User Manual

Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev03.docx 9/23 Baumer – Sensor Systems s.r.l.
10.04.2018 Chiari (Bs), Italy
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
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2B
0x00
0x60
0x00
PAR
0x00
0x00
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 0.1mm unit
0x04
Positive direction (length increase pulling the cable), resolution depends on object 0x6005
0x05
Negative direction (length decrease pulling the cable), resolution depends on object 0x6005
5.3.4.2 reverse both channels individually
send the SDO message for channel 1
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2F
0x02
0x21
0x01
DIR
0x00
0x00
0x00
send the SDO message for channel 2
1
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x2F
0x02
0x21
0x02
DIR
0x00
0x00
0x00
where DIR is the direction: 0 = positive, 1 = negative
Note1: if at least one of the two channels has the positive direction, the object 6000 specifies a positive direction.
Note2: after setting the new entries a SAVE command (see par. “How to save datas”) followed by a turnoff and on.
5.3.5 How to change the length resolution
Set the parameters as explained in previous paragraph, then send the SDO message
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x23
0x05
0x60
0x01
R0
R1
R2
R3
where R0...R3 represents the unit of measure of the output length, expressed in nm (nanometer).
For example, to obtain a resolution of 1mm:
R0 = 0x40, R1 = 0x42, R2 = 0x0F, R3 = 0x00
It means R = 0x000F4240 (1000000 decimal) = 1000000nm = 1mm.
Note: after setting the new entries a SAVE command (see par. “How to save data”) followed by a turnoff and on.
5.3.6 How to set the length zero
Send the SDO message to set the zero of channel 1
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x23
0x10
0x60
0x01
0x00
0x00
0x00
0x00
Send the SDO message to set the zero of channel 2
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x600 + ID
8
0x23
0x10
0x60
0x02
0x00
0x00
0x00
0x00
Note: after setting the new entries a SAVE command (see paragraph 5.2 Save/load) followed by a turnoff
and on.