EN

Manual
Absolute Encoder with CANopen Lift Protocol
Firmaware version from 1.00
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 (0)7720 942-0
Fax +49 (0)7720 942-900
info.de@baumerivo.com
www.baumer.com
05.11 · 174.02.035/4
Subject to technical and design modifications.
Errors and omissions excepted.
Contents
Page
1. Introduction
3
1.1.
1.2.
3
3
Scope of delivery
Product assignment
2. Safety Precautions and Operating Information
4
3. CAN Bus and CANopen Communication
5
3.1.
3.1.1.
3.2.
3.3.
3.4.
3.4.1.
3.4.2.
3.4.3.
3.4.4.
3.4.5.
3.4.6.
3.4.7.
3.5.
3.5.1.
3.5.2.
CAN bus
CAN bus properties
CANopen
CANopen in lift construction
CANopen communication
Communication profile
CANopen message structure
Service data communication
Process data communication
Emergency service
Network management services
Layer setting services
CANopen Lift encoder according to Appl. Profile DSP417
Object overview
Detailed object description
5
5
6
6
7
7
7
8
9
10
11
13
17
17
20
4. Diagnosis and Important Information
34
4.1.
4.2.
4.3.
34
34
35
Error diagnosis field bus communication
Troubleshooting with field bus
Important information on sensor
5. Applications
36
5.1.
5.2.
5.3.
36
37
38
Setting and reading objects
Configuration
Operation
6. Connection Assignment and Commissioning
40
6.1.
6.2.
6.2.1.
6.2.2.
6.2.3.
6.3.
40
40
40
40
41
41
Mechanical attachment
Electrical connection
Description of connections
Connection assignment of M12 plug
Connection assignment of D-SUB plug
Display elements (status display)
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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:
• Encoder
• CD with describing file and manual (also available as download in the Internet)
1.2. Product assignment
Shaft encoder
Product
Product Code
Device Name
Eds File
Product Family
GXP5W
0x28
GXP5
GXP5_417.eds
Multiturn
X 700
0x28
GXP5
GXP5_417.eds
Multiturn
GXP5W with the Product Code 0x28 is an absolute encoder with a CANopen interface and an implemented
application profile DSP417 (Application Profile for Lift Control Systems).
LIFT
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2. Safety Precautions and Operating Information
Additional information
• The manual is a supplement to the documentation which already exists (catalogs, product information
and assembly manuals).
• It is imperative that the manual is read before commissioning.
Proper use
• The encoder is a precision measuring device. It is used exclusively for the detection of angle positions
and rotations, and the processing and provision of the measured values as electrical output signals for
the next device. The encoder may only be used for this purpose.
Commissioning
• The encoder may only be installed and assembled by a qualified electrician.
• Observe the operating manual of the machine manufacturer.
Safety precautions
• Check all electrical connections before commissioning the system.
• If assembly, electrical connection or other work on the encoder and on the system are not carried out
properly, malfunction or failure of the encoder may result.
• The endangering of persons, damage to the system and damage to operating equipment due to the
failure or malfunction of the encoder must be prevented with suitable safety measures.
• The encoder may not be operated outside the specified limits (see additional documentation).
Failure to observe the safety precautions can lead to malfunctions, damage and injuries!
Transport and storage
• The encoder may only be transported and stored in the original packaging.
• Do not drop the encoder or subject it to major jolts or impacts.
Assembly
• Avoid impacts or shocks to the housing and shaft.
• Do not torque the housing.
• Do not produce a rigid connection between the encoder and drive shafts.
• Do not open the encoder or modify it mechanically.
The shaft, ball bearings, glass plate or electronic parts can be damaged. Safe operation is then no longer
ensured.
Electrical commissioning
• Do not modify the encoder electrically.
• Do not carry out wiring work while the encoder or system is energized.
• The electrical connection may not be connected or disconnected while energized.
• Install the entire system so that it is EMC-compliant. The installation environment and wiring affect the
EMC of the encoder. Install the encoder and the supply lines in separate locations or at a great distance
from wiring with a high interference level (frequency converters, contactors etc.).
• For consumers with high interference levels, provide a separate power supply for the encoder.
• Complete screen the encoder housing and the connection cables.
• Connect the encoder to protective ground and use shielded cables. The cable shield must be connected
to the screw cable terminal or plug. Connection of the protective ground at both ends, the housing via the
mechanical attachment, and the cable shield via devices connected downstream should be aimed for. If
problems occur with ground loops, grounding should be carried out on at least one end.
