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Baumer GIM700DR Manual

Dynamic inclination sensors with canopen interface
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Manual
Dynamic inclination sensors GIM700DR
®
with CANopen
interface
Firmware version 1.14.2 and higher
27.04.21· 174.02.082/1
Subject to modification in technic and design.
www.baumer.com
Errors and omissions excepted.

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Summary of Contents for Baumer GIM700DR

  • Page 1 Manual Dynamic inclination sensors GIM700DR ® with CANopen interface Firmware version 1.14.2 and higher 27.04.21· 174.02.082/1 Subject to modification in technic and design. www.baumer.com Errors and omissions excepted.

  • Page 2: Table Of Contents

    2-dimensional sensor / horizontal installation / plumb angle ±90° (2D-HP) ......... 30 5.1.3 2-dimensional sensor / vertical installation / plumb angle ±90° (2D-VP) ..........31 Terminal assignment ..........................32 2 x M12 flange connector, 5-pin ......................32 Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 2/32...

  • 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. Neither 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 infor- mation and mounting instruction). Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 4/32...

  • 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_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 5/32...

  • Page 6: Canopen

    Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the middle of an existing network CANopen message structure 3.3.2 The first part of a message is the COB-ID (identifier). Structure of the 11-bit COB-ID: Function code Node-ID 4-bit function code 7-bit Node-ID Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 6/32...
  • Page 7 A CAN telegram is made up of the COB-ID and up to 8 bytes of data: COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 The precise telegram is outlined in more detail at a later point. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 7/32...

  • Page 8: Canopen Service Data Communication (Sdo)

    Byte 7...4 results in the SDO abort message (byte 7 = MSB). The following messages are supported: 05040001h : Command byte is not supported 06010000h : Incorrect access to an object 06010001h : Read access to write only Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 8/32...

  • Page 9: Process Data Communication

    180xh sub-index 2. If the value is 3, the PDO is transmitted on every third sync telegram (if the value 1 is entered, transmission takes place on every sync telegram). In synchronous operation, the PDO is requested by the Consumer via the Sync telegram. Identifier Byte 1 COB-ID = 80h Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 9/32...

  • Page 10: Error Diagnostics / Emergency Service

    Error diagnostics / emergency service 3.3.5 The GIM700DR sensor offers diagnostic functions as described in the following. If device operation causes a warning (e.g. angle limit) or an error (e.g. MEMS saturation), an emergency message is transmitted once, which contains Error Code, Error Register, Error Module ID and Error ID. The EMCY message is struc-...

  • Page 11: Network Management Services

    Network management services 3.3.6 Network management can be divided into two groups. Using the NMT services for device monitoring, bus users can be initialized, started and stopped. In addition, NMT services exist for connection monitoring. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 11/32...
  • Page 12 Power on oder Hardware Reset Init BootUp Message Pre-Operational Stopped/Prepared Operational The various NMT states Init Following initialization, the sensor logs on to the CAN bus with a Boot Up message. The sensor then goes automatically to the pre-operational state. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 12/32...
  • Page 13 Command byte Node-ID 0…127 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-ID 0…127 Reset communication (5): COB-ID Command byte Node-ID 0…127 Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 13/32...
  • Page 14 Message structure COB-ID: Consumer  Producer : 2021 = 7E5h Consumer  Producer : 2020 = 7E4h After the COB-ID, an LSS command specifier is transmitted. This is followed by up to seven attached data bytes. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 14/32...
  • Page 15 : Standard CiA bit timing table TableInd : Bit timing entry in selected table (see table below). Error code : 0=OK; 1=Bit timing outside range; 2...254=reserved; 255Specific error Specific error : If Error code=255  Application-specific error code. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 15/32...
  • Page 16 Requesting the vendor ID of a selected sensor 7E5h  5Ah reserved 7E4h  5Ah 32-bit vendor ID reserved Vendor ID : = ECh Request product code Request product code of a selected sensor 7E5h  5Bh reserved Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 16/32...
  • Page 17 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_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 17/32...

