Manual Inclination sensor GIM500R with CANopen® interface Firmware version 1.00 and up www.baumer.com 03.19· 174.02.073/4 Subject to modification in technic and design. Errors and omissions excepted.
Contents Page 1 Introduction ................................................................................................................................................. 3 1.1 Scope of delivery ....................................................................................................................................... 3 1.2 Product assignment ...................................................................................................................................
Disclaimer of liability 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. At any time we should be pleased receiving your comments and proposals for further improvement of the present manual. Created by: Baumer IVO GmbH & Co.
2 Safety and operating instructions Intended use The inclination sensor is a precision measuring device to determine angular positions and to supply the downstream device with measured values in the form of electronic output signals. The inclination sensor must not be used for any other purpose. Make sure the appropriate safety measures are present to prevent damage to persons, the system or operating facilities in case of sensor error or failure.
3 CAN-bus and CANopen communication CAN bus (CAN: Controller Area Network) was developed by Bosch and Intel for high-speed, economic data transmission in automotive applications. Today CAN bus has been commercialized for use in industrial automation. CAN bus is a fieldbus system (standards administered by CAN in Automation, CiA) for communication between appliances, actors and sensors of different brands. 3.
3.2 CANopen Under the technical management of the Steinbeis Transfer Centre for Automation, the CANopen profile was developed on the basis of the Layer 7 specification CAL (CAN Application Layer). In comparison with CAL, CANopen only contains the functions suitable for this application. CANopen thus represents only a partial function of CAL optimized for the application in hand, so permitting a simplified system structure and the use of simplified devices.
3.3.2 CANopen message structure The first part of a message is the COB ID (Identifier).
3.3.3 Service data communication The service data objects correspond to the standards of the CiA. It is possible to access an object via index and subindex. The data can be requested or where applicable written into the object.
Byte 8..5 results in the SDO abort message (byte 8 = MSB).
3.3.4 Process data communication Process data objects are used for real time data exchange for process data, for example inclination or operating status. PDOs can be transmitted synchronously or cyclically (asynchronously). Synchronous In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into the object 1800h Subindex 2.
3.3.
0x80+NodeID 00 00 00 00 22 00 00 00 0x80+NodeID 10 50 00 00 06 10 00 00 0x80+NodeID 00 00 00 00 06 00 00 00 „Longitudinal sensor defect“ was reset “Longitudinal value out of range” was set “Longitudinal value out of range” was reset CANopen Error List Error Module ID 0x0000 0x0001 0x0002 0x0003 0x0004 0x0005 0x0006 0x0007 0x0008 0x0009 0x000A 0x000B 0x000C 0x000D 0x000E 0x000F 0x0010 Baumer_GIM500R_CANopen_MA_EN.docx 03.
0x1000 0x0011 0x0012 0x0013 0x0014 0x0015 0x0016 0x0017 0x0018 0x0019 0x001A 0x001B 0x001C 0x001D 0x001E 0x001F 0x0020 Baumer_GIM500R_CANopen_MA_EN.docx 03.
0x0021 0x0001 0x0005 0x0006 0x0005 0x1000 0x1001 0x1000 0x1001 0x1002 0x1003 0x1004 0x1005 0x1006 0x1007 0x0005 0x0006 0x0006 0x0006 0x0006 0x000A 0x0005 0x0006 0x000A 0x0006 0x0022 0x0023 0x0024 0x0025 0x0026 0x0027 0x0028 0x0029 0x002A 0x002B 3.3.
NMT state event Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be read and written. In order to request PDO parameters, the encoder must first be moved to the operational mode status. Poweronon or hardware Power oder Hardware reset Reset Init BootUp Message 4/5 4/5 Pre-Operational 3 2 1 3 Stopped/Prepared 4/5 1 Operational 2 The various NMT statuses Init Following initialization, the encoder logs on to the CAN bus with a BootUp message.
Status change Start remote node (1) With the start command, the encoder is switched to the operational mode status. COB ID 0 Command byte 1h Node number 0…127 Stop remote node (2) With the stop command, the encoder is switched to the stopped or prepared mode status. COB ID 0 Command byte 2h Node number 0…127 Enter pre-operational mode (3) Change to the pre-operational mode status.
3.3.6.1 Heartbeat protocol The heartbeat protocol should substitute the life/node guarding protocol. Heartbeat is active, if object 2110h Bit5 has the value '0'. It is highly recommended to implement the heartbeat protocol for new device designs. A Heartbeat Producer transmits the Heartbeat message cyclically with the frequency defined in Heartbeat producer time object. One or more Heartbeat Consumer may receive the indication.
3.3.6.2 Layer Setting Services In the spring of 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The procedure is described under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS). The sensor is supplied by us as standard with the node ID 1 and a baud rate of 50 kBaud. Several sensors can be connected to the bus system with the same node ID. To allow individual sensors to be addressed, LSS is used.