Failure to observe the above can lead to malfunctions, damage and injuries!
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3. CAN Bus and CANopen Communication
3.1. CAN bus
The CAN bus (CAN: Controller Area Network) was originally developed by Bosch and Intel for fast,
inexpensive data transmission in motor vehicle technology. Today the CAN bus is also used in industrial
automation.
The CAN bus is a field bus (the standards are defined by the association CAN in Automation (CiA)) via which
devices, actuators and sensors of different manufacturers can communicate with each other.
3.1.1. CAN bus properties
• Data rate of 1 Mbaud with a network range of up to 40 m (130 ft)
• Network connected at both ends
• Bus medium twisted-pair cables
• Real-time capability: defined maximum wait time for high-priority messages.
• Theoretically 127 nodes to a bus, however physically only 32 (due to the driver used).
• Securing of network-wide data consistency. Faulty messages are made known to all network nodes as
faulty.
• Message-oriented communication
The message is marked with an identifier. All network nodes check whether the message is relevant for
them using the identifier.
• Broadcasting, multicasting
All network nodes receive every message simultaneously, enabling synchronization.
• Multi-master capability
Every node in the field bus can send and receive data independently without being dependent on a priority
of the master. Each can begin its message if the bus is not busy. In the case of simultaneous transmission
of messages, the node with the highest priority prevails.
• Assignment of priorities to messages
The identifier specifies the priority of the message. As a result, important messages can be transmitted
quickly via the bus.
• Residual error probability
Safe-guarding methods in the network reduce the probability of an undetected, faulty data transmission to
below 10 -11. A virtually 100 % reliable transmission can be assumed.
• Operation monitoring
Localization of defective or failed stations. The CAN protocol contains an operation monitoring function of
network nodes. The operation of defective network nodes is restricted, or they are completely decoupled
from the network.
• Data transmission with a short error recovery time
Due to several error detection mechanisms, falsified messages are recognized with a high probability. If an
error is detected, then the message is automatically retransmitted.
Several network nodes are interconnected via a bus cable. Each network node can send and receive
messages. The data are transmitted serially between the network nodes.
Examples of network nodes for CAN bus devices are:
• Automation devices, e.g. PLC
• PCs
• Input/output modules
• Drive controllers
• Analysis devices, e.g. a CAN monitor
• Operating and input devices as human-machine interface (HMI)
• Sensors and actuators
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3.2. CANopen
Under the technical direction of the Steinbeis Transfer Center for Automation, the CANopen profile was
developed on the basis of the Layer 7 specification CAL (CAN Application Layer). Compared to CAL,
CANopen only contains the functions suitable for this application. CANopen therefore represents a subset of
CAL optimized for the application and enables simplified system design and the use of simplified devices.
CANopen is optimized for rapid data exchange in real-time systems.
The CAN in Automation (CiA) organization is responsible for the applicable standards of the corresponding
profiles.
CANopen enables:
• Simple access to all device and communication parameters
• Synchronization of several devices
• Automatic network configuration
• Cyclical and event-controlled process data traffic
CANopen consists of four communication objects (COB) with different properties:
• Process data objects for real-time data (PDO)
• Service data objects for parameter and program transmission (SDO)
• Network management (NMT, Heartbeat)
• Predefined objects (for synchronization, emergency message)
All device and communication parameters are structured in an object directory. An object comprises the
name of the object, data type, number of sub-indices, structure of the parameters and the address.
According to the CiA, this object directory is divided into three different parts: communication profile, device
profile and a manufacturer-specific profile (see Object directory).
3.3. CANopen in lift construction
CANopen is a standardized application for distributed, industrial automation systems based on CAN and on
the communication standard CAL. CANopen is a standard of the CAN in Automation (CiA) and already found
extremely broad acceptance shortly after it became available. In Europe CANopen can be considered the
decisive standard for the realization of industrial CAN-based system solutions.
The responsibility was turned over to the organization CAN-in-Automation, which coordinates all work on the
CANopen system worldwide. Within the CiA a special interest group (SIG) "Lift" was founded. The task of this
SIG is the checking of the existing profiles for their suitability for lift construction and their expansion or
redefinition. Within the SIG "Lift" various working groups for the individual profiles were specified.
