EN

Manual
Absolute Encoder with CANopen
(with bus cover)
Firmware version from 1.00
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 7720 942-0
Fax +49 7720 942-900
[email protected]
www.baumer.com
.11.12 · 174.02.022/11
Subject to modification in technic and design.
Errors and omissions excepted.
Contents
Page
1. Introduction
3
1.1.
1.2.
3
4
Scope of delivery
Product assignment
2. Safety and operating instructions
5
3. Product families
6
4. CAN bus and CANopen communication
7
4.1.
4.1.1.
4.2.
4.3.
4.3.1.
4.3.2.
4.3.3.
4.3.4.
4.3.5.
4.3.6.
4.3.7.
4.4.
4.4.1.
4.4.2.
CAN bus
CAN bus characteristics
CANopen
CANopen communication
Communication profile
CANopen message structure
Service data communication
Process data communication
Emergency service
Network management services
Layer Setting Services
Encoder profile
Overview of encoder objects
Detailed object list (DS-301)
7
7
8
9
9
9
10
11
13
14
18
21
21
25
5. Diagnosis and useful information
40
5.1.
5.2.
5.3.
40
40
41
Error diagnosis field bus communication
Error diagnosis via field bus
Useful information relating to the sensor
6. Applications
42
6.1.
6.2.
6.3.
6.4.
42
43
44
46
Setting and reading objects
Configuration
Operation
Use the encoder via CAN interface
7. Terminal assignment and commissioning
48
7.1.
7.2.
7.2.1.
7.2.2.
7.2.3.
7.2.4.
7.2.5.
7.3.
48
48
48
49
49
49
52
52
Mechanical mounting
Electrical connection
Setting the user address (Node ID)
Setting the baud rate
Terminating resistor
Bus cover connection
Terminal assignment
Display elements (status display)
Manual_CANopen_BIDE_EN.docx
21.11.12
2/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason
Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual.
Baumer IVO 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 document.
1. Introduction
1.1. Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number delivery is including:
Basic encoder
Bus cover
CD with describing file and manual (also available as download in the Internet)
Manual_CANopen_BIDE_EN.docx
21.11.12
3/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
1.2. Product assignment
Shaft encoder
Product
Product code
Device Name
Eds file
Product family
GBAMW
0x0F
GBAM
GBAMW_H.eds
multivoPlus - Singleturn
GBMMW
0x0E
GBMM
GBMMW_H.eds
multivoPlus - Multiturn
GBLMW
0x0E
GBMM
GBMMW_H.eds
multivoPlus - Multiturn
GCAMW
0x0D
GCAM
GCAMW_H.eds
magtivo® - Singleturn
GCMMW
0x0C
GCMM
GCMMW_H.eds
magtivo® - Multiturn
GEMMW
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn (stainless steel)
GXAMW
0x0B
GXAM
GXAMW_H.eds
multivo® - Singleturn
GXMMW
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
GXLMW
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
End shaft encoder
Product
Product code
Device Name
Eds file
Product family
GBAMS
0x0F
GBAM
GBAMW_H.eds
multivoPlus - Singleturn
GBMMS
0x0E
GBMM
GBMMW_H.eds
multivoPlus - Multiturn
GBLMS
0x0E
GBMM
GBMMW_H.eds
multivoPlus - Multiturn
GCAMS
0x0D
GCAM
GCAMW_H.eds
magtivo® - Singleturn
GCMMS
0x0C
GCMM
GCMMW_H.eds
magtivo® - Multiturn
GXAMS
0x0B
GXAM
GXAMW_H.eds
multivo® - Singleturn
GXMMS
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
GXLMS
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
Hollow shaft encoder
Product
Product code
Device Name
Eds file
Product family
G0AMH
0x0B
GXAM
GXAMW_H.eds
multivo® - Singleturn
G0MMH
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
G0LMH
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
G1AMH
0x0B
GXAM
GXAMW_H.eds
multivo® - Singleturn
G1MMH
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
G2AMH
0x0B
GXAM
GXAMW_H.eds
multivo® - Singleturn
G2MMH
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn
GBAMH
0x0F
GBAM
GBAMW_H.eds
multivoPlus - Singleturn
GBLMH
0x0E
GBMM
GBMMW_H.eds
multivoPlus - Multiturn
GBMMH
0x0E
GBMM
GBMMW_H.eds
multivoPlus - Multiturn
GEMMH
0x0A
GXMM
GXMMW_H.eds
multivo® - Multiturn (stainless steel)
Manual_CANopen_BIDE_EN.docx
21.11.12
4/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
2. Safety and operating instructions
Supplementary information
This manual is intended as a supplement to already existing documentation (i.e. catalogues, product
information and assembly instructions).
The manual must be read without fail before initial commissioning of the equipment.
Intended purpose of the equipment
The encoder is a precision measurement device. It is used to determine angular positions and
revolutions, and to prepare and supply measured values in the form of electrical output signals for the
follow-on device systems. The encoder may only be used for this purpose.
Commissioning
The encoder may only be installed and assembled by suitably qualified experts.
Observe the operating instructions of the machine manufacturer.
Safety remarks
Prior to commissioning the equipment, check all electrical connections.
If installation, electrical connection or any other work performed at the encoder or at the equipment is not
correctly executed, this can result in a malfunction or failure of the encoder.
Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating
equipment as a result of encoder failure or malfunction by providing suitable safety precautions.
Encoders must not be operated outside the specified limited values (see detailed product documentation).
Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property.
Transport and storage
Only ever transport or store encoders in their original packaging.
Never drop encoders or expose them to major vibrations.
Assembly
Avoid impacts or shocks on the housing and shaft / hollow shaft.
Avoid any twist or torsion on the housing.
Do not open the encoder or make any mechanical changes to it.
The shaft, ball bearings, glass pane or electronic components can be damaged. In this case, safe and reliable
operation cannot be guaranteed.
Electrical commissioning
Do not make any electrical changes at the encoder.
Do not carry out any wiring work when the encoder is live.
Never plug or unplug the electrical connection when the encoder is live.
Ensure that the entire plant is installed in line with EMC requirements. The installation environment and
wiring affect the electromagnetic compatibility of the encoder. Install the encoder and supply cables
separately or at a long distance from cables with high interference emissions (frequency converters,
contactors etc.)
Where working with consumers which have high interference emissions, make available a separate
power supply for the encoder.
Completely shield the encoder housing and connecting cable.
Connect the encoder to the protective earth (PE) conductor using shielded cable. The braided shield must
be connected to the cable gland or plug. Ideally, aim at bilateral connection to protective earth (PE), the
housing via the mechanical assembly, the cable shield via the downstream connected devices. In case of
earth loop problems, earth on one side only as a minimum requirement.
Failure to observe these instructions can result in malfunctions, material damage or personal injury.
Manual_CANopen_BIDE_EN.docx
21.11.12
5/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
3. Product families
The product family architecture is modular. Depending on what is required from the encoder, the basic
encoder and bus covers can be combined at will with the selected bus system.
The basic encoders differ in terms of accuracy, ambient conditions and the utilized sensing principle.
Bus cover
The bus cover accommodates the field bus interface and the complete electronics for processing the
measured values. EtherNet/IP communication is performed via the specialized EtherNet/IP-ASIC ERTEC200
with integrated high-performance microcontroller ARM9.
Magres / magtivo®
Utilizes a magnetic sensing principle and endures harsh industrial environments.
Procoder / multivo®
Utilizes a photoelectric sensing principle and is the recommended product for precise applications.
Dignalizer / activo® / multivoPlus®
Utilizes a photoelectric sensing principle with integrated analog/digital signal conversion and is the product to
choose for ultra-precise sensing applications.
The bus covers differ by the respectively integrated bus interface.
Available bus interfaces: CANopen, DeviceNet, EtherCAT, Ethernet/IP, Profibus-DP, Profinet, Powerlink,
Power over EtherCAT, SAE J1939, SSI.
All encoders enable parameterization by bus interface.
Functional principle:
basic encoder
Manual_CANopen_BIDE_EN.docx
21.11.12
bus cover
6/52
complete encoder
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4. CAN bus and CANopen communication
4.1. CAN bus
The CAN bus (CAN: Controller Area Network) was originally developed by Bosch and Intel as a means of
fast, low-cost data transmission in automotive applications. The CAN bus is used today also in industrial
automation applications.
The CAN bus is a field bus (the standards are defined by the CAN in Automation (CiA) Association) through
which devices, actuators and sensors from different manufacturers can communicate with each other.
4.1.1. CAN bus characteristics
• Data rate of 1 MBaud with network expansion up to 40 m
• Network connected on both sides
• The bus medium is a twisted-pair cable
• Real time capability: Defined maximum waiting time for high-priority messages.
• Theoretically 127 users at one bus, but physically only 32 are possible (due to the driver).
• Ensures data consistency across the network. Damaged messages are notified as faulty for all network
nodes.
• Message-oriented communication
The message is identified by a message identifier. All network nodes use the identifier to test whether the
message is of relevance for them.
• Broadcasting, multicasting
All network nodes receive each message simultaneously. Synchronization is therefore possible.