Setting the node ID 7E5h 11h Node ID reserved 7E4h 11h ErrCode Spec error Node ID Error code Specific error reserved : The encoder's new node ID : 0=OK; 1=Node ID outside range; 2..254=reserved; 255Specific error : If Error code=255 application-specific error code. Setting the bit timing 7E5h 13h tableSel tableInd 7E4h 13h ErrCode TableSel reserved SpecError reserved : Selects the bit timing table TableInd Error code Specific error 0 : Standard CiA bit timing table 1..
Activate bit timing parameters The new bit timing parameters are activated with the command specifier 15h. 7E5h 15h Switch Delay Switch delay reserved : Reset delay in the slave in ms. After the delay, the sensor logs on with the new baud rate.
Range request Sensors can also be searched for within a certain range. For this purpose, the following objects are sent in sequence: 7E5h 46h Vendor ID reserved 7E5h 47h Product code reserved 7E5h 48h 7E5h 49h Revision number LOW Revision number HIGH reserved reserved 7E5h 4Ah 7E5h 4Bh Serial number LOW Serial number HIGH reserved reserved Each sensor with the relevant parameters logs on with the following message: 7E4h 4Fh reserved Object Dictionary 3.
Communication Parameter (CiA DS-301, CiA DS-302 Part 2) 3.4.1 Object Name Format Access Default Save Sub-Index 1000h Device Type U32 ro 102019Ah 1001h Error Register U8 ro 0h 1002h Manufacturer Status register U32 ro 0h 1003h PreDefined ErrorField 00h Maximum Subindex U8 rw 0h 01h Latest entry U32 ro .. .. .. .. 05h Oldest entry .. U32 ro 1005h Sync COB-ID U32 rw 80h 1008h DeviceName VSTR ro GIM500 1009h Hardware Version VSTR ro 1.
Object Name Format Access Default Save U16 rw C8h yes 00h Maximum Subindex U8 ro 3h 01h Content of PDO1 U32 ro 65110010h 02h Content of PDO1 U32 ro 60100010h 03h Content of PDO1 U32 ro 60200010h U32 rw 0h Sub-Index 05h EventTimer 1A00h Transmit PDO1 Mapping 1F80h NMT startup yes 3.4.1.1 Store Parameters (1010h) In order to save parameters object 1010h has to be accessed.
3.4.2.1 Baud rate (2100h) The baud rate can be changed and read through this object (Additionally to LSS). The following parameters are possible: Baud rate (2100h) Value Description 2 50kBaud 3 100kBaud 4 125kBaud 5 250kBaud 6 500kBaud 7 800kBaud 8 1000kBaud The new baud rate will take effect after a restart. 10kBaud is not supported. 3.4.2.2 Node-ID (2101h) The Node-ID can be changed and read through this object (Additionally to LSS). The parameters are possible: Node-ID (2101h) Value Description 1..
3.4.2.4 Digital Filter Configuration (2603h) The digital filter’s cut-off frequency can be adjusted through this object. The cut-off frequency has to be written to the device in 0.1 Hz resolution (i.e. a cut-off frequency of 5 Hz has to be configured by writing a 50d to the device. The following cut-off frequencies are possible: Digital Filter Configuration (2603h) Cut-off Frequency Description 0 Digital Filter deactivated 0.1..1Hz In 0.1Hz steps 1..30Hz In 1Hz steps 3.4.
3.4.3.1 Resolution (6000h) This object shall indicate the resolution of the Slope at X axis (object 6010h) and the Slope a Y axis (object 6020h) objects based on 0,001°. This resolution is also valid for the 32-bit value objects (6110h and 6120h). Ex works the default value is 0,1° (64h). The following table describes all possible resolutions: Resolution (6000h) Value 01h (1d) Ah (10d) 64h (100d) 3E8h (1000d) Description 0,001° 0,01° 0,1° 1° 3.4.3.
Chart Scaling function for 1-dimensional: A tilt angle B Differential slope offset C Slope offset output tilt angle The operating parameters are applied for the according slope (i.e. 6011h operating parameter influences 6010h slope). The 16bit and 32bit values are hardwired internally (i.e. changing the operating parameter at 6011h changes the operating parameter at 6111h) 3.4.3.3 Offset parameters and calculation This object shall indicate the application offset of the longitudinal axis.
3.5 LED status display The LED status display is according to DS-303 Part 3 V1.0.0 with some exceptions. The following defined LED behaviors are overwritten by the application in case of a severe internal error. 3.5.1 CANopen Status LED (Green) Status LED Single flash Blinking State STOPPED PREOPERATIONAL On OPERATIONAL Off Power off 3.5.
4 Terminal assignment 4.1 M12 flange connector, 5-pin Pin 1 2 3 4 5 4.