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3.4. CANopen communication
3.4.1. Communication profile
The communication between the network nodes and the master (PC/controller) is carried out via object
directories and objects. The objects are addressed via a 16-bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. Accordingly, they are divided into several groups:
• Process data objects (PDO) for the real-time transmission of process data
• Service data objects (SDO) for the write and read access to the object directory
• Objects for the synchronization and error display of CAN nodes:
SYNC object (synchronization object) for the synchronization of network nodes
EMCY object (emergency object) for the error display of a device or its periphery
• Network management (NMT) for the initialization and network control
• Layer setting services (LSS) for the configuration by means of a serial number, revision number etc. within
an
existing network
3.4.2. 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 the 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
PDO1 (tx)1)
COB-ID
80h + Node-ID
17Bh+ Lift number * 10 + PosUnit
SDO (tx)1)
SDO (rx)1)
Heartbeat
LSS (tx) 1)
LSS (rx) 1)
580h + Node-ID
600h + Node-ID
700h + Node-ID
7E4h
7E5h
1): (tx) and (rx) from the
standpoint of the encoder
The node ID can be freely selected via the CANopen bus between 1 and 127 (if rotary switch = 0). The
encoders are shipped with a node ID = 1.
A change is made with the service data object 2101h or via LSS.
A CAN telegram consists 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 exact telegrams will be listed in detail later.
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3.4.3. Service data communication
The service data objects comply with the CiA standards. An object can be accessed via an index and
subindex. The data can be requested or, if necessary, written to the object.
General information on the SDOs
Structure of an SDO telegram:
COB-ID
DLC
Command
Object L
Object H
Subinde
x
Data 0
Data 1
Data 2
Data 3
An SDO COB-ID consists of the following:
Master -> Encoder
: 600h + Node-ID
Encoder -> Master
: 580h + Node-ID
DLC (data length code) designates the length of the telegram. This consists of the following:
1 byte command + 2 bytes object + 1 byte subindex + number of data bytes (0 - 4).
The command byte specifies whether data are read or set and how many data bytes are concerned:
SDO Command
22h
23h
2Bh
2Fh
Description
Download Request
Download Request
Download Request
Download Request
Data Length
Max. 4 bytes
4 bytes
2 bytes
1 byte
60h
40h
Download Response
Upload Request
-
Confirmation of adoption to Master
Request parameters from encoder
42h
43h
4Bh
4Fh
Upload Response
Upload Response
Upload Response
Upload Response
Max. 4 bytes
4 bytes
2 bytes
1 byte
Parameters to Master with max. 4 bytes
80h
Abort Message
-
Encoder signals error code to Master
Send parameters to encoder
An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The
object and the subindex are those of the desired object. The error code is present in byte 5 - 8.
ID
DLC
580h + Node8
ID
Byte 1
80h
Byte 2
Object L
Byte 3
Object H
Byte 4
Subinde
x
Byte 5
Byte 6
Byte 7
Byte 8
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 limits
: Value too large
: General error
: Incorrect memory signature ("save")
: Data cannot be saved
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Example SDOs
Request for a value from the Master by the Slave
A frequent request is for the position. Æ Object 6383h Subindex 1
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
83h
63h
40h
Subinde
x
01
Data 0
x
Data
1
x
Data
2
x
Data
3
x
Response of the Slave to the request for a value
The position is 4 bytes long, and the exact values are specified under Object 6383h Subindex 1.
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
83h
63h
43h
Subinde
x
01
Data 0
a
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
Writing of a value from the Master to the Slave
A position can be set with Preset. Æ Object 6382h
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
82h
63h
22h
Subinde
x
01
Data 0
a
Response of the Slave to the writing of a value
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
82h
63h
60h
Subinde
x
01
Data 0
0
3.4.4. Process data communication
Process data objects are used for real-time data exchange for process data, e.g. the position or the operating
status. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder supports PDO1
.. This supplies the current encoder position and its speed, and is defined in Objects 1906h and 1B06hh.
Synchronous
To transmit the process data synchronously, a value between 1 and F0h (=240) must be entered in the object
1906h Subindex 2. If the value is now 3, the PDO is transmitted to every third Sync telegram (with a value of
1 it is transmitted to every Sync telegram) until 0 is entered in the object 2800h 0. If, for example, a 5 is
entered there, the PDO is still written to every third Sync telegram, however a total of only 5 times. In
accordance with this, the 15th Sync telegram is followed by the last PDO. The counter for the number of
PDOs to be transmitted is reset via a position change or the NMT reset. This means the position is
transmitted 5 times unless it changes. If the position changes, it is transmitted again 5 times.
