Baumer GNAMG Series Manual
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Baumer GNAMG Series Manual

Inclination sensor with canopen interface
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Manual
Inclination sensor with CANopen interface
Firmware Version 1.00 and up
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 7720 942-0
Fax +49 7720 942-900
11.12 · 174.02.048/7
info.de@baumerivo.com
Subject to modification in technic and design.
www.baumer.com
Errors and omissions excepted.

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Summary of Contents for Baumer GNAMG Series

  • Page 1 Manual Inclination sensor with CANopen interface Firmware Version 1.00 and up Baumer IVO GmbH & Co. KG Dauchinger Strasse 58-62 DE-78056 Villingen-Schwenningen Phone +49 7720 942-0 Fax +49 7720 942-900 11.12 · 174.02.048/7 info.de@baumerivo.com Subject to modification in technic and design.

  • Page 2: Table Of Contents

    6.2. Electrical connection 6.2.1. Setting the user address 6.2.2. Setting the baud rate 6.2.3. Terminating resistor 6.2.4. Connecting the inclination sensor 6.2.5. Terminal assignment 6.3. Status LEDs (status indicators) Manual_GNAMG_CANopen_EN.doc 2/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 3: Introduction

    The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual. Baumer IVO 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. Failure to observe these instructions can result in malfunctions, personal injury or damage to property! Manual_GNAMG_CANopen_EN.doc 4/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 5: Can-Bus And Canopen Communication

    • PCs • input/output modules • drive controls • analysing equipment, for example CAN monitor • operating and input equipment as HMI (human machine interface) • sensors and actuators Manual_GNAMG_CANopen_EN.doc 5/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 6: Canopen

    According to CiA the object directory is subdivided in three sections: communication profile, device profile and manufacturer-specific profile (see object directory). Manual_GNAMG_CANopen_EN.doc 6/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 7: Canopen Communication

    A CAN telegram consists of the COB-ID and a data packet of max. 8 bytes: COB-ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 More detailed information on the telegram structure in later chapters. Manual_GNAMG_CANopen_EN.doc 7/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 8: Service Data Communication

    : Value is not within the defined limits 06090031h : Value too high 08000000h : General error 08000020h : Incorrect memory signature ("save") 08000021h : No data saving possible Manual_GNAMG_CANopen_EN.doc 8/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 9: Process Data Communication

    5 must provide the cycle time in milliseconds. The written time is rounded to 1 ms. If the parameter is 0ms, the PDO’s won’t be transmitted at all. The function is disabled. Manual_GNAMG_CANopen_EN.doc 9/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 10 Generic Error 5530 EEProm error 6010 Software reset (Watchdog) 7510 Internal communication error 8130 Life Guard error or Hearbeat Byte 2: Error-Register Meaning Generic Error Communication error manufacturer specific Manual_GNAMG_CANopen_EN.doc 10/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 11: Network Management Services

    After boot-up the inclination sensor is in pre-operational mode which is the state for read and write SDO parameters. For PDO parameter requests, the inclination sensor must be set to operational mode first. Power on oder Hardware Reset Init BootUp Message Pre-Operational Stopped/Prepared Operational Manual_GNAMG_CANopen_EN.doc 11/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 12 Reset Remote Node (4) or Reset Communication (5) The reset command will re-init the inclination sensor. Reset Remote Node (4): COB-ID Command byte Node-ID 0..127 Reset communication (5): COB-ID Command byte Node-ID 0..127 Manual_GNAMG_CANopen_EN.doc 12/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 13 00h (0d) 701h 7Fh (127d) Possible user NMT-states: BootUp-Event Stopped Operational 127: Pre-Operational In this example the lower 7 bits equal 7Fh, i.e. the inclination sensor is in pre-operational mode. Manual_GNAMG_CANopen_EN.doc 13/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 14 (7Fh = 127). Important : Only one of the above nodeguarding options can be active. Default: Heartbeat Optional: NodeGuarding (see object 2110) Manual_GNAMG_CANopen_EN.doc 14/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 15: Layer Setting Services