• Multimaster capability
Each user in the field bus is able to independently transmit and receive data without being dependent upon
the priority of the master. Each user is able to start its message when the bus is not occupied. When
messages are sent simultaneously, the user with the highest priority prevails.
• Prioritization of messages
The identifier defines the priority of the message. This ensures that important messages are transmitted
quickly via the bus.
• Residual error probability
Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to
-11
below 10 . In practical terms, it is possible to ensure a 100% reliable transmission.
• Function monitoring
Localization of faulty or failed stations. The CAN protocol encompasses a network node monitoring function.
The function of network nodes which are faulty is restricted, or they are completely uncoupled from the
network.
• Data transmission with short error recovery time
By using several error detection mechanisms, falsified messages are detected to a high degree of
probability. If an error is detected, the message transmission is automatically repeated.
In the CAN Bus, several network users are connected by means of a bus cable. Each network user is able to
transmit and receive messages. The data between network users is serially transmitted.
Examples of network users for CAN bus devices are:
• Automation devices such as PLCs
• PCs
• Input and output modules
• Drive control systems
• Analysis devices, such as a CAN monitor
• Control and input devices as Human Machine Interfaces (HMI)
• Sensors and actuators
Manual_CANopen_BIDE_EN.docx
21.11.12
7/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.2. 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. CANopen is optimized for fast data exchange in real time systems.
The organization CAN in Automation (CiA) is responsible for the applicable standards of the relevant profiles.
CANopen permits:
• Simplified access to all device and communication parameters
• Synchronization of several devices
• Automatic configuration of the network
• Cyclical and event-controlled process data communication
CANopen comprises four communication objects (COB) with different characteristics:
• Process data objects for real time data (PDO)
• Service data objects for parameter and program transmission (SDO)
• Network management (NMT, Heartbeat)
• Pre-defined objects (for synchronization, emergency message)
All device and communication parameters are subdivided into an object directory. An object directory
encompasses the name of the object, data type, number of subindexes, structure of the parameters and the
address. According to CiA, this object directory is subdivided into three different parts. Communication profile,
device profile and a manufacturer-specific profile (see object directory).
Manual_CANopen_BIDE_EN.docx
21.11.12
8/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.3. CANopen communication
4.3.1. Communication profile
Communication between the network users and the Master (PC / Control) takes place by means of object
directories and objects. The objects are addressed via a 16 bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. They are accordingly divided into several groups:
• Process data objects PDO for real time transmission of process data
• Service data objects SDO for read/write access to the object directory
• Objects for synchronization and error display of CAN users:
SYNC object (synchronization object) for synchronization of network users
EMCY object (emergency object) for error display of a device or its peripherals
• Network management NMT for initialization and network control
• Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the
middle of an existing network
4.3.2. CANopen message structure
The first part of a message is the COB ID (Identifier).
Structure of the 11-bit COB ID :
Function code
4-bit function code
Node ID
7-bit node ID
The function code provides information on the type of message and priority
The lower the COB ID, the higher the priority of the message
Broadcast messages:
Function code
NMT
SYNC
COB ID
0
80h
Peer to peer messages:
Function code
Emergency
1)
PDO1 (tx)
1)
PDO2 (tx)
1)
SDO (tx)
1)
SDO (rx)
Heartbeat
1)
LSS (tx)
1)
LSS (rx)
COB ID
80h + Node ID
180h + Node ID
280h + Node ID
580h + Node ID
600h + Node ID
700h + Node ID
7E4h
7E5h
1): (tx) and (rx) from the viewpoint of the encoder
The node ID can be freely selected by means of the CANopen bus between 1 and 127 (if encoder = 0). The
encoders are supplied with the Node ID 1.
This can be changed with the service data object 2101h or using LSS.
A CAN telegram is made up of the COB ID and up to 8 bytes of data:
COB ID DLC
Xxx
x
Byte 1
xx
Byte 2
xx
Byte 3
xx
Byte 4
xx
Byte 5
xx
Byte 6
xx
Byte 7
xx
Byte 8
xx
The precise telegram is outlined in more detail at a later point.
Manual_CANopen_BIDE_EN.docx
21.11.12
9/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.3.3. 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.
General information on the SDO
Structure of an SDO telegram:
COB ID
DLC
Command
Object L
Object H
Subindex Data 0
Data 1
Data 2
Data 3
An SDO-COB ID is composed as follows:
Master -> Encoder
: 600h + Node ID
Encoder -> Master
: 580h + Node ID
DLC (data length code) describes the length of the telegram. This is composed as follows:
1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0 - 4).
The command byte defines whether data is read or set, and how many data bytes are involved.
SDO command
22h
23h
2Bh
2Fh
Description
Download request
Download request
Download request
Download request
Data length
Max. 4 Byte
4 byte
2 byte
1 byte
60h
40h
Download response
Upload request
-
Confirms receipt to master
Requests parameter from encoder
42h
43h
4Bh
4Fh
Upload response
Upload response
Upload response
Upload response
Max. 4 byte
4 byte
2 byte
1 byte
Parameter to master with max. 4 byte
80h
Abort message
-
Encoder signals error code to master
Transmits parameter to encoder
An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The object
and subindex are those of the requested object. The error code is contained in bytes 5 – 8.
ID
DLC
580h + Node ID 8
Byte 1
80h
Byte 2
Object L
Byte 3
Object H
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3
Byte 8..5 results in the SDO abort message (byte 8 = MSB).
The following messages are supported:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
: Command byte is not supported
: Incorrect access to an object
: Read access to write only
: Write access to read only
: Object is not supported
: Subindex is not supported
: Value outside the limit
: Value too great
: General error
: Incorrect save signature
: Data cannot be stored
Manual_CANopen_BIDE_EN.docx
21.11.12
10/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
SDO examples
Request of a value by the master from the slave
A frequent request will be a request for position.  Object 6004h
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
04h
60h
0
40h
x
Data
1
x
Data
2
x
Data
3
x
Data
1
b
Data
2
c
Data
3
d
Data
1
b
Data
2
c
Data
3
d
Data
1
0
Data
2
0
Data
3
0
Response by the slave to the request for a value
The position is 4 bytes long, the precise values can be found under object 6004h.
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
04h
60h
0
43h
a
Writing of a value by the master into the slave
Position setting can be performed with preset.  Object 6003h
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
03h
60h
0
22h
a
Slave's response to the writing of a value
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
03h
60h
0
60h
0
4.3.4. Process data communication
Process data objects are used for real time data exchange for process data, for example position or operating
status. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder supports the
PDO1 and the PDO2. Both PDOs supply the current position of the encoder and are defined in the objects
1800h, 1801h, 1A00h, 1A01, 2800h, 2801h and 6200h.
Synchronous
In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into
the object 1800h / 1801h Subindex 2. If the value is 3, the PDO is transmitted on every third sync telegram (if
the value 1 is entered, transmission takes place on every sync telegram), as long as there is a 0 written into
the object 2800h / 2801h. If it contains for example a 5, the PDO will continue to be written as before on every
third Sync telegram, but only a total of 5 times. Accordingly, the last PDO is written on the 15th sync
telegram. The counter for the number of PDOs to be transmitted is reset in the event of a position change or
NMT reset, i.e. unless it is changed, the position is transmitted five times. If the position changes, it is
transmitted a further five times.
In synchronous operation, the PDO is requested by the master via the Sync telegram.
Byte 0
COB ID = 80
Byte 1
0
Cyclical (asynchronous)
If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h / 1801h
Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object subindex 5. The
entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The function
is switched off.
The object 2800h / 2801h offers another possibility: If the value is 0, cyclical transmission runs as described
above. If the value is 1, a cyclical test is performed as to whether a change of the value has occurred. If not,
no transmission takes place. If the value is 4, the PDO is transmitted four times with each cycle if there is a
change.
Manual_CANopen_BIDE_EN.docx
21.11.12
11/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Overview
In the following table, the different transmission modes for PDOs are summarized:
1800h
Sub2
Sub5
FEh
3ms
FEh
5ms
FEh
0ms
FEh
0ms
3
xxx
3
xxx
2800h
0
2
0
xxx
0
2Bh
Summarized description
Cyclical transmission every 3 ms
Every 5 ms, the PDO is sent twice if there is a change
Transmit PDO switched off
Transmit PDO switched off
Transmit with every third sync telegram
On every third sync telegram, but only 43 times in total (=2Bh).