In the synchronous mode, the PDOs are requested by the Master via the Sync telegram:
Byte 0
COB-ID = 80
Byte 1
0
Cyclical (asynchronous)
If the PDOs are to be transmitted cyclically, the value FFh must be written to Object 1906h 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 1ms. If the value 0 ms is saved, the PDOs are not transmitted and the function is deactivated.
Another option is provided by Object 2800h. If the value is 0, the cyclical transmission runs as described
above. If the value is 1, it is cyclically checked whether a change has been made in the value. If not, no
transmission takes place. If the value is 4, the PDO is transmitted 4 times per cycle if a change exists.
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Overview
The following table provides a summary of the various transmission types of PDOs:
1906h
Sub2
Sub5
FFh
3ms
FFh
5ms
FFh
0ms
FFh
0ms
3
xxx
3
xxx
2800h
0
2
0
2
0
2Bh
Brief Description
Cyclical transmission every 3 ms
The PDO is sent double every 5 ms if a change is present.
PDO transmission is deactivated
PDO transmission is deactivated
Transmit for every third Sync telegram
Every third Sync telegram, but only 43 times total (=2Bh).
PDO
PDO1 telegram structure:
ID
18Ch
ID
Length
Byte1 - 4
Byte 5 - 6
DLC
4
Byte 1
Xx
Byte 2
Xx
Byte 3
Xx
Byte 4
Xx
Byte 5
Xx
Byte 6
Xx
: 17Bh+ Lift number * 10 + PosUnit
: 6 data bytes
: Current position in increments
: Speed
3.4.5. Emergency service
Internal device error or bus problems trigger 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 63C7h
Byte 5
Byte 6
Warning 63C5h
Byte 7
n.u.
Byte 0..1: Error Codes
Error Code (hex) Meaning
0000
Error Reset or No Error
1000
Generic Error
Byte 2: Error Register
Bit
Meaning
0
Generic Error
Byte 3..4 Alarms
Bit
0
Meaning
Position error active
Byte 5..6 Warning
Bit
Meaning
2
CPU watchdog status
4
Battery charge
Value = 0
No
Value = 1
Yes
Value = 0
OK
OK
Value = 1
Reset carried out
Charge too low
Byte 7: Not in use
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3.4.6. Network management services
The network management can be divided into two groups:
With the NMT services for device control, the bus nodes can be initialized, started and stopped.
In addition, there are also NMT services for connection monitoring.
Description of NMT commands
The commands are transferred as unconfirmed objects and are structured as follows:
Byte 0
COB-ID = 0
Byte 1
Command Byte
Byte 2
Node Number
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 desired node. With none number = 0 all nodes are
addressed.
NMT State Event
Following initialization the encoder is in the Pre-Operational mode. In this state SDO parameters can be read
and written. To request PDO parameters, the encoder must first be run in the Operational Mode state.
Power on or Hardware Reset
Init
BootUp Message
4/5
4/5
Pre-Operational
3
2
1
3
Stopped/Prepared
4/5
1
Operational
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Different NMT states
Init
Following initialization the encoder sends a BootUp message on the CAN bus. Then the encoder
automatically switches into PreOperational mode.
The COB-ID of the BootUp message consists of 700h an the Node-ID.
COB-ID
700h + NodeID
Byte 0
00
Pre-Operational Mode
In the Pre-Operational mode, SDOs can be read and written.
Operational Mode
In the Operational mode the encoder sends the desired 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 written. LSS
is only possible in the Stopped mode.
State change
Start Remote Node (1)
With the Start command, the encoder is switched into the Operational mode.
COB-ID
0
Command Byte
1h
Node Number
0 - 127
Stop Remote Node (2)
With the Stop command the encoder is switched into the Stopped or Prepared mode.
COB-ID
0
Command Byte
2h
Node Number
0 - 127
Enter Pre-Operational Mode (3)
Switches into the Pre-Operational mode.
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 reinitialized.
Reset Remote Node (4):
COB-ID
0
Command Byte
81h
Node Number
0 - 127
Reset Communication (5):
COB-ID
0
Command Byte
82h
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Heartbeat
A "Heartbeat" principle is defined in the CAL with which the communication capability of CANopen devices
can be monitored. It can be ensured that the Master could react to a failure.
