Baumer GIM500R Manual
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Baumer GIM500R Manual

Inclination sensor with canopen interface
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Manual
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Inclination sensor GIM500R with CANopen
interface
Firmware version 1.00 and up
03.19· 174.02.073/4
Subject to modification in technic and design.
www.baumer.com
Errors and omissions excepted.

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Summary of Contents for Baumer GIM500R

  • Page 1 Manual ® Inclination sensor GIM500R with CANopen interface Firmware version 1.00 and up 03.19· 174.02.073/4 Subject to modification in technic and design. www.baumer.com Errors and omissions excepted.

  • Page 2: Table Of Contents

    LED status display ........................... 28 3.5.1 CANopen Status LED (Green) ......................28 3.5.2 CANopen Error LED (Red) ........................28 Terminal assignment ..........................29 M12 flange connector, 5-pin ........................29 2xM12 flange connector, 5-pin ........................ 29 Cable ............................... 29 Baumer_GIM500R_CANopen_MA_EN.docx 2/29 www.baumer.com 03.19...

  • Page 3: 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 4: Safety And Operating Instructions

    In case of earth loop problems, earth on one side only as a minimum requirement. Supplementary information  This manual is intended as a supplement to already existing documentation (i.e. catalogue, product information and mounting instruction). Baumer_GIM500R_CANopen_MA_EN.docx 4/29 www.baumer.com 03.19...

  • Page 5: Can-Bus And Canopen Communication

    • Automation devices such as PLCs • PCs • Input and output modules • Drive control systems • Analysis devices, such as a CAN monitor • Control and input devices as Human Machine Interfaces (HMI) • Sensors and actuators Baumer_GIM500R_CANopen_MA_EN.docx 5/29 www.baumer.com 03.19...

  • Page 6: Canopen

    EMCY object (emergency object) for error display of a device or its peripherals • Network management NMT for initialization and network control • Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the middle of an existing network Baumer_GIM500R_CANopen_MA_EN.docx 6/29 www.baumer.com 03.19...

  • Page 7: Canopen Message Structure

    A CAN telegram is made up of the COB ID and up to 8 bytes of data: COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 The precise telegram is outlined in more detail at a later point. Baumer_GIM500R_CANopen_MA_EN.docx 7/29 www.baumer.com 03.19...

  • Page 8: Service Data Communication

    The error code is contained in bytes 5…8. Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 580h + Node ID 8 Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3 Baumer_GIM500R_CANopen_MA_EN.docx 8/29 www.baumer.com 03.19...
  • Page 9 Object L Object H Subindex Data 0 Data Data Data 600h+node ID Slave's response to the writing of a value COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data 580h+node ID Baumer_GIM500R_CANopen_MA_EN.docx 9/29 www.baumer.com 03.19...

  • Page 10: Process Data Communication

    Object 1A00h subindex 0-3 defines the PDO - mapping. The format is shown in the following table: Byte 1+2 Byte 3+4 Byte 5+6 181h 6511h 6010h 6020h (Temperature) (horizontal / (vertical / long Value / X) lateral Value / Y) Baumer_GIM500R_CANopen_MA_EN.docx 10/29 www.baumer.com 03.19...

  • Page 11: Emergency Service

    Error ID. The LED is red continuous as long as the error is present. For the time of error presence, the inclination value should be considered invalid. Should the error prevail and remain active, please contact Baumer support. Diagnosis active errors CANopen ...
  • Page 12 0x1001 IWDG restart 0x000E 0x0005 index out of bound 0x0009 time out 0x1000 I2C clock speed 0x1003 I2C data length 0x1004 I2C GPIO Stuck 0x000F 0x0005 index out of bound 0x0010 0x0005 index out of bound Baumer_GIM500R_CANopen_MA_EN.docx 12/29 www.baumer.com 03.19...
  • Page 13 0x1008 CPU operation error 0x1009 CPU operation error 0x100A CPU operation error 0x100B CPU operation error 0x100C CPU operation error 0x100D CPU operation error 0x001F 0x000A Overflow 0x0020 0x0001 zero pointer 0x0006 switch default case reached Baumer_GIM500R_CANopen_MA_EN.docx 13/29 www.baumer.com 03.19...