PDO (Position)
PDO1 telegram structure:
ID
181h
DLC
4
ID
Length
Byte1 - 4
Byte 1
Xx
Byte 2
Xx
Byte 3
Xx
Byte 4
Xx
: 180h + node ID
: 4 DataByte
: Current position in increments
PDO2 telegram structure:
ID
281h
ID
Length
Byte1 - 4
DLC
4
Byte 1
Xx
Byte 2
Xx
Byte 3
Xx
Byte 4
Xx
: 280h + node ID
: 4 DataByte
: Current position in increments
Manual_CANopen_BIDE_EN.docx
21.11.12
12/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.3.5. Emergency service
Internal device error or bus problems initiate an emergency message:
COB-ID
DLC Byte0 Byte 1
80h+Node-ID
8
Error Code
00h
01h
Byte 2
Error register
1001h
Byte 3
Byte 4
Alarms 6503h
Byte 5
Byte 6
Warning 6505h
Byte 7
-
Byte 0..1: Error Codes
Error Code (hex) Meaning
0000
Error Reset or No Error
1000
Generic Error
5530
EEPROM error (from V1.04)
6010
Software reset (Watchdog) (from V1.04)
7320
Position error (from V1.04)
7510
Internal communication error (from V1.04)
8130
Life Guard error or Heartbeat error (from V1.04)
FF00
Battery low (from V1.04)
Byte 2: Error-Register
Bit
Meaning
0
Generic Error
4
Communication error (from V1.04)
7
manufacturer specific (from V1.04)
Byte 3..4 Alarms
Bit
0
Meaning
Position error activ
Byte 5..6 Warning
Bit
Meaning
2
CPU watchdog status
4
Battery charge
Wert = 0
Nein
Wert = 1
Ja
Wert = 0
OK
OK
Wert = 1
Reset done
Battery low
Byte 7: not used
Manual_CANopen_BIDE_EN.docx
21.11.12
13/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.3.6. Network management services
Network management can be divided into two groups.
Using the NMT services for device monitoring, bus users can be initialized, started and stopped.
In addition, NMT services exist for connection monitoring.
Description of the NMT command
The commands are transmitted as unconfirmed objects and are structured as follows:
Byte 0
COB ID = 0
Byte 1
Command byte
Byte 2
Node number
The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command.
Command byte
Command byte
01h
02h
80h
81h, 82h
Description
Start remote node
Stop remote node
Enter pre-operational mode
Reset remote node
In state event drawing
1
2
3
4, 5
The node number corresponds to the node ID of the required users. With node number = 0, all users are
addressed.
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.
Hardware
Reset
Power on oder
or hardware
reset
Init
BootUp Message
4/5
4/5
Pre-Operational
3
2
1
3
Stopped/Prepared
4/5
1
Operational
Manual_CANopen_BIDE_EN.docx
21.11.12
2
14/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
The various NMT statuses
Init
Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes
automatically to the pre-operational mode status.
The COB ID of the BootUp message is made up of 700h and the node ID.
COB ID
Byte 0
700h + node ID 00
Pre-operational mode
In the pre-operational mode, SDOs can be read and written.
Operational mode
In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and
written.
Stopped or prepared mode
In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is
only possible in the stopped mode.
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.
COB ID
0
Command byte
80h
Node number
0..127
Reset remote node (4) or reset communication (5)
With the reset command, the encoder is re-initialized.
Reset remote node (4):
COB ID
0
Command byte
81h
Node number
0..127
Reset communication (5):
COB ID
0
Command byte
82h
Manual_CANopen_BIDE_EN.docx
21.11.12
Node number
0..127
15/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Node and Life Guarding
The „CAN in Automation“ association CiA
recommend to use the new heartbeat
protocol (see next chapter).
To use the node guarding instead of
heartbeat protocol bit 5 of object 2110h has
to be set.
To detect absent devices (e.g. because of
bus-off) that do not transmit PDOs
regularly, the NMT Master can manage a
database, where besides other information
the expected states of all connected
devices are recorded, which is known as
Node Guarding. With cyclic node guarding
the NMT master regularly polls its NMT
slaves. To detect the absence of the NMT
master, the slaves test internally, whether
the Node Guarding is taking place in the
defined time interval (Life Guarding). The
Node Guarding is initiated by the NMT
Master in Pre-Operational state of the slave
by transmitting a Remote Frame.
The NMT Master regularly retrieves the
actual states of all devices on the network
by a Remote Frame and compares them to
the states recorded in the network
database. Mismatches are indicated first
locally on the NMT Master through the
Network Event Service. Consequently the
application must take appropriate actions to
ensure that all devices on the bus will got to
a save state "Communication error Object
1029h-1h"
Example for a nodeguarding protocol:
COB-ID
701h
701h
701h
701h
Data/ Remote
r
d
r
d
Byte 0
00h (0d)
FFh (255d)
00h (0d)
7Fh (127d)
Possible NMT node states:
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-operational
in other words, the encoder is in the pre-operational mode (7Fh = 127).
Manual_CANopen_BIDE_EN.docx
21.11.12
16/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Heartbeat protocol
The optional heartbeat protocol should
substitute the life/node guarding protocol.
Heartbeat ist aktiv, wenn im Objekt 2110h Bit
5 auf '0' ist. It is highly recommend to
implement for new device designs the
heartbeat protocol. 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. The
relationship between producer and consumer
is configurable via Object Dictionary entries.
The Heartbeat Consumer guards the reception
of the Heartbeat within the Heartbeat
consumer time.
If the Heartbeat is not received within this time
a Heartbeat Event will be generated "Communication error object 1029h-1h".
Example for a heartbeat protocol
COB-ID
701h
Data/Remote
d
Byte 0
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 encoder is in the pre-operational mode (7Fh = 127).
Attention: Only one each of the above node guarding mechanism can be set.
Default:
Optional:
Heartbeat
NodeGuarding (see object 2110)
Manual_CANopen_BIDE_EN.docx
21.11.12
17/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.3.7. 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 encoder is supplied by us as standard with the node ID 1 and a baud rate of 50 kBaud. Several encoders
can be connected to the bus system with the same node ID. To allow individual encoders to be addressed,
LSS is used.
Each encoder is fitted with its own unique serial number and is addressed using this number. In other words,
an optional number of encoders with the same node ID can be connected to one bus system, and then
initialized via LSS. Both the node ID and also the baud rate can be reset. LSS can only be executed in the
Stopped Mode.
Message structure
COB ID:
Master  Slave
: 2021 = 7E5h
Master  Slave
: 2020 = 7E4h
After the COB ID, an LSS command specifier is transmitted.
This is followed by up to seven attached data bytes.
COB ID cs
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Switch Mode Global
7E5h  04h
Mode
Mode
Reserved
: 0  Operation mode
1  Configuration mode
Selective switch mode
The following procedure can be used to address a certain encoder in the bus system.
7E5h  40h
Vendor ID
reserved
7E5h  41h
Product code
reserved
7E5h  42h
Revision number
reserved
7E5h  43h
Serial number
reserved
7E4h  44h
Mode
reserved
Vendor Id
Product code
Revision number
Serial number
Mode
: ECh
: Internal product code for the respective encoder
: Current revision number of the encoder
: Unique, consecutive serial number
: The encoder's response is the new mode (0=operating mode; 1=configuration mode)
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; 255Specific error
: If Error code=255  application-specific error code.
Manual_CANopen_BIDE_EN.docx
21.11.12
18/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
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..127 : Reserved for CiA
128..255 : Manufacturer-specific tables
: Bit timing entry in selected table (see table below).
: 0=OK; 1=Bit timing outside range; 2..254=reserved; 255Specific error
: If Error code=255  Application-specific error code.
Standard CiA table
Baud rate
1000 kBaud
800 kBaud
500 kBaud
250 kBaud
125 kBaud
100 kBaud
50 kBaud
20 kBaud
10 kBaud
Table Index
0
1
2
3
4
5
6
7
8
Saving the configuration protocol
This protocol saves the configuration parameters in the EEPROM.
7E5h  17h
reserved
7E4h  17h
ErrCode
Error code
Specific error
SpecError
Reserved
: 0=OK;1=Saving not supported;2=Access error;3..254=reserved;255Specific error
: If error code=255  Application-specific error code.
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 encoder logs on with the new baud rate.
Request vendor ID
Requesting the vendor ID of a selected encoder
7E5h  5Ah
reserved
7E4h  5Ah
32 bit vendor ID
Vendor ID
reserved
: = ECh
Manual_CANopen_BIDE_EN.docx
21.11.12
19/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Request product code
Request product code of a selected encoder
7E5h  5Bh
reserved
7E4h  5Bh
Product code
Product code
reserved
: Manufacturer-dependent product code
Request revision number
Request revision number of a selected encoder
7E5h  5Ch
reserved
7E4h  5Ch
32 bit revision number
Revision number
reserved
: Current revision
Request serial number
Request serial number of a selected encoder
7E5h  5Dh
reserved
7E4h  5Dh
32 bit serial number
Serial number
reserved
: Unique consecutive serial number of the encoder
Range request
Encoders 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 encoder with the relevant parameters logs on with the following message:
7E4h  4Fh
reserved
Manual_CANopen_BIDE_EN.docx
21.11.12
20/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.4. Encoder profile
4.4.1. Overview of encoder objects
According to CiA (CAN in Automation), objects are subdivided into three groups:
Standard objects:
1000h, 1001h, 1018h
Manufacturer-specific objects:
2000h - 5FFFh
Device-specific objects:
All other objects from 1000h - 1FFFh, 6000h - FFFFh
The following table provides a summary of all SDO objects supported by the encoder.