In Object 1017h "Producer Heartbeat Time" the time of the heartbeat can be defined. As soon as the value
has been confirmed, the heartbeat begins to transmit.
COB-ID
701h
Data/Remote
d
Byte 0
7Fh (127d)
The heartbeat messages consist of the COB-ID and a byte. This byte is used to transmit the NMT state.
0:
4:
5:
127:
BootUp-Event
Stopped
Operational
Pre-Operational
That means the encoder is in the Pre-Operational mode (7Fh = 127).
3.4.7. Layer setting services
In the spring of 2000 a new protocol was drafted by CiA to ensure a uniform occurrence. The procedure is
described under Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
In the standard configuration we ship the encoder with the Node-ID 1 and the baud rate 50 kBaud.
Several encoders with the same Node-ID can be connected to the bus system. To now be able to address
the individual encoders, LSS is used.
Each encoder has a unique serial number and is addressed via this number. This means any desired number
of encoders with the same Node-ID can be connected to a bus system and then initialized with LSS. Both the
Node-ID and the baud rate can be reset. LSS can only be carried out in the Stopped Mode.
Message structure
COB-ID:
Master Æ Slave
: 2021 = 7E5h
Master Å Slave
: 2020 = 7E4h
After the COB-ID an LSS command specifier is transmitted.
Then up to seven data bytes are added on.
COB-ID cs
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Switch Mode Global
7E5h Æ 04h
Mode
Mode
Reserved
: 0 Æ Operation mode
1 Æ Configuration mode
Switch Mode Selective
With the following procedure a very specific encoder can be addressed in the bus system.
7E5h Æ 40h
VendorID
Reserved
7E5h Æ 41h
ProductCode
Reserved
7E5h Æ 42h
RevisionNumber
Reserved
7E5h Æ 43h
SerialNumber
Reserved
7E4h Å 44h
Mode
Reserved
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VendorID
ProductCode
RevisionNumber
SerialNumber
Mode
: ECh
: Internal product code for the respective encoder
: Current revision number of the encoder
: Unique, consecutive serial number
: Response of the encoder is the new mode (0 = Operation mode; 1 = Configuration
mode)
Set Node-ID
7E5h Æ 11h
Node-ID
Reserved
7E4h Å 11h
ErrCode
Spec Error
Node-ID
ErrorCode
SpecificError
Reserved
: The new Node-ID of the encoder
: 0=OK; 1=Node-ID outside range; 2..254 = reserved; 255ÆspecificError
: If ErrorCode = 255 Æ application-specific error code.
Set BitTiming
7E5h Æ 13h
tableSel tableIn
d
7E4h Å 13h
ErrCod
e
TableSel
Reserved
SpecErro
r
Reserved
: Selects the BitTiming table
TableInd
ErrorCode
SpecificError
0
: Standard CiA bit timing table
1 - 127 : Reserved for CiA
128 - 255 : Manufacturer-specific tables
: BitTiming entry in selected table (see table below).
: 0=OK; 1=BitTiming outside range; 2 - 254 = reserved; 255ÆSpecificError
: Falls ErrorCode=255 Æ 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 configuration protocol
This protocol saves the configuration parameters in the EEPROM.
7E5h Æ 17h
Reserved
7E4h Å 17h
ErrCod
e
SpecErro
r
Reserved
ErrorCode
: 0=OK;1 = Saving not supported; 2 = access error; 3 - 254 =
Reserved;255ÆspecificError
SpecificError
: If ErrorCode = 255 Æ Application-specific error code.
Manual_GXP5_417_Lift_EN.doc
04.05.11
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Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Activate BitTiming Parameters
The new BitTiming parameters are activated with the command specifier 21.
7E5h Æ 15h
Switch Delay
Switch Delay
Reserved
: Delay of the reset in the Slave in ms.
After the delay time, the encoder signals the new baud rate.
