Manual Cable transducer GCA3/5/8/12/20 with CANopen Inclinometer Integrated (option) GCA3/5 Firmware Version 3.81 GCA8/12/20 Firmware Version 3.01 Baumer – Sensor Systems s.r.l. Via Caduti del lavoro 9 25032 Chiari (Bs) Phone +39 030 7000916 info.bsit@baumer.com www.sensorsystems.it 04.18 Subject to modification in technic and design.
Contents 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 Safety and operating instructions .............................................................................................................. 4 Supplementary information ............................................................................................................................ 4 Intended purpose of the equipment ............................................................................................................... 4 Commissioning ..........
7.4 7.4.1 7.4.2 7.5 Error register ................................................................................................................................................ 15 Communication error ................................................................................................................................... 15 Generic error................................................................................................................................................
1 Safety and operating instructions 1.1 Supplementary information 1.2 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. Intended purpose of the equipment The cable transducer is a precision measuring device that is used to record linear positions and speeds.
2 Product Assignment 2.1 Cable transducer Product Device Name EDS-file GCA3/5 GCA3/5 GCA3-5.eds GCA3/5 GCA3-5-336.eds GCA8/12/20 GCA8-12-20.eds GCA8/12/20 GCA8-12-20-136.eds GCA8/12/20 GCA8-12-20-336.eds SDS5000 SDS5000.eds SDS5000 SDS5000-RL.eds SDS3/6/10/20 SDS3-6-10-20.eds SDS3/6/10/20 SDS3-12-20-L.eds SDS3/6/10/20 SDS3-6-10-20-RL.
3 System Overview 3.1 General The cable transducer is a linear measuring system with a CANopen interface. It supports scaling and presetting. In consideration of “CAN in Automation” (CiA) Profile 406 for Encoders, it’s an absolute linear encoder - Class C2 (exception diagnostic part). It has also the possibility to implement inclination sensors, in according to CiA) Profile 410 for Inclinometers. 3.2 Supported Profiles Following CANopen profiles are supported: CiA 301 / Version 4.
4 NMT Service 4.1 Supported commands Following NMT commands are supported: NMT Start NMT Preoperational NMT Stop NMT Reset NMT Communication Reset There is no difference between NMT Reset and NMT Communication Reset 4.2 Boot up message Send NMT message to initialize the device COB-ID Len D0 D1 0x000 2 0x01 ID Note: ID can be 0 for broadcast initialization After a power-on or NMT reset, the device will send a Boot up message.
5 SDO service 5.1 General The device supports 1 SDO server (Expedited read/write, segmented read) 5.2 Save/load parameters The device supports saving parameters to a non-volatile memory. 5.2.1 Save Writing “save” to 0x1010-x saves the corresponding objects to the non-volatile memory. After a reset or power-on, the parameters are loaded from the non-volatile memory. The SDO request to 1010h-x is answered after saving. 5.2.2 Load Writing “load” to 1011h-x restores the corresponding objects.
5.3.4 How to change the length direction There are 2 ways for changing direction. 5.3.4.1 reverse both channels simultaneously send the SDO message. COB-ID Len 0x600 + ID 8 D0 0x2B D1 0x00 D2 0x60 D3 0x00 D4 PAR D5 0x00 D6 0x00 D7 0x00 where PAR is the parameter setting as follow PAR MEANING 0x00 Positive direction (length increase pulling the cable), length expressed in 0.1mm unit 0x01 Negative direction (length decrease pulling the cable), length expressed in 0.
5.3.7 How to change the Angle resolution This object shall indicate the resolution of the Slope long16 (object 6810h/7010h) based on 0,001°. This resolution is also valid for the 32-bit value objects (6910h and 7110h). In case of low resolution, the value is 10d. In case of high resolution the value is 1d. The following table describes all possible resolutions: Resolution (6800h/7000h) Value 01h (1d) Ah (10d) 64h (100d) 3E8h (1000d) 5.3.