  • Page 18: Object Dictionary

    01h Newest error entry ... … … … 10h Oldest error entry 1005h COB-ID SYNC message 1008h Device name VSTR GIM700DR 1009h Hardware version VSTR 1.00 or higher 100Ah Software version VSTR 1.00 or higher 1010h Save parameters 00h Highest sub-index supported...
  • Page 19 2D: 65110010h (device temperature) 1D-VP: 60100010h (Slope long 16-bit, Z-axis, plumb angle, 0…360°) 2D-HP: 60100010h (Slope long 16-bit, X-axis, 02h Mapping entry 2 horizontal installation, plumb angle, ±90°) 2D-VP: 60100010h (Slope long 16-bit, Z-axis, vertical installation, plumb angle, ±90°) Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 19/32...
  • Page 20 2D: 0h 1D: 0h 01h Mapping entry 1 2D: 0h 1D: 0h 02h Mapping entry 2 2D: 0h 1D: 0h 03h Mapping entry 3 2D: 0h 1D: 0h 04h Mapping entry 4 2D: 0h 1F80h NMT startup Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 20/32...

  • Page 21: Save Parameters (1010H)

    This object (specified in DS-302 Part 2) determines if the device will go to operational state after reset. For this option, 08h has to be written to the device. To turn off the auto operational state, 00h has to be written to the device. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 21/32...

  • Page 22: Manufacturer Specific Parameters

    Setting baud rate / bit timing is also possible via LSS. Baud rate object 2100h table deviates from CiA standard bit timing table for LSS. Node-ID (2101h) 4.2.2 The Node-ID can be changed and read through this object. The following parameters are possible: Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 22/32...

  • Page 23: Signal Filter Settings (2107H / 2108H / 2109H)

    Signal filter settings (2107h / 2108h / 2109h) 4.2.3 The GIM700DR provides signal processing filters assigned to different stages in the signal processing path. These filters can be parametrized in their key parameters. Filters can be applied to the raw calibrated data of the acceleration sensors (all three axes) and the gyro- scopes (all three axes), as well as to the process data (slope longitudinal / slope lateral).
  • Page 24 Order of the filter Only effective, if 2109h-1h = 1 (low-pass filter) Process data: Cut-off frequency (2109h-3h) Value Description Cut-off frequency with resolution 0.01 Hz (30 Hz  BB8h) 100...3000 Only effective, if 2109h-1h = 1 (low-pass filter) Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 24/32...

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

    6121h Slope lateral 32-bit operating parameter 2h or 3h 6122h Slope lateral 32-bit preset value 6123h Slope lateral 32-bit offset 6124h Slope lateral 32-bit differential offset 6511h Device temperature (in degree Celsius) Depending on product variant Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 25/32...

  • Page 26: Resolution (6000H)

    Objects 6013h (16-bit) and 6113h (32-bit) contain the application offset of the longitudinal slope. Objects 6023h (16-bit) and 6123h (32-bit) contain the application offset of the lateral slope. All value must be given in angular degrees with the resolution given in object 6000h. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 26/32...

  • Page 27: Slope Long Differential Offset (6014H / 6114H) / Slope Lateral Differential Offset (6024H / 6124H)

    Sensor output / slope value = A + B + C where A is physically measured angle (current inclination / tilt angle / measurement value); B is differential slope offset (always added to the current angle); C is slope offset (calculated by sensor when writing preset). Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 27/32...

  • Page 28: Device Temperature (6511H)

    Factory default setting is “Enable scaling” and “Disable inversion” (object value 2h). Device temperature (6511h) 4.3.7 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_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 28/32...

  • Page 29: Sensor Configurations

    Sensor output is zero / 0°, when the connectors are pointing downwards.  Zero degree position may be configured by Slope long preset value objects (6012h, 6112h). Z-axis angle = 0° Z-axis angle = 90° Z-axis angle = 180° Z-axis angle = 270° Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 29/32...

  • Page 30: 2-Dimensional Sensor / Horizontal Installation / Plumb Angle ±90° (2D-Hp)

    Y-axis angle = 0° Y-axis angle = 0° Y-axis angle = 0° X-axis angle = 0° X-axis angle = 0° X-axis angle = 0° Y-axis angle = 0° Y-axis angle = -30° Y-axis angle = -90° Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 30/32...

  • Page 31: 2-Dimensional Sensor / Vertical Installation / Plumb Angle ±90° (2D-Vp)

    Y-axis angle = 0° Y-axis angle = 0° Y-axis angle = 0° Z-axis angle = 0° Z-axis angle = 0° Z-axis angle = 0° Y-axis angle = 0° Y-axis angle = -30° Y-axis angle = -45° Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 31/32...

  • Page 32: Terminal Assignment

    CAN Bus signal (dominant High) CAN_L CAN Bus signal (dominant Low) Terminals with the same designation are connected to each other internally and identical in their functions. Maximum load on the internal clamps Vs-Vs and GND-GND is 0.6 Amps each. Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx www.baumer.com 27.04.21 32/32...

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