Request VendorID
Request the VendorID of a selected encoder
7E5h Æ 5Ah
Reserved
7E4h Å 5Ah
32-Bit Vendor ID
VendorID
Reserved
: = ECh
Request ProductCode
Request the ProductCode of a selected encoder
7E5h Æ 5Bh
Reserved
7E4h Å 5Bh
ProductCode
ProductCode
Reserved
: Manufacturer-dependent product code
Request Revision Number
Request the RevisionNumber of a selected encoder
7E5h Æ 5Ch
Reserved
7E4h Å 5Ch
32-Bit Revision Number
RevisionNumber
Reserved
: Current revision
Request SerialNumber
Request the SerialNumber of a selectable encoder
7E5h Æ 5Dh
Reserved
7E4h Å 5Dh
32-Bit Serial Number
SerialNumber
Reserved
: Unique consecutive serial number of the encoder
Manual_GXP5_417_Lift_EN.doc
04.05.11
15/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Range Request
Encoders can also be searched for in a certain range. For this purpose, the following objects are sent
consecutively:
7E5h Æ 46h
VendorID
Reserved
7E5h Æ 47h
ProductCode
Reserved
7E5h Æ 48h
7E5h Æ 49h
RevisionNumber LOW
RevisionNumber HIGH
Reserved
Reserved
7E5h Æ 4Ah
7E5h Æ 4Bh
SerialNumber LOW
SerialNumber HIGH
Reserved
reserved
Each encoder with the corresponding parameters responds by transmitting the following message:
7E4h Å 4Fh
Reserved
Manual_GXP5_417_Lift_EN.doc
04.05.11
16/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
3.5. CANopen Lift encoder according to Appl. Profile DSP417
3.5.1. Object overview
According to CiA (CAN in Automation), the objects are divided into three groups:
• Standard objects:
1000h, 1001h, 1018h
• Manufacturer-specific objects:
2000h - 5FFFh
• Application-specific objects:
6000h - 67FFh
The following table shows a summary of all SDO objects supported by the device.
Object
Name
Type
Attr
Default
EE
Info
Object number in hex
Description of object
U/I = Unsigned/Integer , No. = Number of bits, ARR = Array
ro = ReadOnly, wo = WriteOnly, rw = ReadWrite
Default value for first initialization
1= If saving to EEPROM is carried out
Additional information
Object
1000h
Device Type
Name
Type
U32
Attr
ro
Default
060001A1h
EE
Info
0
15
Profile No. = 1A1h=417 encoder lift
2 ..2
16
23
2 ..2 Communication model
24
31
2 ..2 virtual device code
1001h
1003h
00h
01h
..
08h
1005h
1008h
1009h
100Ah
1010h
00h
01h
02h
03h
04h
1014h
Error Register
Predefined Error Field
Largest Subindex
Last Entry
..
Oldest Entry
Sync COB-ID
Device Name
Hardware Version
Software Version
Store Parameters
Largest Subindex
Save All Parameters
Communication Parameters
Application Parameters
Manufacturer Specific
Parameters
Restore Default Parameters
Largest Subindex
All Parameters
Communication Parameters
Application Parameters
Manufacturer Specific
Parameters
Emergency COB-ID
1017h
1018h
00h
01h
02h
03h
04h
Producer Heartbeat Time
Identity Object
Largest Subindex
VendorID
Product Code
Revision Number
Serial Number
1011h
00h
01h
02h
03h
04h
Manual_GXP5_417_Lift_EN.doc
04.05.11
U8
ARR
U8
U32
..
U32
U32
U32
U32
U32
ARR
U8
U32
U32
U32
U32
ro
00h
rw
ro
..
ro
rw
ro
ro
ro
00h
ro
rw
rw
rw
rw
04h
Number of memory possibilities = 4
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
ARR
U8
U32
U32
U32
U32
ro
rw
rw
rw
rw
04h
Number of reset possibilities = 4
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
U32
rw
U16
U32
U8
U32
U32
U32
U32
rw
ro
ro
ro
ro
ro
ro
80h + NodeID
00h
..
80h
"GXP5"
"1.00“
"1.00“
04h
ECh
1Eh
00010000h
xyz
17/41
1
1
1
Bit0=Generic Error
Contains last 8 errors or warnings
Number of messages saved (0 - 8)
Error or warning
..