5.3.10 Digital Filter Configuration (2603h) The digital filter’s cut-off frequency can be adjusted through this object. The IIR coefficient is expressed in % (lower values->more filtering). An example table is the following: Coeff [%] 100 80 60 40 20 1 Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev03.docx 10.04.2018 Response Time [ms] Not Filtered 15 40 90 240 5940 11/23 Baumer – Sensor Systems s.r.l.
6 PDO Service 6.1 General The device supports TPDO1 and TPDO2. PDOs are only transmitted in NMT operational mode. 6.2 PDO transmission types The following transmission types are supported (object 180x-2): Synchronous transmission (1-240) Asynchronous transmission (255) Manufacturer transmission (254) Both PDOs support all transmission types. Transmission type 255 and 254: The PDO is transmitted timer driven.
6.4 PDO mapping The encoder supports dynamic mapping. 6.4.1 Mappable objects The following objects are mappable (see Object dictionary at Par.
6.5 Timing The minimal cycle time for TPDOs is 20 ms (100 ms to update the Data if the inclinometer is present) 6.6 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_GCA3-5-8-12-20_CANopen_MA_EN_Rev03.docx 10.04.2018 14/23 Baumer – Sensor Systems s.r.l.
7 Emergency Service 7.1 General If there is an error on the device, the device commits an emergency message and sets the corresponding bits in the error register (Object 1001h). Error codes are accessible by the error field (object 1003h-x). A history of maximal 8 error codes is stored in the error field. 7.2 COB-ID The COB-ID for the emergency message can be modified in object 1014h. Default Value: 80h + node ID Changes will be applied immediately.
8 Heartbeat Service 8.1 General The device supports a heartbeat producer according CiA 305. Example for a heartbeat protocol: COB-ID Data/Remote Byte 0 701h D 7Fh(127d) The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied. 0: 4: 5: 127: BootUp-Event Stopped Operational Pre-operational In other words, the sensor is in the pre-operational mode (7Fh = 127). 8.2 COB-ID The COB-ID for the heartbeat message is 700h + node ID. 8.
9 LSS slave 9.1 General The baud rate and node ID can be configured by LSS (according to CiA 305). Another possibility to change the baud rate and node ID is to access to the objects 0x3000 and 0x3001 (see object directory). The LSS service is only available in NMT Stopped Mode. 9.2 9.
10 Object directory The following tables provide a summary of all SDO objects supported by the encoder. Object Object number Name Object name Format U/I = Unsigned/Integer , No. = no of bits, ARR = Array, REC = Record, STR = String Access ro = read only, wo = write only, rw = read write, m = mappable Default Default value on first init Description Additional information 10.
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Sub-index Object 0x6824 0 0x6910 0 0x6911 0 0x6912 0 0x6913 0x6914 0 0 0x6920 0 0x6921 0 0x6922 0 0x6923 0 0x6924 0 0x6E11 0 0x7000 0 0x7010 Name offset (only for 2 Dimension) Differential slope lateral 16bit offset (only for 2 Dimension) Slope Long 32bit Slope long 32bit operating parameter Slope long 32bit preset value Slope long 32bit offset Differential slope long 32bit offset Slope Lateral 32bit (only for 2 Dimension) Slope lateral 32bit operating parameter (only for 2 Dimens
Sub-index Object 0x7021 0 0x7022 0 0x7023 0 0x7024 0 0x7110 0 0x7E11 0 0x7112 0 0x7113 0x7114 0 0 0x7120 0 0x7121 0 0x7122 0 0x7123 0 0x7124 0 0x7511 0 1 Name Slope lateral operating parameter (only for 2 Dimension) Angle 2 Slope lateral 16bit preset value ((only for 2 Dimension) Angle 2 Slope lateral 16bit offset (only for 2 Dimension) Angle 2 Differential slope lateral 16bit offset (only for 2 Dimension) Angle 2 Slope Long 32bit Angle 2 Slope long 32bit operating parameter A
Appendix 10.4 Pin Assignments 10.4.1 Pin assignment connector 1 x M12 Pin no. 1 2 3 4 5 Signal GND +Vs CAN_GND CAN_H CAN_L Description Ground referred to +Vs Supply voltage CAN bus ground CAN bus signal (dominant High) CAN bus signal (dominant Low) View to encoder 10.4.