Object Object number in Hex
Name
--Type
U/I = Unsigned/Integer , No. = no of bits, ARR = Array
Attr
ro = read only, wo = write only, rw = read write
Default Default value on first init
EE
1 = is stored in the EEPROM
Info
Additional info
Object
Name
1000h Device type
Type Attr
U32 ro
1001h
1003h
00h
01h
U8
ARR
U8
U32
..
08h
1005h
1008h
1009h
100Ah
100Ch
100Dh
1010h
00h
01h
02h
03h
Error register
Predefined error field
Biggest subindex
Last entry
..
Oldest entry
Sync COB ID
Device name
Hardware version
Software version
Guard Time
Life Time factor
Store parameters
Biggest subindex
Save all parameters
Communication parameters
Application parameters
Manual_CANopen_BIDE_EN.docx
21.11.12
..
U32
U32
U32
U32
U32
U16
U8
ARR
U8
U32
U32
U32
ro
rw
ro
Default
EE
Info
00020196h
Multiturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =2 (Multiturn, absolute)
00010196h
Singleturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =1 (Singleturn, absolute)
0h
Bit0=Generic Error
Contains the last 8 errors or warnings
0h
Number of stored messages (0 - 8)
Error or warning
..
ro
rw
ro
ro
ro
rw
rw
..
80h
"GXMM"
"GXAM"
"GCMM“
"GCAM"
"GDMM"
"GDAM"
“GBMMW”
“GBAMW”
actual value
actual value
0h
0h
ro
rw
rw
rw
4h
21/52
1
1
1
1
1000h Generic Error
5530h EEPROM Error
6010h Software Reset (Watchdog)
7320h Positions-Error
7510h Internal communication-Error
8130h Life Guard Error or Heartbeat Error
FF00h Battery low
..
Error or warning
COB ID of the sync object
Device name =
"GXMM" multivo Multiturn
"GXAM" multivo Singleturn
"GCMM“ magtivo Multiturn
"GCAM“ magtivo Singleturn
"GDMM" activo Multiturn
"GDAM" activo Singleturn
"GBMM" multivoPlus Multiturn
"GBAM" multivoPlus Singleturn
Hardware version in ASCII
Software version in ASCII
Node Guarding Timer
Multiplicator of Guard Time
No. of save possibilities 4
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object
04h
1011h
00h
01h
02h
03h
04h
Name
Manuf. specific parameters
Restore default parameters
Biggest subindex
All parameters
Communication parameters
Application parameters
Manufacturer specific
parameters
1014h Emergency COB ID
1016h Consumer heart beat time
00h Biggest subindex
01h Consumer heartbeat time
Type
U32
ARR
U8
U32
U32
U32
U32
Attr
rw
ro
rw
rw
rw
rw
4h
U32
ARR
rw
80h +Node ID
1
COB ID of the emergency object
U32
ro
rw
1h
10000h
1
1017h
1018h
00h
01h
02h
U16
U32
U8
U32
U32
rw
ro
ro
ro
ro
0h
1
Bit0..15 Consumer Heartbeat time in ms
Bit16..23 Node-ID
Producer Heartbeat time in ms
Producer heartbeat time
Identity object
Biggest subindex
Vendor ID
Product code
03h
04h
1029h
00h
01h
Revision number
Serial number
Error behavior
Biggest subindex
Communication error
U32
U32
ARR
U8
U8
1800h
00h
01h
02h
05h
1801h
00h
01h
02h
05h
1A00h
00h
01h
1A01h
00h
01h
2100h
Transmit PDO1 parameter
Biggest subindex
COB ID
PDO type
Event timer
Transmit PDO2 parameter
Biggest subindex
COB ID
PDO type
Event timer
Transmit PDO1 mapping
Biggest subindex
Content of PDO1
Transmit PDO2 mapping
Biggest subindex
Content of PDO2
Baud rate
REC
U8
U32
U8
U16
REC
U8
U32
U8
U16
ARR
U8
U32
ARR
U8
U32
U8
2101h
Node ID
U8
Manual_CANopen_BIDE_EN.docx
21.11.12
Default
EE
4h
ECh
Info
=“save“ (0x73617665) to save
No. of reset possibilities = 4
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
1
1
Vendor no. issued by CiA
Product Code:
0Ah = multivo multiturn
0Bh = multivo singleturn
0Ch = magtivo multiturn
0Dh = magtivo singleturn
0Eh = activo/multivoPlus multiturn
0Fh = activo/multivoPlus singleturn
Current revision number
Unique consecutive serial number
(V1.04+)
ro
ro
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Actual value
xyz
1
ro
rw
1h
1h
1
0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
ro
rw
rw
rw
5h
180h+id
FEh
203h
1
1
1
PDO ID = 180h + node ID
FEh=User defined, cyclical
Cycle time in ms
ro
rw
rw
rw
5h
280h+id
2h
100h
1
1
1
PDO ID = 280h + Node ID
2h= synchronous operation
Cycle time in ms
ro
ro
1h
60040020h
ro
ro
rw
1h
60040020h
2h
1
rw
1h
1
22/52
Read only, although from CiA as read write
Read only, although from CiA as read write
After setting the baud rate, the EEPROM must
be saved and reinitialized
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
Node number 1 -127 possible
After setting the baud rate, the EEPROM must
be saved and reinitialized.
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object
Name
2110h Manufactures_Options
Type Attr
U32 rw
2201h
00h
01h
02h
03h
REC
U8
U32
U32
U32
ro
ro
ro
ro
3h
0h
0h
0h
ARR
U8
U16
U16
U16
U16
U16
U16
U16
U16
U8
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
8h
0h
0h
0h
0h
0h
0h
0h
0h
0h
1
1
1
1
1
1
1
1
1
Repeat counter for PDO1
U8
rw
0h
1
Repeat counter for PDO2
6000h
Statistics
Biggest subindex
No. of position errors
Time in seconds
Number timer reset
watchdog
Customer EEPROM range
Biggest subindex
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
PDO1 addition / event
trigger
PDO2 addition (event
trigger)
Operating parameter
U16
rw
4h
1
6001h
Resolution
U32
rw
Bit0=Sense of rotation
Bit2=Scaling function
Resolution in steps / revolution:
13Bit = multivo
12Bit = magtivo
18bit = activo/multivoPlus
Overall measuring range in increments
29Bit = multivo multiturn
13Bit = multivo singleturn
26Bit = magtivo multiturn
12Bit = magtivo singleturn
31Bit = activo/multivoPlus multiturn
18Bit = activo/multivoPlus singleturn
Preset in increments  Offset
Position value including offset in increments
In ms, identical object 1800h, subindex 5
Bit0=Sense of rotation
Bit2=Scaling function
2300h
00h
01h
02h
03h
04h
05h
06h
07h
08h
2800h
2801h
Default
1h
EE
Info
1 Bit1 = Code sequence (Object 6000h Bit0)
0 Not inverted
1 Inverted
Bit2 = scaling function (Object 6000h Bit2)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protokoll enabled
1 Nodeguarding-Protokoll enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7)
Bit7 = 0
all PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
2 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
1
1
1
Optional data can be stored in this object
1
2000h
1000h
40000h
6002h
6003h
6004h
6200h
6500h
Overall measuring range in
increments
U32
Preset value in increments
Position in increments
Cyclic timer for PDO1
Operating status
U32
U32
U16
U16
Manual_CANopen_BIDE_EN.docx
21.11.12
No. of subindexes
Position control
Time since last reset
Timer watchdog
rw
rw
ro
rw
ro
1
20000000h
2000h
4000000h
1000h
80000000h
40000h
0h
203h
4h
23/52
1
1
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
6501h
Max. resolution
U32
ro
2000h
1000h
40000h
6502h
Overall measuring range in
increments
U32
ro
6503h
Alarms
U16
ro
20000000h
2000h
4000000h
1000h
80000000h
40000h
0h
6504h
Supported alarms
U16
ro
1h
6505h
Warnings
U16
ro
0h
6506h
Supported warnings
U16
ro
14h
04h
6507h
Profile & software version
U32
ro
01000201h
6508h
6509h
650Bh
Operating time
Offset
Serial number
U32
U32
U32
ro
ro
ro
0h
0h
xyz
Manual_CANopen_BIDE_EN.docx
21.11.12
24/52
1
1
Max. resolution in steps / revolution:
13Bit = multivo
12Bit = magtivo
18Bit = activo/multivoPlus
(is outside the specification of CiA)
Overall measuring range in increments:
29Bit = multivo multiturn
13Bit = multivo singleturn
26Bit = magtivo multiturn
12Bit = magtivo singleturn
31Bit = activo/multivoPlus multiturn
18Bit = activo/multivoPlus singleturn
The following alarms are evaluated:
Bit0=Position error
The following alarms are supported:
Bit0=Position error
The following warnings are evaluated:
Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge
Singleturn encoder:
Bit2 = CPU watchdog status
The following warnings are supported:
Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge
Singleturn encoder:
Bit2 = CPU watchdog status
Byte 0..1:
Profile version =2.01 = 0201h
Byte 2..3:
Software version = 1.05 = 0105h
Time in 1/10 hours since last reset
Offset calculated from preset  6003h
Linked with serial number object 1018-4
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
4.4.2. Detailed object list (DS-301)
Object 1000
Device type
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1001
Error Register
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1003
0
Unsigned 32
Read only
Multiturn:
00020196h
Singleturn:
00010196h
No
Information on device profile and device type
Multiturn:
Data0 = Profile LOW Data1 = Profile HIGH
Data2 = Type
Data3
96
01
02
00
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 02h 00h = multiturn, absolute
Singleturn:
Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type
Data3
96
01
02
00
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 01h 00h = singleturn, absolute
0
Unsigned 8
Read only
0h
No
Current error code
Bit0 = Generic error
Bit4 = Communication error (overrun, …)
Bit7 = Manufacturer specific
Predefined error field
CiA (CAN in Automation) defines around 200 different error codes here. In this document, only the
error codes of relevance for the sensor are described. This object saves the last occurred errors or
warnings.
