User Manual

Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev03.docx 21/23 Baumer – Sensor Systems s.r.l.
10.04.2018 Chiari (Bs), Italy
Object
Sub-index
Name
Type
Default value
Description
offset
(only for 2 -
Dimension)
0x6824
0
Differential slope
lateral 16bit offset
(only for 2 -
Dimension)
I16, rw
0
Not used
0x6910
0
Slope Long 32bit
I32, ro,
m
Same as object 6810
0x6911
0
Slope long 32bit
operating parameter
U8, rw
2
Same as object 6811
0x6912
0
Slope long 32bit preset
value
I32, rw
0
Same as object 6812
0x6913
0
Slope long 32bit offset
I32, rw
0
Same as object 6813
0x6914
0
Differential slope long
32bit offset
I32, rw
0
Same as object 6814
0x6920
0
Slope Lateral 32bit
(only for 2 -
Dimension)
I32, ro
Not used
0x6921
0
Slope lateral 32bit
operating parameter
(only for 2 -
Dimension)
U8, rw
2
Not used
0x6922
0
Slope lateral 32bit
preset value
(only for 2 -
Dimension)
I32, rw
0
Not used
0x6923
0
Slope lateral 32bit
offset
(only for 2 -
Dimension)
I32, rw
0
Not used
0x6924
0
Differential slope
lateral 32bit offset
(only for 2 -
Dimension)
I32, rw
0
Not used
0x6E11
0
Device temperature
(only for 2 -
Dimension)
I16, ro
Not used
0x7000
0
Resolution Angle 2
U16, rw
64h
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
objects (7110h and 7120h).
0x7010
0
Slope Long 16bit
Angle 2
I16, ro,
m
This object shall provide the 16-bit slope value of the longitudinal
axis. The value shall be given in degree (angle) with the resolution
given in object 7000h.
0x7011
0
Slope long operating
parameter Angle 2
U8, rw
2
If scaling is enabled, the Slope long16 value shall be calculated
accordingly to the following equation:
Slope long16 = physically measured angle + Differential slope
long16 offset + Slope long16 offset
If scaling is disabled, the Slope long16 value shall be equal to the
physical measured angle.
0x7012
0
Slope long 16bit preset
value Angle 2
I16, rw
0
Accessing this object by means of SDO shall set directly the
actual longitudinal slope value to a desired longitudinal slope
value. The calculated application-offset of the longitudinal slope
value is given in Slope long16 offset (object 7013h). The Slope
long16 offset is calculated with respect to object 7014h. The value
shall be given in degree (angle) with the resolution given in
object 7000h.
0x7013
0
Slope long 16bit offset
I16, rw
0
This object shall indicate the application-offset of the longitudinal
axis. The value shall be given in degree (angle) with the resolution
given in object 7000h. The following equation shall be applied:
Slope long16 offset = Slope long16 preset value at tacc –
slope physical measured at tacc – Differential slope long16 offset
(tacc = time when accessing object 7012h)
0x7014
0
Differential slope long
16bit offset Angle 2
I16, rw
0
This object shall shift the Slope long16 value (object 7010h)
independent of 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.
0x7020
0
Slope lateral 16bit
(only for 2 -
Dimension) Angle 2
I16, ro
Not used