  • Page 14: Network Management Services

    Start remote node Stop remote node Enter pre-operational mode 81h, 82h Reset remote node 4, 5 The node number corresponds to the node ID of the required users. With node number = 0, all users are addressed. Baumer_GIM500R_CANopen_MA_EN.docx 14/29 www.baumer.com 03.19...
  • Page 15 In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and written. Stopped or prepared mode In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is only possible in the stopped mode. Baumer_GIM500R_CANopen_MA_EN.docx 15/29 www.baumer.com 03.19...
  • Page 16 Reset remote node (4) or reset communication (5) With the reset command, the sensor is re-initialized. Reset remote node (4): COB ID Command byte Node number 0…127 Reset communication (5): COB ID Command byte Node number 0…127 Baumer_GIM500R_CANopen_MA_EN.docx 16/29 www.baumer.com 03.19...
  • Page 17 The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied. BootUp-Event Stopped Operational 127: Pre-operational In other words, the sensor is in the pre-operational mode (7Fh = 127). Baumer_GIM500R_CANopen_MA_EN.docx 17/29 www.baumer.com 03.19...
  • Page 18 : Internal product code for the respective sensor Revision number : Current revision number of the sensor Serial number : Unique, consecutive serial number Mode : The sensor's response is the new mode (0=operating mode; 1=configuration mode) Baumer_GIM500R_CANopen_MA_EN.docx 18/29 www.baumer.com 03.19...
  • Page 19 This protocol saves the configuration parameters in the EEPROM. 7E5h  17h reserved 7E4h  17h ErrCode SpecError reserved Error code : 0=OK;1=Saving not supported;2=Access error;3..254=reserved;255Specific error Specific error : If error code=255  Application-specific error code. Baumer_GIM500R_CANopen_MA_EN.docx 19/29 www.baumer.com 03.19...
  • Page 20 Revision number : Current revision Request serial number Request serial number of a selected sensor 7E5h  5Dh reserved 7E4h  5Dh 32 bit serial number reserved Serial number : Unique consecutive serial number of the sensor Baumer_GIM500R_CANopen_MA_EN.docx 20/29 www.baumer.com 03.19...

  • Page 21: Object Dictionary

    Object number in Hex Name Name of the parameter Format Data type Access ro = ReadOnly, wo = WriteOnly, rw = ReadWrite Default Default upon first init or restore default yes  saved in None Volatile Memory Save Baumer_GIM500R_CANopen_MA_EN.docx 21/29 www.baumer.com 03.19...

  • Page 22: Communication Parameter (Cia Ds-301, Cia Ds-302 Part 2)

    1017h Producer Heartbeat Time 1018h Identity Object 00h Maximum Subindex 01h VendorID 02h Product Code 03h Revision Number Works-defined 04h Serial Number Works-defined 1800h Transmit PDO1 Parameter 00h Maximum subindex 01h COB-ID 180h+id 02h PDO Type Baumer_GIM500R_CANopen_MA_EN.docx 22/29 www.baumer.com 03.19...

  • Page 23: Manufacturer Specific Parameter

    Save Sub-Index 2100h Baud rate 2101h Node-ID 2106h Axis Alignment 00h Maximum subindex 01h Axis Mapping 02h Sign Configuration 2202h Diagnostic Information 2203h Layout ID 2204h Diagnostic Information Switch 2205h Device Revision 2603h Digital Filter Configuration Baumer_GIM500R_CANopen_MA_EN.docx 23/29 www.baumer.com 03.19...
  • Page 24 Z-Axis Invalid Axis sign (subindex 2) Bit Mask: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved Z-Axis Y-Axis X-Axis Default Possible values: Value (bit) Sign Positive Negative Baumer_GIM500R_CANopen_MA_EN.docx 24/29 www.baumer.com 03.19...

  • Page 25: Device Profile Specific Parameter (Cia Ds-410)

    (only for 2-Dimensional) Slope lateral 32bit preset value Y axis (only for 2- 6122h Dimensional) Slope lateral 32bit offset Y axis 6123h (only for 2-Dimensional) Differential slope lateral 32bit offset 6124h (only for 2-Dimensional) 6511h Device temperature Baumer_GIM500R_CANopen_MA_EN.docx 25/29 www.baumer.com 03.19...
  • Page 26 A is a physically measured angle (current tilt angle / value); B is a differential slope offset (The difference slope offset is always added to the current skew); C is a slope offset (Slope offset is set by the CANopen preset function). (See chart scaling function) Baumer_GIM500R_CANopen_MA_EN.docx 26/29 www.baumer.com 03.19...
  • Page 27 The 16bit and 32bit values are hardwired internally (i.e. changing the differential offset at 6014h changes the differential offset at 6114h) 3.4.3.4 Device temperature (6511h) The device temperature can be read by accessing object 6511h. The value is given in multiples of 1°C. It is also part of the standard PDO. Baumer_GIM500R_CANopen_MA_EN.docx 27/29 www.baumer.com 03.19...

  • Page 28: Led Status Display

    The CAN controller is not receiving ACK messages (i.e. no master) No error The Device is in working condition Bus off / Internal Error The CAN controller is bus off or an internal error is present. Baumer_GIM500R_CANopen_MA_EN.docx 28/29 www.baumer.com 03.19...

  • Page 29: Terminal Assignment

    Description White Voltage supply Brown Ground connection relating to +Vs Green n.c. Yellow n.c. Grey n.c. Pink CAN_H CAN Bus signal (dominant High) Blue CAN_L CAN Bus signal (dominant Low) CAN_GND Ground connection relating to CAN Baumer_GIM500R_CANopen_MA_EN.docx 29/29 www.baumer.com 03.19...

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