Subindex
Data type
Access
Default
EEPROM
Description
Values
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
0
No
Read: Number of errors or warnings
Write 0: Reset error
0..8
1..8
Unsigned 32
Read only
0
No
Error or warning occurred, whereby subindex 1 is the ultimate, subindex
2 the penultimate entry etc.
Not yet defined
Manual_CANopen_BIDE_EN.docx
21.11.12
25/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1005
COB ID SYNC message
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1008
Manufacturer Device Name
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1009
0
Unsigned 32
Read only
It depends on the basic encoder
No
Device name in ASCII
Data 0..3:
"GXMM" = 47h 58h 4Dh 4Dh
"GXAM" = 47h 58h 41h 4Dh
"GCMM" = 47h 43h 4Dh 4Dh
"GCAM" = 47h 43h 41h 4Dh
"GDMM" = 47h 44h 4Dh 4Dh
"GDAM" = 47h 44h 41h 4Dh
"GBMM" = 47h 42h 4Dh 4Dh
"GBAM" = 47h 42h 41h 4Dh
 multivo Multiturn
 multivo Singleturn
 magtivo Multiturn
 magtivo Singleturn
 activo Multiturn
 activo Singleturn
 multivoPlus Multiturn
 multivoPlus Singleturn
Manufacturer hardware version
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 100A
0
Unsigned 32
Read write
80h
Yes
Defined COB ID of the synchronization object (SYNC)
Bit 31
not defined
Bit 30
1=Sensor generates SYNC messages, 0=generates no
SYNC
message
Bit 29
1=29 bit SYNC COB ID (CAN 2.0B), 0=28 bit SYNC COB ID
(CAN 2.0A)
Bit 28..11 Bit 28..11 of the 29 bit SYNC COB ID
Bit 10..0 Bit 10..0 of the SYNC COB ID
0
Unsigned 32
Read only
"1.00"
No
Hardware version in ASCII
Data 0..3 31h 2Eh 30h 30h
= "1.00“
Manufacturer software version
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
"1.00"
No
Software version in ASCII
Data 0..3 31h 2Eh 30h 30h
Manual_CANopen_BIDE_EN.docx
21.11.12
= "1.00“
26/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 100C
Guard Time
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 100D
0
Unsigned 16
ReadWrite
0h
Yes
Timer for Nodeguarding in ms
0...65535
Life Time Factor
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadWrite
0h
Yes
Life Time Factor x Guard Time = Life time
0...256
Manual_CANopen_BIDE_EN.docx
21.11.12
27/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1010
Save parameters
Saving the objects below in the non-volatile memory (EEPROM) is initiated via object 1010h.
In order to prevent unintentional saving, the message "save" must be written in subindex 1.
COB ID
600h+node ID
DLC
8
Command
23h
Object L
10h
Object H
10h
Subindex
01
Data 0
73h 's'
Data 1
61h 'a'
Data 2
76h 'v'
Data 3
65h 'e'
Objects stored in the EEPROM:
Object
1005h
1008h
Subindex Description
0h
Sync ID
0h
Device name
100Ch
100D
1014h
1016h
1017h
1018h
1018h
0h
0h
0h
1
0h
1h
2h
Guard Time
Life Time factor
Emergency COB ID
Consumer heartbeat time
Producer heartbeat time
Vendor ID
Product code
1018h
1029h
1800h
1800h
1800h
1801h
1801h
1801h
2100h
2101h
2110h
2201h
2201h
2201h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2800h
2801h
6000h
6001h
4h
1h
1h
2h
5h
1h
2h
5h
0h
0h
0h
1h
2h
3h
1h
2h
3h
4h
5h
6h
7h
8h
0h
0h
0h
0h
Serial Number
Error Behavior
PDO1 ID
PDO1 type
PDO1 event timer asynchronous mode
PDO2 ID
PDO2 type
PDO2 refresh time for cyclical transmission
Baud rate
Node ID
Version
No. of position errors
Total operating time in seconds
No. of timer resets by the watchdog
Customer-specific EEPROM range data0
Customer-specific EEPROM range data1
Customer-specific EEPROM range data2
Customer-specific EEPROM range data3
Customer-specific EEPROM range data4
Customer-specific EEPROM range data5
Customer-specific EEPROM range data6
Customer-specific EEPROM range data7
PDO1 addition (event trigger)
PDO2 addition (event trigger)
Operating parameter
No. of steps per revolution
Manual_CANopen_BIDE_EN.docx
21.11.12
28/52
Default Value (after object 1011)
80h
"GXMM"  multivo Multiturn
"GXAM"  multivo Singleturn
*GCMM"  magtivo Multiturn
"GCAM"  magtivo Singleturn
"GDMM"  activo Multiturn
"GDAM"  activo Singleturn
"GBMM"  multivoPlus Multiturn
"GBAM"  multivoPlus Singleturn
0h
0h
80h+node ID
10000h
0h (disabled)
ECh
0Ah  multivo multiturn
0Bh  multivo singleturn
0Ch  magtivo multiturn
0Dh  magtivo singleturn
0Eh  activo/multivoPlus multiturn
0Fh  activo/multivoPlus singleturn
xyz
1
180h+node ID
FEh -> asynchronous, cyclical
203h ms
280h+node ID
2h -> synchronous
100h ms
2h = 50 kBaud
1h
0x00000008
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0004h
2000h  multivo
1000h  magtivo
40000h  activo/multivoPlus
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
6002h
0h
Total measuring range in increments
6003h
6200h
6509h
650Bh
0h
0h
0h
0h
Preset value in increments
Cyclical timer for PDO1
Offset
Serial number
Object 1011
20000000h  multivo multiturn
2000h  multivo singleturn
4000000h  magtivo multiturn
1000h  magtivo singleturn
80000000h  activo/multivoPlus
multiturn
40000h  activo/multivoPlus singleturn
0h
203h (see Object 1800-5)
0h
xyz (see Object 1018-4)
Restore parameters
The values in the RAM are overwritten by the default values (see object 1010h) by the object 1011h. In
addition, the content of the EEPROM is marked as invalid. This means that until the next data save
routine in the EEPROM, the default values are loaded in each case.
In order to prevent unintentional overwriting, the message "load" must be written in subindex 1.
COB ID
600h+node ID
Object 1014
Command
23h
Object L
11h
Object H
10h
Data 0
6Ch 'l'
Data 1
6Fh 'o'
Data 2
61h 'a'
Data 3
64h 'd'
0
Unsigned 32
Read write
80h+node ID
Yes
Defines COB ID of the emergency object
80h + Node ID
Consumer heartbeat time
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
1
No
Biggest supported subindex
1 = Biggest supported subindex
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read write
10000h
Yes
Consumer heartbeat time
Bit 0..15 Consumer heartbeat time in ms
Bit 16..23 Node ID
Object 1017
Subindex
01
COB ID emergency message
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1016
DLC
8
Producer heartbeat time
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read write
0h
Yes
Defines repeat time of the heartbeat watchdog service
0 = Disabled, 1..65535 = Repeat time in ms
Manual_CANopen_BIDE_EN.docx
21.11.12
29/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1018
Identity Object
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
4
No
Biggest supported subindex
4 = Biggest supported subindex
Subindex
Data type
Access
Default
EEPROM
Description
Values
Subindex
Data type
Access
Default
1
Unsigned 32
Read only
ECh
Yes
Vendor ID issued by CiA for Baumer IVO GmbH & Co. KG
ECh (in the Internet under www.can-cia.de)
2
Unsigned 32
Read only
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Yes
Product code
0Ah
 multivo multiturn
0Bh
 multivo singleturn
0Ch
 magtivo multiturn
0Dh
 magtivo singleturn
0Eh
 activo/multivoPlus multiturn
0Fh
 activo/multivoPlus singleturn
EEPROM
Description
Values
Subindex
Data type
Access
Default
EEPROM
Description
Values
3
Unsigned 32
Read only
Subindex
Data type
Access
Default
EEPROM
Description
Values
4
Unsigned 32
Read only
0
Yes
Consecutive unique serial number of the sensor
Is defined in the factory during final testing
No
Revision number of the sensor
Version of the current = xxyy (xx=Version, yy=Sequence number)
Data 0 = Sequ.
Data 1 = Sequ.