    Spec Error reserved Node-ID : The new Node-ID of the inclination sensor ErrorCode : 0=OK; 1=Node-ID beyond the range; 2..254=reserved; 255specificError : If ErrorCode=255  application-specific error code. SpecificError Manual_GNAMG_CANopen_EN.doc 15/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 16 After the delay the inclination sensor will register with the new baud rate. VendorId request Requesting the VendorId of a selected inclination sensor 7E5h  5Ah Reserved 7E4h  5Ah 32 Bit Vendor ID Reserved VendorID : = ECh Manual_GNAMG_CANopen_EN.doc 16/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 17 7E5h  4Ah SerialNumber LOW reserved 7E5h  4Bh SerialNumber HIGH reserved Every inclination sensor with the respective parameters will respond by the following message: 7E4h  4Fh reserved Manual_GNAMG_CANopen_EN.doc 17/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 18: Inclination Sensor Profile

    =“save“ (0x73617665) to save 03h Application parameters =“save“ (0x73617665) to save 04h Manufacturer- specific parameters 1011h Restore Default Parameters 00h Größter Subindex =“load“ (0x6C6F6164) to load 01h Alle Parameter Manual_GNAMG_CANopen_EN.doc 18/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 19 Options 1 if BusOFF there is a bus reset Bit5 = 0 Heartbeat protocol active 1 Nodeguarding protocol active 2201h Statistics 00h Maximum subindex 01h Total of position errors Manual_GNAMG_CANopen_EN.doc 19/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 20 Calculated offset when writing on object Slope lateral offset 6122h 6124h Differential Offset Supplementary offset, independent from X-axis (ro bei object 6112h and 6123h Differential slope 360°) lateral offset Manual_GNAMG_CANopen_EN.doc 20/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 21: Detailed Object List

    Bit 29 1=29 Bit SYNC COB-ID (CAN 2.0B), 0=28 Bit SYNC COB-ID (CAN 2.0A) Bit 28..11 Bit 28..11 of 29 Bit SYNC COB-ID Bit 10..0 Bit 10..0 of SYNC COB-ID Manual_GNAMG_CANopen_EN.doc 21/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 22 0...65535 Object 100D Life Time Factor SubIndex Data type Unsigned 8 Access ReadWrite Default EEPROM Meaning This factor multiplied by the guard time equals the life time Parameters 0...256 Manual_GNAMG_CANopen_EN.doc 22/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 23 SubIndex Data type Unsigned 16 Access ReadWrite Default EEPROM Meaning Defines the repetition time of the guarding service heartbeat Parameters 0 = Disabled 1..65535 = repetition time in ms Manual_GNAMG_CANopen_EN.doc 23/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 24 Meaning Maximum supported subindex Parameters SubIndex Data type Unsigned 32 Access ReadOnly Default EEPROM Meaning CiA -defined VendorID of Baumer IVO Parameters ECh (in the Internet under www.can-cia.de) SubIndex Data type Unsigned 32 Access ReadOnly Default EEPROM Meaning Product Code Parameters 0x32 = GNAMG.x225xxx...
  • Page 25 Unsigned 16 Access ReadWrite Default 203h EEPROM Meaning Event Timer for PDO (process data object) Parameters 0 = cyclic transmission disabled 1..n..65535 =repetition time of cyclic transmission is n ms. Manual_GNAMG_CANopen_EN.doc 25/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 26 Read or set a new sensor Node-ID.  After the setting operation the parameters must be stored in EEPROM by object 1010h, followed by a sensor re-init. Parameters 1..127 Manual_GNAMG_CANopen_EN.doc 26/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 27 Operating time in seconds total (object 6508h time elapsed since last reset) Parameters 0... 4294967295 SubIndex Data type Unsigned 32 Access ReadOnly Default EEPROM Meaning WatchDog TimerReset counter Parameters 0... 4294967295 Manual_GNAMG_CANopen_EN.doc 27/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 28 Depending on the device type (measuring range) and parameter in 6000h (resolution): (+measuring range)/resolution ... to ... (-measuring range)/resolution Example: measuring range = ±30° Resolution = 0,001 Value range: +30000...-30000 Manual_GNAMG_CANopen_EN.doc 28/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 29 Supplementary offset, independent from objects 6112h and 6113h The entered value is directly added to the current slope of the Y- axis Parameters Value range depending on parameters in object 6000h Manual_GNAMG_CANopen_EN.doc 29/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 30 Data type Integer 32 Access ReadWrite Default EEPROM Meaning Sets the actual slope of the X-axis to the required value Parameters Value range depending on parameters in object 6000h Manual_GNAMG_CANopen_EN.doc 30/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...
  • Page 31 Supplementary offset, independent from objects 6122h and 6123h The entered value is directly added on the current slope of the X-axis Parameters Value range depending on parameters in object 6000h Manual_GNAMG_CANopen_EN.doc 31/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 32: Diagnostics And Useful Information

