Table of Contents
Advertisement
Quick Links
Manual
Cable transducer GCA5 with CANopen
Software Revision (Firmware Version) 3.2
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.
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for Baumer GCA5 C8
Summary of Contents for Baumer GCA5 C8
- Page 1 Manual Cable transducer GCA5 with CANopen Software Revision (Firmware Version) 3.2 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...
-
Page 2: Table Of Contents
COB-ID ................................ 12 Emergency message ........................... 12 Error register ..............................12 7.4.1 Communication error ........................... 12 7.4.2 Generic error..............................12 Error codes / EMCY messages........................12 Heartbeat Service ............................13 General ................................ 13 Baumer_GCA5_CANopen_MA_EN_V1_02.docx 2/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... - Page 3 Communication Profile Area ........................14 10.2 Manufacturer Specific Profile Area ......................15 10.3 Standardized Device Profile Area ........................ 16 Appendix ..............................16 11.1 Pin Assignment ............................16 11.1.1 Pin assignment connector 1 x M12 ......................16 Baumer_GCA5_CANopen_MA_EN_V1_02.docx 3/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland...
-
Page 4: Introduction
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. -
Page 5: Safety And Operating Instructions
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). Baumer_GCA5_CANopen_MA_EN_V1_02.docx 5/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 6: System Overview
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. Baumer_GCA5_CANopen_MA_EN_V1_02.docx 6/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 7: Nmt Service
0x000 0x01 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 Baumer_GCA5_CANopen_MA_EN_V1_02.docx 7/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 8: Sdo Service
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. Baumer_GCA5_CANopen_MA_EN_V1_02.docx 8/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 9: How To Change The Length Direction
Send the SDO message to set the zero of channel 2 COB-ID 0x600 + ID 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. Baumer_GCA5_CANopen_MA_EN_V1_02.docx 9/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 10: Pdo Service
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). Baumer_GCA5_CANopen_MA_EN_V1_02.docx 10/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 11: Pdo Mapping
The minimal cycle time for TPDOs is 1 ms. 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 Baumer_GCA5_CANopen_MA_EN_V1_02.docx 11/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 12: Emergency Service
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 Baumer_GCA5_CANopen_MA_EN_V1_02.docx 12/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 13: Heartbeat Service
Store configuration Inquire identity serial number Inquire identity node ID LSS address The needed value for LSS addressing as serial number is printed on a label on the encoder housing. Baumer_GCA5_CANopen_MA_EN_V1_02.docx 13/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 14: Object Directory
TPDO1 mapping U8, ro 0x02 Number of objects integrated in TPDO1 index in obj directory U16, ro 0x21110110 Cable length channel 1 index in obj directory U16, ro 0x21110210 Cable length channel 2 Baumer_GCA5_CANopen_MA_EN_V1_02.docx 14/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 15: Manufacturer Specific Profile Area
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 Node Id U8, rw 0x04 0x01...0x7F Baumer_GCA5_CANopen_MA_EN_V1_02.docx 15/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland... -
Page 16: Standardized Device Profile Area
11.1.1 Pin assignment connector 1 x M12 Signal Description CAN_GND CAN bus ground Supply voltage CAN_GND CAN bus ground CAN_H CAN bus signal (dominant High) CAN_L CAN bus signal (dominant Low) View to encoder Baumer_GCA5_CANopen_MA_EN_V1_02.docx 16/16 Baumer Electric AG 28.09.2016 Frauenfeld, Switzerland...
Need help?
Do you have a question about the GCA5 C8 and is the answer not in the manual?
Questions and answers