Data 2 = Version Data 3 = Version
number LOW
number HIGH
LOW
HIGH
00
00
01
00
Data 0,1 = 00h 00h = 0000h = Sequence number
Data 2,3 = 01h 00h = 0001h = Version
Manual_CANopen_BIDE_EN.docx
21.11.12
30/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Objekt 1029
Error Behavior (V1.04+)
SubIndex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadOnly
1
No
Biggest supported subindex
1 = Biggest supported subindex
SubIndex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 8
ReadWrite
1
Yes
Behavior after Communication error
0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
Object 1800
PDO1 parameters
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
5
No
Biggest supported subindex
5
Subindex
Data type
Access
Default
EEPROM
Description
Values
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read write
180h + Node ID
Yes
COB ID of the PDO
180h + Node ID
2
Unsigned 8
Read write
FEh
Yes
PDO type
1..n..F0h = PDO has synchronous characteristics (the PDO is transmitted to
each nth SYNC telegram)
FEh =
PDO has asynchronous characteristics (PDOs are transmitted
cyclically depending on the event timer and event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
5
Unsigned 16
Read write
203h
Yes
Event timer for process data object
0=
Cyclical transmission switched off
1..n..65535 =Repeat time cyclical transmission equals n ms.
Manual_CANopen_BIDE_EN.docx
21.11.12
31/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1801
PDO2 parameters
See object 1800h, with the exception of subindex1, here COB ID is 280h + node ID
Object 1A00
PDO1 mapping
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
0
No
Biggest supported subindex
1
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only (defined by CiA as read write)
60040020h
No
Describes the content of the PDO1 message
6004h = Position
Object 1A01
PDO2 mapping
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
0
No
Biggest supported subindex
1
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only (defined by CiA as read write)
60040020h
No
Describes the content of the PDO2 message
6004h = Position
Object 2100
Baud rate
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
2 = 50 kBaud
Yes
Read or reset the sensor baud rate.
 After setting, parameters must be stored in the EEPROM with the object
1010h and then the sensor re-initialized.
0
10 kBaud
1
20 kBaud
2
50 kBaud
3
100 kBaud
4
125 kBaud
5
250 kBaud
6
500 kBaud
7
800 kBaud
8
1000 kBaud
Manual_CANopen_BIDE_EN.docx
21.11.12
32/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 2101
Node ID
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 2110
Manufacturers Options
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
1
Yes
Read or reset the node ID of the sensor.
 After setting, parameters must be stored in the EEPROM with the object
1010h and then the sensor re-initialized
1..127
0
Unsigned 32
Read write
8h
Yes
To guarantee compatibility with older sensors some options could be defined
here.
This object is not supported by EDS File.
Modification should be done only by vendor.
Modification by customers very carefully according following table
Bit1 = Code sequence (Object 6000h Bit0)
0
Not inverted
1
Inverted
Bit2 = scaling function (Object 6000h Bit2)
3
enabled
4
disabled
Bit3 = 0
BusOFF not removed
1
reinitate bus after BusOFF
Bit5 = 0
Heartbeat-Protocol enabled
1
Nodeguarding-Protocol enabled
Bit6 = 0
normal SYNC- response
1
fast SYNC- response (see Bit 7)
Bit7 = 0
all PDO Modes enabled
1 only SYNC- Mode enabled  lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0
1800h-5h = 6200h
1
1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
Manual_CANopen_BIDE_EN.docx
21.11.12
33/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 2201
Statistics
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
3h
No
Biggest supported subindex
3
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only
0h
Yes
No. of position errors overall
0...4294967295
Subindex
Data type
Access
Default
EEPROM
Description
Values
2
Unsigned 32
Read only
0h
Yes
Total operating time in seconds (Object 6508h time since last reset)
0... 4294967295
Subindex
Data type
Access
Default
EEPROM
Description
Values
3
Unsigned 32
Read only
0h
Yes
Watchdog timer reset counter
0... 4294967295
Object 2300
Customer EEPROM range
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
8h
No
Any optional data can be stored in this object
8
Subindex
Data type
Access
Default
EEPROM
Description
1...8
Unsigned 16
Read write
0h
Yes
For each subindex, a 16 bit value can be stored
(Save in the EEPROM via object 1010h)
0
Values
Manual_CANopen_BIDE_EN.docx
21.11.12
34/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 2800
PDO1 addition (event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 2801
PDO2 addition (event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6000
0
Unsigned 16
Read write
4
Yes
Operating parameter
Bit 0 sense of rotation = 0
 clockwise; 1  counterclockwise
Bit 2 scaling function = 0
 max. resolution; 1  saved resolution
Resolution
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
0h
Yes
The event trigger value determines how often the same PDO value is
transmitted
0=
PDO counter is switched off  continuous transmission (time
basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis from event
timer)
Operating parameter
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6001
0
Unsigned 8
Read write
0h
Yes
The event trigger value determines how often the same PDO value is
transmitted
0=
PDO counter is switched off  Continuous transmission (time
basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis from event
timer)
0
Unsigned 32
Read write
2000h = 8192 = 13Bit
 multivo
1000h = 4096 = 12Bit
 magtivo
40000h = 262144 = 18Bit
 activo/multivoPlus
Yes
No. of steps per revolution freely selectable.
! Offset value is reset when changing the resolution!
1..n.. Max. no. of steps per revolution (see object 6501)
1..n..8192
 multivo
1..n..4096
 magtivo
1..n..262144
 activo/multivoPlus
Manual_CANopen_BIDE_EN.docx
21.11.12
35/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 6002
Overall measurement range
Subindex
Data type
Access
Default
EEPROM
Description
Note regarding multiturn encoder operation:
n
If the number of turns programmed is uneven 2
(1, 2, 4,...65536) the encoder will have to be programmed anew upon having
passed the zero point in powerless state.
1..n.. overall measurement range in increments (see object 6502)
1..n..536870912
 multivo multiturn
1..n..8192
 multivo singleturn
1..n..67105564
 magtivo multiturn
1..n..4096
 magtivo singleturn
1..n..2147483648
 activo/multivoPlus multiturn
1..n..262144
 activo/multivoPlus singleturn
Values
Object 6003
Preset value
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6004
0
Unsigned 32
Read write
0h
Yes
Freely selectable position value. Preset and internal position result in offset (
Object 6509h)
0..current overall measurement range -1 (Object 6002h)
Position in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6200
0
Unsigned 32
Read write
20000000h = 536870912 = 29bit
 multivo multiturn
2000h = 8192 = 13bit
 multivo singleturn
4000000h = 67108864 = 26bit
 magtivo multiturn
1000h = 4096 = 12bit
 magtivo singleturn
80000000h = 2147483648 = 31bit
 activo/multivoPlus multiturn
40000h = 262144 = 18bit
 activo/multivoPlus singleturn
Yes
Overall measurement range freely selectable in increments.
Formula:
Number of turns = total measuring range
Resolution
0
Unsigned 32
Read only
No
Current position including offset
0..Current overall measurement range -1 (Object 6002h)
Cyclic timer for PDO1
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read write
203h
Yes
Event timer for process data object (see object 1800-5)
0=
Cyclical transmission switched off
1..n..65535 = Repeat time cyclical transmission amounts to n ms.