    In this object the last 8 error codes occurred out of the objects 6503h and 6505h are saved, the latest error as entry in subindex 1, the most ancient error as entry in subindex 8. Object Emergency Error message of a user. Manual_GNAMG_CANopen_EN.doc 32/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 33: Useful Information On The Sensor

    3. Upon next init the sensor will log in with the new Node-ID. Setting a new baud rate 1. Setting a new baud rate is by using Baumer IVO-specific object 2101h. 2. After having set the new baud rate latter must be stored in EEPROM by object 1010h.

  • Page 34: Applications

    The Node-ID can be changed in object 2101h from 1 to 127. Next step should be a saving operation using object 1010h. Upon next init the sensor will log in with the new Node-ID. Manual_GNAMG_CANopen_EN.doc 34/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 35: Configuration

    Data 1 Data 2 Data 3 73 's’ 61 'a’ 76 'v’ 65 'e’ 600h+Node-ID COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+Node-ID Manual_GNAMG_CANopen_EN.doc 35/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 36: Operation

    Hearbeat messages comprise COB-ID and one byte, latter is transmitting the NMT state. BootUp-Event Stopped Operational 127: Pre-Operational i.e. the inclination sensor is in pre-operational mode (7Fh = 127). Manual_GNAMG_CANopen_EN.doc 36/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 37: Commissioning Via Can

    5.4. Commissioning via CAN Comfortable commissioning of the CANopen inclination sensor via CAN (Layer 2) Example: Inclination sensor with Node-ID 1, some NMT and SDO commands Tool applied: CANAnalyser32 by IXXAT Manual_GNAMG_CANopen_EN.doc 37/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 38: Terminal Assignment And Commisisoning

    As default parameter the inclination sensor will apply the selected sensing range to both the X and Y- axis, for example ±15° with the zero passage being precisely in the horizontal line. Manual_GNAMG_CANopen_EN.doc 38/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 39: Electrical Connection

    Maximum user total is 99. Decimal setting of the user address using two rotary switches 1 and 2 (default 00). Example: 23 Manual_GNAMG_CANopen_EN.doc 39/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 40: Setting The Baud Rate

    Use ferrules in case of flexible cores. Avoid any crossings of data lines with the supply line. Seal up the unused cable gland using a sealing bolt (included in the delivery). Manual_GNAMG_CANopen_EN.doc 40/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

  • Page 41: Terminal Assignment

    An integrated DUO-LED is provided on the back of inclination sensor housing. LED green LED red Status No supply voltage Flashing Pre-operational Mode Operational Mode Stopped/Prepared Mode Flashing Alert/warning Error Manual_GNAMG_CANopen_EN.doc 41/41 Baumer IVO GmbH & Co. KG 21.11.12 Villingen-Schwenningen, Germany...

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