
History errors
U32, ro
0x00000000
Errors occured according to the Error codes list, the last error is in
the sub-index
0x1005
0
COB ID Sync object
U32, rw
0x00000080
Sensor generates no sync message (bit 30 =0)
11-bits indentifier system (bit 29=0)
0x1008
0
Device name
str, ro
SDSx_CB
Device designation
0x1009
0
HW version
str, ro
x.xx
Hardware version
0x100A
0
SW version
str, ro
x.xx
Software version
0x1010
0
Numbers of saveoptions
U8, ro
0x01 1
“save all parameters”
U32, rw
0x00000001
The parameters are saved only writing the key string “save”
(0x73-0x61-0x76-0x65
0x1011
0
Numbers of restoreoptions
U8, ro
0x01
Reset for all
parameters
U32, rw
0x00000001
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.
0x1014
0
COB ID Emergency
U32, rw
0x40000080+ID
bit 30 = 1 The sensor generates EMCY message
0x1017
0
Producer heartbeat
time
U16, rw
0x00
Time interval [ms] where sensor generates a producer heartbeat
0x1018
0
Numbers of
identity-options
U8, ro
0x01
Vendor ID
U32, ro
0x00000000
Product code
U32, ro
0x00000000
Revision number
U32, ro
0x00000000
Serial number
U32, ro
0x00000000
0x1200
0
Server SDOs
U8, ro
0x02 1
COB ID Rx SDO
U32, ro
0x600 + ID
bit 31=0 –> valid SDO
2
COB ID Tx SDO
U32, ro
0x580 +ID
bit 31=0 –> valid SDO
0x1800
0
TPDO1
U8, rw
0x05
Number of the entries TPDO1
1
COB ID TPDO1
U32, rw
0x180+Node
ID
Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
2
Transmission type
U8, rw
0xFE
Transmission type (synchronous/asynchronous)
3
Inhibit time
U16, rw
0x0000
Minimum interval time between consecutive TPDOs
5
Event time TPDO1
U16, rw
0x0064
Used if 1800.02 is 0xFE or 0xFF
0x1801
0
TPDO2
U8, rw
0x05
Number of the entries TPDO2
1
COB ID TPDO2
U32, rw
0x280+Node ID
Bit 31 = 0 -> TPDO activated
Bit 31 = 1 -> TPDO not activated (not transmitted)
2
Transmission type
U8, rw
0xFE
Transmission type (synchronous/asynchronous)
3
Inhibit time
U16, rw
0x0000
Minimum interval time between consecutive TPDOs
5
Event time TPDO2
U16, rw
0x0064
Used if 1801.02 is 0xFE or 0xFF
0x1A00
0
TPDO1 mapping
U8, ro
0x02
Number of objects integrated in TPDO1
1
index in obj directory
U16, ro
0x21110110
Cable length channel 1
2
index in obj directory
U16, ro
0x21110210
Cable length channel 2
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10.2 Manufacturer Specific Profile Area
Object
Sub-index
Name
Type
Default value
Description
0x2000
0
Length raw channel
value
U8, ro 2 Number of the entries
1
Length raw channel 1
value
U32, ro
Channel 1 length in 0.1mm (internal raw value)
2
Length raw channel 2
value
U32, ro
Channel 2 length in 0.1mm (internal raw value)
0x2101
0
Length preset values
U8, ro 2 Number of the entries
1
Length preset
channel 1 value
U32, rw
Channel 1 preset (the only allowable value is zero)
2
Length preset
channel 2 value
U32, rw
Channel 2 preset (the only allowable value is zero)
0x2102
0
Length direction
U8, ro 2 Number of the entries
1
Length channel 1
direction
U8, rw
Channel 1 direction (0=increasing when pull; 1= decreasing when
pull)
2
Length channel 2
direction
U8, rw
Channel 2 direction (0=increasing when pull; 1= decreasing when
pull)
0x2103
0
Length filter strength
U8, rw
80
IIR coefficient expressed in % (lower values->more filtering)
0x2110
0
Length channel value
U8, ro 4 Number of the entries