Manual_CANopen_BIDE_EN.docx
21.11.12
36/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 6500
Operating Status
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6501
Max. resolution in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6502
0
Unsigned 32
Read only
2000h = 8192 = 13Bit
 multivo
1000h = 4096 = 12Bit
 magtivo
40000h = 262144 = 18Bit
 activo/multivoPlus
No
Maximum singleturn resolution in increments
2000h = 8192 = 13Bit
 multivo
1000h = 4096 = 12Bit
 magtivo
40000h = 262144 = 18Bit
 activo/multivoPlus
Overall measurement range in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6503
0
Unsigned 16
Read only
4h
No
Operating data which is written with object 6000h
Bit 0 sense of rotation = 0
 Clockwise; 1  Counterclockwise
Bit 2 scaling function = 0
 max. resolution; 1  saved resolution
0
Unsigned 32
Read only
20000000h = 536870912 = 29Bit
 multivo multiturn
2000h = 8192 = 13Bit
 multivo singleturn
4000000h = 67108864 = 26Bit
 magtivo multiturn
1000h = 4096 = 12Bit
 magtivo singleturn
80000000h = 2147483648 = 31Bit
 activo/multivoPlus multiturn
40000h = 262144 = 18Bit
 activo/multivoPlus singleturn
No
Maximum measurement range (the data type U32 in this object does not
correspond to the CiA profile)
20000000h = 536870912 = 29Bit
 multivo multiturn
2000h = 8192 = 13Bit
 multivo singleturn
4000000h = 67108864 = 26Bit
 magtivo multiturn
1000h = 4096 = 12Bit
 magtivo singleturn
80000000h = 2147483648 = 31Bit
 activo/multivoPlus multiturn
40000h = 262144 = 18Bit
 activo/multivoPlus singleturn
Alarms
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read only
0h
No
Alarm messages as per object 6504h
Bit 0 = 1  Position error active
Manual_CANopen_BIDE_EN.docx
21.11.12
37/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 6504
Supported alarms
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6505
Warnings
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6506
0
Unsigned 16
Read only
0h
No
Warnings as per object 6506h
Multiturn:
Bit 2 = 1  CPU watchdog reset
Bit 4 = 1  Battery charge too low
Singleturn:
Bit 2 = 1  CPU Watchdog reset
Supported warnings
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6507
0
Unsigned 16
Read only
1h
No
Alarm messages supported by object 6503
Bit 0 = Position error
0
Unsigned 16
Read only
Multiturn:
14h
Singleturn:
04h
No
Warnings supported by object 6505h
Multiturn:
Bit 2 = CPU watchdog status
Bit 4 = Battery charge
Singleturn:
Bit 2 = CPU watchdog status
Profiles and software versions
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read Only
01000201h
No
Version of the profile and the current software
Version of the current software = xxyy
Data0 = Profile
Data1 = Profile
Data2 = Software
version LOW
version HIGH
version LOW
01
02
00
(xx = Software version, yy = Profile version)
Data3 = Software
version HIGH
01
Data 0,1 = 01h 02h = 0201h = Profile version
Data 2,3 = 00h 01h = 0100h = Software version
Manual_CANopen_BIDE_EN.docx
21.11.12
38/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 6508
Operating time
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6509
Offset
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 650B
0
Unsigned 32
Read only
0h
No
Operating time in 1/10 hours, since the last sensor reset
0..n..4294967295 = n * 6 minutes operating time without reset
0
Unsigned 32
Read only
0h
Yes
Calculated from preset ( Object 6003h)
0..current overall measurement range -1
Serial number
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
xyz
Yes
Progressive serial number
0..4294967295 =
Is directly linked with the serial number of the end test (see
object 1018-4)
Manual_CANopen_BIDE_EN.docx
21.11.12
39/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
5. Diagnosis and useful information
5.1. Error diagnosis field bus communication
If the encoder cannot be addressed via the CANopen bus, first of all check the terminals.
If the terminals are not in order, field bus operation should be tested next. For this purpose, a CAN monitor
is required which records CANopen communication and shows the telegrams.
The encoder should now place a BootUp message when switching the power supply off and on again.
Should no BootUp message appear, check whether the baud rates of the encoder, the CAN monitor and
the bus system are in agreement.
If you have difficulty in establishing the connection to the user, check the node number and baud rate.
The baud rate must be set the same throughout. The node number (node ID, node address) must be
between 1 and 127. Each bus user must be unambiguously assigned a node ID, i.e. it is strictly prohibited
to assign the same node ID more than once.
The node ID and baud rate can also be set conveniently using the LSS service.
5.2. Error diagnosis via field bus
The encoder has at its disposal several objects and messages which transcribe the status or error status of
the encoder.
Object 1001h: This object is an error register for the device error status.
Object 1003h: In this object, the last eight error codes and warnings are stored.
Object Emergency (80h + Node ID): High-priority error message of a user with error code and error
register.
SDO abort message: If SDO communication does not run correctly, the SDO response contains an abort
code.
Object 1001h error register
The existence of a device error and its type are indicated in this register.
See separate Object descriptions
Object 1003h predefined error field
In this object, the eight last occurring error codes from objects 6503h and 6505h are saved, whereby the
latest error is stored in subindex 1 and the oldest error in subindex 8.
Object emergency
Error message of a user.
Manual_CANopen_BIDE_EN.docx
21.11.12
40/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
SDO abort message
If SDO communication is not running smoothly, an abort code is transmitted as the SDO response:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
: Command byte is not supported
: Incorrect access to an object
: Read access to write only
: Write access to read only
: Object is not supported
: Subindex is not supported
: Value outside limits
: Value too great
: General error
: Incorrect save signature ("save")
: Data cannot be saved
5.3. Useful information relating to the sensor
Resetting the node ID
1. The node ID is reset using the Baumer IVO specific object 2101h.
2. After setting the node ID, this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new node ID.
Resetting the baud rate
1. The baud rate is reset with the Baumer IVO specific object 2100h.
2. After setting the baud rate this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new baud rate.
4. ! DO NOT FORGET TO SET THE MASTER TO THE NEW BAUD RATE !
Shielding
As the encoder is not always connected to a defined earth potential depending on its mounting position, the
encoder flange should always be additionally linked to earth potential. The encoder should always on
principle be connected to a shielded conductor.
If possible the cable shield should be in place at both ends. Ensure that no equalizing currents are
discharged via the encoder.
Manual_CANopen_BIDE_EN.docx
21.11.12
41/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
6. Applications
6.1. Setting and reading objects
In order to overwrite an object (SDO) or to read it, two telegrams always have to be transmitted.
Object setting
First, the master transmits the value to be set. The encoder then transmits the confirmation.
Value (ba) is transmitted:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
00h
23h
3h
2Bh
a
Data
1
b
Data
2
x
Data
3
x
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
00h
23h
3h
60h
0
Data
1
0
Data
2
0
Data
3
0
Read object
First the master transmits a request for the required object. Then the encoder transmits the requested value.
Request from master:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
04h
60h
0h
40h
x
Data
1
x
Data
2
x
Data
3
x
Data
1
b
Data
2
c
Data
3
d
Response (dcba) of the encoder to the request:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
04h
60h
0h
43h
a
Commissioning
When the encoder is connected to the bus, it logs on with a BootUp message. The encoder must now be
adjusted to its environment and configured.
Changing the node ID and baud rate with LSS
The node ID and baud rate can be changed without having to use these to address the encoder. With the
LSS service, the sensors are addressed and configured via the product code, revision no., vendor ID and
serial number.
Changing the node ID (node no.)
The node ID can be changed in object 2101h between 1 and 127. A save routine should then be executed
using object 1010h. On the next initialization, the encoder logs on with the new node ID.
Manual_CANopen_BIDE_EN.docx
21.11.12
42/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Changing the baud rate
The baud rate can be changed in the object 2100h. An index is written into the object, not the effective baud
rate.
Baud rate
10 kBaud
20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
800 kBaud
1000 kBaud
0
1
2
3
4
5
6
7
8
The baud rate now still has to be saved using object 1010-1. On next initialization, the encoder logs on to the
new baud rate. However, before this the baud rate of the master should be changed.
6.2. Configuration
Position setting
The value is transmitted:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
03h
60h
0h
23h
a
Data
1
b
Data
2
c
Data
3
d
Data
1
0
Data
2
0
Data
3
0
Conformation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
03h
60h
0h
60h
0
Changing the sense of rotation and scaling
The sense of rotation can be set to CW (clockwise) or CCW (counterclockwise). In addition, the scaling can
be switched on or off in the same object (6000h). With the scaling switched on, the set resolutions are used.
However, if the scaling is switched off, the encoder works with the maximum resolution settings (6501h and
6502h).
Bit 0:
Bit 2:
0 -> CW (clockwise)
1 -> CCW (counterclockwise)
0 -> Scaling off
1 -> Scaling on
Counterclockwise rotation and scaling on:
COB ID
DLC Command
Object L
600h+node ID
8
00h
23h
Object H Subindex Data 0 Data
1
60h
0h
5h
x
Data
2
x
Data
3
x
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
00h
60h
0h
60h
Manual_CANopen_BIDE_EN.docx
21.11.12
43/52
0
Data
1
0
Data
2
0
Data
3
0
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Changing singleturn resolution
In object 6001h, the singleturn resolution can be configured. For example 4096 (12bit) steps per revolution
(1024 = 400h):
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
01h
60h
0h
23h
00
Data
1
04
Data
2
00
Data
3
00
Data
1
0
Data
2
0
Data
3
0
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
01h
60h
0h
60h
0
Changing the overall resolution
In object 6002h, the overall resolution can be set. The overall resolution and the singleturn resolution result in
the number of revolutions. Example: The singleturn resolution is set at 12 bit (4096 steps) and the overall
resolution at 24 bit (16777216) resulting in 4096 (12bit) revolutions of 4096 (12bit) steps each.
Setting the overall resolution to 4194304 (4194304 = 400000h)
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
02h
60h
0h
23h
00
Data
1
00
Data
2
40
Data
3
00
Data
1
0
Data
2
0
Data
3
0
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
02h
60h
0h
60h
0
Saving the setting in the EEPROM
Object 1010h initiates the save routine for the objects below in the non-volatile memory (EEPROM). In order
to prevent unintentional saving, the message "Save" must be written in Subindex 1.
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
10h
10h
01h
23h
73 's’
Data
1
61 'a’
Data
2
76 'v’
Data
3
65 'e’
Data
1
0
Data
2
0
Data
3
0
Conformation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
10h
10h
01h
60h
0
6.3. Operation
NMT statuses
Once the encoder has been initialized, it is then in the Pre-operational mode. In this mode, SDO can be
read and written.
In order to start PDO communication, you must transmit an NMT start. The encoder is then in the
Operational mode. Any required PDOs are then transmitted. SDOs can also be read and written.
If the encoder is stopped with an NMT stop, the encoder is then in the stopped mode. In this mode, only
NMT communication is the possible, i.e. also heartbeat.
