Table of Contents
Advertisement
Manual
Cable transducer GCA3/5/8/12/20 with CANopen
Inclinometer Integrated (option)
GCA3/5 (C50) Firmware Version 3.87 and up
GCA3/5 (C60/C80) Firmware Version 1.23 and up
GCA8/12/20 (C50) Firmware Version 3.07 and up
Baumer – Sensor Systems s.r.l.
Via Caduti del lavoro 9
25032 Chiari (Bs)
Phone +39 030 7000916
11.19
info.bsit@baumer.com
Subject to modification in technic and design.
www.sensorsystems.it
Errors and omissions excepted
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for Baumer GCA3
Summary of Contents for Baumer GCA3
- Page 1 Manual Cable transducer GCA3/5/8/12/20 with CANopen Inclinometer Integrated (option) GCA3/5 (C50) Firmware Version 3.87 and up GCA3/5 (C60/C80) Firmware Version 1.23 and up GCA8/12/20 (C50) Firmware Version 3.07 and up Baumer – Sensor Systems s.r.l. Via Caduti del lavoro 9...
-
Page 2: Table Of Contents
PDO mapping .............................. 13 6.4.1 Mappable objects ............................13 6.4.2 Default mapping of absolute encoder redundant with cable-pull ..............13 Timing ................................14 Exceptions of accurate calculation of process data ..................14 Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 2/23 03.12.2019 Chiari (Bs), Italy... - Page 3 10.3 Standardized Device Profile Area ........................ 21 Appendix ..................................23 10.4 Pin Assignments ............................23 10.4.1 Pin assignment connector 1 x M12 ......................23 10.4.2 Cable assignment ............................23 Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 3/23 03.12.2019 Chiari (Bs), Italy...
-
Page 4: Safety And Operating Instructions
Where working with consumers which have high interference emissions, make available a separate power supply for the cable transducer. Unused outputs must not be connected. Failure to observe these instructions can result in malfunctions, material damage or personal injury. Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 4/23 03.12.2019 Chiari (Bs), Italy... -
Page 5: Product Assignment
0x0521 SDS5000 SDS5000.eds cable transducers SDS5000 0x0523 SDS5000 SDS5000-L.eds cable transducers with inclination sensor 0x0521 SDS3/6/10/20 SDS3-6-10-20.eds SDS3/6/10/20 cable transducers 0x0523 SDS3/6/10/20 SDS3-6-10-20-L.eds SDS3/6/10/20 cable transducers with inclination sensor Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 5/23 03.12.2019 Chiari (Bs), Italy... -
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 1mm. Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 6/23 03.12.2019... -
Page 7: Nmt Service
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 – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 7/23 03.12.2019 Chiari (Bs), Italy... -
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 data”) followed by a turnoff and on. Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 8/23 03.12.2019... -
Page 9: How To Change The Length Direction
How to set the length zero 5.3.6 Send the SDO message to set the zero of channel 1 COB-ID 0x600 + ID 0x23 0x10 0x60 0x01 0x00 0x00 0x00 0x00 Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 9/23 03.12.2019 Chiari (Bs), Italy... -
Page 10: How To Change The Angle Resolution
C is a differential slope offset and t = time when accessing object a preset object The 16bit and 32bit values are hardwired internally (i.e. changing the differential offset at 6814h changes the differential offset at 6914h) Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 10/23 03.12.2019... -
Page 11: Angle Digital Filter Configuration (2603H)
0x00 5.3.10 Angle Digital Filter Configuration (2603h) For GCA3/5 (C60/C80) the IIR coefficient is expressed in tenths of hertz. E.g.: Fc = 3 Hz -> 30d(0x1E). The value can be selected in a range from 0 to 300(30Hz). While for all the other type of GCA, The IIR coefficient is expressed in % (lower values->more filtering). -
Page 12: Pdo Service
Considering a resolution of 0.1°: P0 = 0x84, P1 = 0x03 It means P = 0x00000384 (900 decimal) = 90° The channel ’b ’ is represented in a similar way. Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 12/23 03.12.2019 Chiari (Bs), Italy... -
Page 13: Pdo Mapping
Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 284h Byte 0..3: Angle A (Object 6910h-0) Byte 4..7: Angle B (Object 7110h-0) In case of GCA (C50) Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 13/23 03.12.2019 Chiari (Bs), Italy... -
Page 14: Timing
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 – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 14/23 03.12.2019 Chiari (Bs), Italy... -
Page 15: Emergency Service
Generic error 0x1081110000000000 CAN RX overflow 0x1082110000000000 PDO not processed due to length error 0x01FF810000000000 Wire break 0x02FF810000000000 Error reading length 0x03FF810000000000 Error reading hall sensor (only for GCA3/5) Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 15/23 03.12.2019 Chiari (Bs), Italy... -
Page 16: Heartbeat Service
In other words, the sensor is in the pre-operational mode (7Fh = 127). COB-ID The COB-ID for the heartbeat message is 700h + node ID. Timing The minimal cycle time for heartbeat messages is 10 ms. Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 16/23 03.12.2019 Chiari (Bs), Italy... -
Page 17: Lss Slave
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 – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 17/23 03.12.2019 Chiari (Bs), Italy... -
Page 18: Object Directory
U32, ro 0x60200120 Cable length channel 1 index in obj directory U32, ro 0x60200220 Cable length channel 2 0x1A01 TPDO2 mapping U8, ro 0x02 Number of objects integrated in TPDO2 Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 18/23 03.12.2019 Chiari (Bs), Italy... -
Page 19: Manufacturer Specific Profile Area
Angle Filter strength U16, rw 0x64 IIR coefficient expressed in % (lower values->more filtering) 0x3000 Baud rate setting U8, rw 0x03 0=1000 kBit/s 1=800 kBit/s 2=500 kBit/s 3=250 kBit/s Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 19/23 03.12.2019 Chiari (Bs), Italy... - Page 20 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 – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 20/23 03.12.2019 Chiari (Bs), Italy...
-
Page 21: Standardized Device Profile Area
0x64 This object shall indicate the resolution of Slope long16 (object 7010h) and Slope lateral16 (object 7020h) objects based on 0,001°. This resolution is also valid for the 32-bit value Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 21/23 03.12.2019 Chiari (Bs), Italy... - Page 22 Slope long16 preset value (object 7012h) and Slope long16 offset (object 7013h). The value shall be given in degree (angle) with the resolution given in object 7000h. only if the version of GCA (C50); Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 22/23 03.12.2019...
-
Page 23: Appendix
Signal Description White Ground referred to +Vs Brown Supply voltage Grey CAN_GND CAN bus ground Green CAN_H CAN bus signal (dominant High) Yellow CAN_L CAN bus signal (dominant Low) Baumer – Sensor Systems s.r.l. Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 23/23 03.12.2019 Chiari (Bs), Italy...
Need help?
Do you have a question about the GCA3 and is the answer not in the manual?
Questions and answers