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Related Manuals for Baumer GCA Series
Summary of Contents for Baumer GCA Series
- Page 1 Manual ® Cable transducers GCAxx with CANopen interface Inclination sensor integrated (option) Baumer Sensors Srl Via Caduti del Lavoro 9 25032 Chiari (BS) Phone +39 030 7000916 03.21 info.bsit@baumer.com Subject to modification in technic and design www.baumer.com Errors and omissions excepted...
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Page 2: Table Of Contents
Timing ................................16 Exceptions of accurate calculation of process data ..................16 EMCY service / emergency ........................17 General ................................ 17 COB-ID ................................ 17 Emergency message ........................... 17 Error register ..............................17 Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 2/28 Chiari (BS), Italy... - Page 3 LSS addressing ............................20 10.2 Supported LSS commands .......................... 20 Object directory ............................23 11.1 Communication profile area ......................... 23 11.2 Manufacturer specific profile area ........................ 24 11.3 Standardized device profile area ......................... 26 Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 3/28 Chiari (BS), Italy...
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Page 4: Document History
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
This manual is intended as a supplement to already existing documentation (catalogues, data sheets and assembly instructions). The manual must be read without fail before initial commissioning of the equipment. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 5/28 Chiari (BS), Italy... -
Page 6: Product Assignment
GCA8-12-20_0x0521_V00.02.eds GCA8-12-20 Cable transducer GCA8-12-20-PP 0x0520 GCA8-12-20_0x0520_V00.02.eds redundant (2-sensing design) GCA8-12-20 Cable transducer GCA8-12-20-PP 0x0523 GCA8-12-20_0x0523_V00.02.eds with integrated inclinometer GCA8-12-20 Cable transducer GCA8-12-20-PP 0x0522 GCA8-12-20_0x0522_V00.02.eds redundant (2-sensing design with integrated inclinometer) Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 6/28 Chiari (BS), Italy... -
Page 7: System Overview
2 TPDOs (according to CiA 301/CiA 406/ CiA 410) 1 Emergency Producer (according to CiA 301/CiA 406/ CiA 410) 1 Heartbeat Producer (according to CiA 301) 1 LSS Client (according to CiA 305) Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 7/28 Chiari (BS), Italy... -
Page 8: Function Principle
In a sensor with redundant design (2-sensing), there are two primary sensors that are read by a single node with a single node ID connected to the network. The values of each primary sensor read by the node are written to separate objects. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 8/28... -
Page 9: Nmt Service
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_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 9/28 Chiari (BS), Italy... -
Page 10: Sdo Service / Service Data
Send the SDO message COB-ID 0x600 + ID 0x2F 0x01 0x30 0x00 0x00 0x00 0x00 ID: values below 1 or above 127 are not accepted and the existing setting remains valid. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 10/28 Chiari (BS), Italy... -
Page 11: How To Change The Baud Rate
I.e: if it’s necessary to have the measure expressed in 10 mm, the value to write must be 10’000’000 nm, to obtain instead a resolution of 0.1 mm, the value to write will be 100’000 nm Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 11/28... -
Page 12: How To Set The Preset
The operating parameters are applied for the according slope (i.e. 6811h operating parameter influences 6810h slope). The 16-bit and 32-bit values are hardwired internally (i.e. changing the operating parameter at 6811h changes the operating parameter at 6911h). Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 12/28 Chiari (BS), Italy... -
Page 13: Offset Parameters And Calculation
The Length Filter can be adjusted through the object 2103h. The IIR coefficient is expressed in %. The value can be selected in a range from 0 to 100 The default coefficient is 20. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 13/28 Chiari (BS), Italy... -
Page 14: Pdo Service / Process Data
R is the actual rotation value in degrees or tenths of degrees (depending on the resolution settings). Interpretation example Considering a resolution of 0.1°: P0 = 0x84, P1 = 0x03 It means P = 0x00000384 (900 decimal) = 90°. PDO mapping The sensor supports dynamic mapping. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 14/28 Chiari (BS), Italy... -