Manual_CANopen_BIDE_EN.docx
21.11.12
44/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
By means of an NMT reset the encoder is re-initialized and is then once again in the pre-operational mode.
Reading the position
Request from the master:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
04h
60h
0
40h
0
Data
1
0
Data
2
0
Data
3
0
Data
1
b
Data
2
c
Data
3
d
Response (dcba) of the encoder to the request:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
04h
60h
0
43h
a
Configuring PDOs
The PDOs can be configured in accordance with the following table:
1800h
Sub2
Sub5
FEh
3ms
FEh
5ms
FEh
0ms
FEh
0ms
3
xxx
3
xxx
2800h
0
2
0
xxx
0
2Bh
Summarized description
Cyclical transmission every 3 ms
Every 5ms the PDO is sent double if a change has occurred.
Transmit PDO switched off
Transmit PDO switched off
Transmit with each third sync telegram
With each sync telegram but in total only 43 times (=2Bh).
Defining heartbeat time
In order to monitor communication capability, the heartbeat time must be defined in object 1017h with
"Producer heartbeat time". As soon as the value has been confirmed, the service begins transmission.
Example:
Every 100 ms, the encoder should transmit a heartbeat (100 = 64h):
COB ID
DLC Command
Object L
Object H
600h+node ID
8
17h
10h
2Bh
Subindex Data
0
0h
64h
Data 1
Subindex Data
0
0h
0
Data 1
0h
Confirmation:
COB ID
DLC Command
Object L
Object H
580h+node ID
8
17h
10h
COB ID
701h
60h
0
Data/ Remote Byte 0
d
7Fh
The heartbeat messages are made up 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
i.e. the encoder is in the pre-operational modus (7Fh = 127).
Manual_CANopen_BIDE_EN.docx
21.11.12
45/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
6.4. Use the encoder via CAN interface
Easy use of the CANopen encoder as CAN device via CAN (Layer 2)
Example: Encoder Node ID 1
Used Tool: CANAnalyser32 by Fa. IXXAT
= 0x100000
= 0x1000
works after next
Power Off/On
Load DefaultParameter values
see chapter
Network
management
services
COB ID = 0x600 + Node ID
SDO Command
Object Index 6002
Object Subindex 00
Data 0x10000000
For more detailed description see chapter ‚service data communication’
Manual_CANopen_BIDE_EN.docx
21.11.12
46/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Trace view of CAN-telegrams to and from encoder
(commands see page before)
Boot up after Power on
SDO request to encoder
COB ID = 0x600+Node ID
SDO response from encoder
COB ID = 0x580+Node ID
Encoder in state Operational
Run, transmitting cyclic Position-Data
COB ID = 0x180 + Node ID
Encoder in state Pre-operational
Encoder in state Stopped
Encoder Reset
Boot up Message
COB ID = 0x700+Node iD
Manual_CANopen_BIDE_EN.docx
21.11.12
47/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
7. Terminal assignment and commissioning
7.1. Mechanical mounting
Shaft encoder
Mount the encoder housing using the fastening holes on the flange side with three screws (square flange
with four screws), paying attention to the thread diameter and thread depth.
Alternatively, the encoder can be mounted in any angular position using three eccentric fastenings - see
accessories.
Connect the drive shaft and encoder shaft using a suitable coupling. The ends of the shafts must not be
touching. The coupling must be capable of compensating for displacement due to temperature and
mechanical backlash. Pay attention to the admissible axial or radial shaft loads. For suitable connecting
devices, see under accessories.
Tighten the fastening screws.
Hollow shaft / end shaft encoder
Clamping ring fixture
Prior to mounting the encoder open the clamping ring completely. Push encoder onto the drive shaft and
tighten the clamping ring firmly.
Encoder torque pin
Slide encoder onto the drive shaft and insert torque pin into the adjusting element provided by customer.
Adjusting element with rubberized spring element
Push the encoder on to the drive shaft and insert the parallel pin into the mounted adjusting element (not
supplied) (with rubberized spring element)
Adjusting bracket
Push the encoder over the drive shaft. Insert the adjusting bracket into the rubberized spring element of
the encoder and fasten the adjusting bracket on the contact surface (not supplied).
Shoulder screw
Push the encoder over the drive shaft and insert the shoulder screw (not supplied) in the rubberized spring
element of the encoder.
Coupling spring
Mount the coupling spring with screws onto the fixing holes of the encoder housing.
Push the encoder over the drive shaft and fasten the coupling spring on the contact surface.
7.2. Electrical connection
Only ever store or transport the bus cover in the ESD bag. The bus cover must rest fully against the housing
and be firmly screwed in place.
For electrical connection, pull off the bus cover using the following method:
Release the fastening screws of the bus cover
Carefully loosen the bus cover and lift off in the axial direction
7.2.1. Setting the user address (Node ID)
The user address is set via the EEPROM. The node ID (user address) is defined in object 2101h. In addition,
it is possible to set the user address decimally using two rotary switches in the bus cover. If the switches are
at 0, the node ID from the EEPROM is used. As soon as the switch is set to a value, this set value is used as
the user address. The maximum number of users is 99.
Set the user address decimally using the two rotary switches 1 and 2 (default setting 01).
Example: 23
Manual_CANopen_BIDE_EN.docx
21.11.12
48/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
7.2.2. Setting the baud rate
The baud rate is defined in the object 2100h. In addition, it is possible here to set the baud rate using a DIP
switch. The baud rate setting is performed on a binary basis via switches 1 to 3 of the 3-pin DIP switch in the
bus cover. The baud rate used from the EEPROM is ignored as soon as the switch for the user address is not
set to 0.
Baud rate
10 kBit/s
20 kBit/s
50 kBit/s *
125 kBit/s
250 kBit/s
500 kBit/s
800 kBit/s
1 MBit/s
1
OFF
OFF
OFF
OFF
ON
ON
ON
ON
Setting DIP switches
2
OFF
OFF
ON
ON
OFF
OFF
ON
ON
3
OFF
ON
OFF
ON
OFF
ON
OFF
ON
* Factory setting:
7.2.3. Terminating resistor
If the connected encoder is the last device in the bus line, the bus must be terminated with a resistor. The
resistor is in the bus cover and is connected using a one-pole DIP switch. The terminating resistor must be
switched to "ON" at the last user with a DIP switch (default setting OFF).
ON = Final user
OFF = User X
Switch 1:
Switch 2:
ON = Final user
OFF = User X
Without function
7.2.4. Bus cover connection
Release the cap nut of the cable gland.
Push the cap nut and seal insert with contact sleeve onto the cable sheath.
Strip the cable sheath and cores, shorten the shield film where this exists (see Fig.)
Bend over the braided screen by approx. 90°.
Push the sealing insert with contact sleeve along as far as the braided shield. Insert the sealing insert
with contact sleeve and cable flush into the cable gland and tighten the cap nut.
For standard encoder
Manual_CANopen_BIDE_EN.docx
21.11.12
49/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
For G0AMH, G0MMH, GBAMH and GBMMH
Bus cable
Supply voltage cable
Terminals with the same designation are internally interconnected.
For the power supply, use only cable gland 3. For the bus lines, cable gland 1 or 2 can be optionally
selected. For the bus lines, cable glands 1 or 2 can be freely selected. Observe the admissible cable
cross sections.
Insert the cores using the shortest route from the cable gland to the terminal strip. Observe the admissible
core cross-section. Use isolated core end sleeves.
Avoid crossing over data lines with the supply voltage line.
Bus cover – Shaft/end shaft
1
2
3
Manual_CANopen_BIDE_EN.docx
21.11.12
Cable gland
50/52
M12 connector
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Bus cover – Hollow shaft G1 and G2
1
2
3
Bus cover – Hollow shaft G0 and GB
Manual_CANopen_BIDE_EN.docx
21.11.12
51/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
7.2.5. Terminal assignment
Pin
1
2
3
4
5
Terminal
GND
UB
GND
CAN_H
CAN_L
Explanation
Ground connection relating to UB
Supply voltage 10...30 VDC
Ground connection relating to UB
CAN Bus signal (dominant High)
CAN Bus signal (dominant Low)
M12-connector (male/female)
Terminals with the same designation are connected to each other internally and identical in their functions.
Maximum load on the internal clamps UB-UB and GND-GND is 1 A each.
Carefully plug the bus cover onto the D-SUB plug of the basic encoder, then press only via the sealing
rubber, taking care not to tilt it. The bus cover must rest fully against the basic encoder.
Tighten both the fastening screws firmly in the same direction.
The encoder housing and braided shield of the connecting cable are only ideally connected if the bus cover is
resting fully on the basic encoder (positive locking).
7.3. Display elements (status display)
A dual LED is integrated at the back of the bus cover.
LED green
Off
Flashing
On
On
Off
Off
LED red
Off
Off
Off
Off
Flashing
On
Manual_CANopen_BIDE_EN.docx
21.11.12
Status
Supply voltage not connected
Pre-operational mode
Operational mode
Stopped/Prepared mode
Warning
Error
52/52
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Similar pages