1
Length channel 1
value
U32, ro
Channel 1 length in 0.1mm or other scale (depending on
resolution)
2
Length channel 2
value
U32, ro
Channel 2 length in 0.1mm or other scale (depending on
resolution)
3
Length channel 1
value inverted
U32, ro
Channel 1 inverted length in 0.1mm or other scale (depending on
resolution)
4
Length channel 2
value inverted
U32, ro
Channel 2 inverted length in 0.1mm or other scale (depending on
resolution)
0x2111
0
Length channel value
U8, ro 4 Number of the entries
1
Length channel 1
value
U16, ro
Channel 1 length in 0.1mm or other scale (depending on
resolution)
2
Length channel 2
value
U16, ro
Channel 2 length in 0.1mm or other scale (depending on
resolution)
3
Length channel 1
value inverted
U16, ro
Channel 1 inverted length in 0.1mm or other scale (depending on
resolution)
4
Length channel 2
value inverted
U16, ro
Channel 2 inverted length in 0.1mm or other scale (depending on
resolution)
0x2119
0
Inversion behavior
U8, rw
1
If value is 0 the inverted channel is computed as FS minus current
value
If value is 1, the inverted channel is computed as 0 minus current
value
0x2197
0
Dummy double word
U32, ro
4 byte of empty space to compose PDO with dynamic mapping
0x2198
1
Dummy word
U16, ro
2 byte of empty space to compose PDO with dynamic mapping
0x2199
2
Dummy byte
U8, ro 1 byte of empty space to compose PDO with dynamic mapping
0x3000
0
Baud rate setting
U8, rw
0x04
0=1000 kBit/s
1=800 kBit/s
2=500 kBit/s
3=250 kBit/s
4=125 kBit/s
5=100 kBit/s
6=50 kBit/s
7=20 kBit/s
The baudrate is activated after a reset or power-on (if parameter is
saved to non volatile memory)
0x3001
0
Node Id
U8, rw
0x04
0x01...0x7F
Baumer_GCA5_CANopen_MA_EN_V1_02.docx 16/16 Baumer Electric AG
28.09.2016 Frauenfeld, Switzerland
10.3 Standardized Device Profile Area
Object
Sub-index
Name
Type
Default value
Description
1 Length channel 1
value
U32, ro
Same as object 2110.01
0x6000
0
Length parameters
U16, rw
0
see paragraph ’How to change the length direction’
0x6002
0
Length total range
U16, ro
0
Not used
0x6003
0
Length preset
channel 1 value
U32, rw
Same as object 2101.01
0x6004
0
Length channel 1
value
U32, ro
Same as object 2110.01
0x6005
0
Length position
setting
U8, ro 2 Number of the entries
1
Length channel 1
position setting
U32, rw
1000000
Express the resolution in nanometers
2
Length channel 2
position setting
U32, rw
1000000
Express the resolution in nanometers
0x6010
0
Length preset values
U8, ro 2 Same as object 2101.00
1
Length preset
channel 1 value
U32, rw
Same as object 2101.01
2
Length preset
channel 2 value
U32, rw
Same as object 2101.02
0x6020
0
Length channel value
U8, ro
2
Same as object 2110.00
1
Length channel 1
value
U32, ro
Same as object 2110.01
2
Length channel 2
value
U32, ro
Same as object 2110.02
0x6030
0
Channel speed value
U8, ro
2
Number of the entries
1
Channel 1 speed
value
U32, ro
Channel 1 speed (not used)
2
Channel 2 speed
value
U32, ro
Channel 2 speed (not used)
11 Appendix
11.1 Pin Assignment
11.1.1 Pin assignment connector 1 x M12
Pin
Signal
Description
View to encoder
1
CAN_GND
CAN bus ground
2
+Vs
Supply voltage
3
CAN_GND
CAN bus ground
4
CAN_H
CAN bus signal (dominant High)
5
CAN_L
CAN bus signal (dominant Low)
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