Page 15: Pdo Mapping Procedure
Where OBJ_NBR increase starting from 1 to maximum 8 every obj associated mapped Where TOT_NBR is the Total number of mapped object Where SIZE is: 8h for 1 byte obj. 10h for 2 byte obj. 20h for 4 byte obj. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 15/28 Chiari (BS), Italy... -
Page 16: Mappable Objects
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_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 16/28 Chiari (BS), Italy... -
Page 17: Emcy Service / Emergency
0x0000000000000000 Error reset or no error 0x0010010000000000 Generic error 0x1081110000000000 CAN RX overflow 0x1082110000000000 PDO not processed due to length error 0x00FF810100000000 Wire break 0x00FF810200000000 Length sensor break 0x00FF810300000000 Inclinometer break Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 17/28 Chiari (BS), Italy... -
Page 18: Sensor Diagnostics
The following table indicates the values that can be set in the sub-index of the object. Value Description 0x00 Change to NMT state Pre-operational (only if currently in NMT state Operational) 0x01 No change of the NMT state 0x02 Change to NMT state Stopped Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 18/28 Chiari (BS), Italy... -
Page 19: 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 msec. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 19/28 Chiari (BS), Italy... -
Page 20: Lss Layer Setting Services
Selective switch mode The following procedure can be used to address a certain sensor in the bus system. 7E5h -> Vendor ID reserved 7E5h -> Product code reserved 7E5h -> Revision number reserved Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 20/28 Chiari (BS), Italy... - Page 21 : After the delay, the sensor logs on with the new baud rate. Request vendor ID Requesting the vendor ID of a selected sensor 7E5h -> reserved 7E4h <- 32 bit vendor ID reserved Vendor ID : = 0x005F – GCA series products Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 21/28 Chiari (BS), Italy...
- Page 22 Revision number HIGH reserved 7E5h -> Serial number LOW reserved 7E5h -> Serial number HIGH reserved Each sensor with the relevant parameters logs on with the following message: 7E4h <- reserved Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 22/28 Chiari (BS), Italy...
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Page 23: Object Directory
0x1017 0x0000 time producer heartbeat Numbers of 0x04 identity-options Vendor ID 0x005F GCA series products 0x1018 Product code As described in paragraph 3.1 Revision number 0x00000000 Serial number Depending by the SN of the product Error behavior 0x02 / 0x03... -
Page 24: Manufacturer Specific Profile Area
Channel 2* from Zero, accordingly to the resolution) 0x14 for hall effect based sensors Length filter IIR coefficient expressed in % (lower values->more 0x2103 0x50 for strength filtering) potentiomet er based sensors Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 24/28 Chiari (BS), Italy... - Page 25 6=50 kbits/s 7=20 kbits/s 8=10 kbits/s The baud rate is activated after a reset or power-on (if parameter is saved to non-volatile memory) 0x3001 Node ID 0x04 Node number 1…127 (0x01...0x7F) Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 25/28 Chiari (BS), Italy...
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Page 26: Standardized Device Profile Area
Slope long16-bit = physically measured angle + operating 0x02 0x6811 Differential slope long16-bit offset + Slope long16-bit parameter** offset If scaling is disabled, the Slope long16-bit value shall be equal to the physical measured angle. Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 26/28 Chiari (BS), Italy... - Page 27 This object shall shift the Slope long16-bit value (object 0x7014 long 16-bit offset 0x0000 7010h) independent of Slope long16-bit preset value Channel 2*** (object 7012h) and Slope long16-bit offset (object 7013h). Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 27/28 Chiari (BS), Italy...
- Page 28 **Note: The inclinometer objects 6800h...6914h and 6E11h exist for products with integrated inclinometer only. Note: The inclinometer objects 7010h...7114h and 7511h exist only for products with integrated inclinometer and redundant version (2- sensing). Baumer_GCAxx_CANopen_EN_Rev0000.0000_Index0005_MNL.docx Baumer Sensors Srl 18.04.2024 28/28 Chiari (BS), Italy...
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