Error or warning
COB-ID of Sync object
"GXP5"
Hardware version in ASCII V 1.00
Software version in ASCII V 1.00
COB-ID of Emergency object
1
1
1
1
Vendor number assigned by CiA
Current revision number V1.00
Unique consecutive serial number
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
1906h
00h
01h
02h
05h
1B06h
00h
01h
02h
2100h
Transmit PDO1 Parameter
Largest Subindex
COB-ID
PDO Type
Event Timer
Transmit PDO1 Mapping
Largest Subindex
Content of PDO1
Content of PDO1
Baud Rate
REC
U8
U32
U8
U16
ARR
U8
U32
S16
U8
2101h
Node-ID
2110h
2300h
00h
01h
02h
03h
04h
05h
06h
07h
08h
Customer-Specific Node-ID
Version
Statistics
Largest Subindex
Number of Position Errors
Time in Seconds
Number of Timer Reset
Watchdog
Customer EEPROM Area
Largest Subindex
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
2800h
6001h
6380h
00h
01h
02h
03h
04h
PDO1 Addition/Event Trigger
Lift Number
Operating Parameters
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
U8
U8
ARR
U8
U16
U16
U16
U16
6381h
00h
01h
02h
03h
04h
6382h
00h
01h
02h
03h
04h
6383h
00h
01h
02h
03h
04h
Resolution
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Preset Value in Steps
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Position in Steps
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
ARR
U8
U32
U32
U32
U32
ARR
U8
U32
U32
U32
U32
ARR
U8
U32
U32
U32
U32
2201h
00h
01h
02h
03h
Manual_GXP5_417_Lift_EN.doc
04.05.11
ro
rw
rw
rw
05h
18Ch
FFh
00h
ro
ro
ro
rw
02h
63830120h
63900110h
02h
1
U8
rw
01h
1
U32
ro
01h
1
Position valve 32-bit
Speed 16-bit
After baud rate is set, 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 baud rate is set,
EEPROM must be saved and reinitialized.
Define treatment of Node-ID
REC
U8
U32
U32
U32
ro
ro
ro
ro
03h
00h
00h
00h
1
1
1
Number of subindexes
Position check
Time since last reset
Timer Watchdog
ARR
U8
U16
U16
U16
U16
U16
U16
U16
U16
ro
rw
rw
rw
rw
rw
rw
rw
rw
08h
00h
00h
00h
00h
00h
00h
00h
00h
1
1
1
1
1
1
1
1
rw
rw
00h
01h
1
1
Repetition counter for PDO1
Lift number 1 - 8 (currently only 1 possible)
ro
rw
rw
rw
rw
04h
04h
04h
04h
04h
1
1
1
1
Bit0 = Rotating direction 0 = CW, 1 = CCW
Bit2 = Scaling Function 0 = off, 1 = on
CW = Increasing position value during clockwise
rotation (when viewing flange)
CCW = Increasing position value during counterclockwise rotation (when viewing flange)
ro
rw
rw
rw
rw
04h
8192
2000h
13Bit
ro
rw
rw
rw
rw
ro
ro
ro
ro
ro
ro
04h
00h
00h
00h
00h
1
1
1
PDO ID = 17Bh + Lift No10 + PosUnit
FFh= cyclical
Cycle time in ms
Static mapping only!!
Any desired data can be saved
in this object
1
1
1
1
1
1
1
1
Resolution in steps/rotation
or
mm/rotation
Preset in steps Æ Offset
04h
Position value incl. offset in steps
18/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
6384h
00h
01h
02h
03h
6390h
00h
01h
02h
03h
04h
63C0h
00h
01h
02h
03h
04h
Encoder Meas. Step Setting
Largest Subindex
Measuring Step
Speed Measuring Step
Acceleration Measuring Step
Speed Value Car
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Operating Status
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
ARR
U8
U16
U16
U16
ARR
U8
S16
S16
S16
S16
ARR
U8
U16
U16
U16
U16
63C1h
00h
01h
02h
03h
04h
63C2h
00h
01h
02h
03h
04h
63C4h
00h
01h
02h
03h
04h
63C5h
00h
01h
02h
03h
04h
63C6h
00h
01h
02h
03h
04h
63C7h
00h
01h
02h
03h
04h
63C8h
00h
01h
02h
03h
04h
63C9h
00h
01h
02h
03h
04h
Max. Resolution
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Max. Rotations
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Supported Warnings
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Warnings
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Supported Alarms
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Alarms
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Operating Time
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
Offset Value
Largest Subindex
Position Unit 1
Position Unit 2
Position Unit 3
Position Unit 4
ARR
U8
U32
U32
U32
U32
ARR
U8
U16
U16
U16
U16
ARR
U8
U16
U16
U16
U16
ARR
U8
U16
U16
U16
U16
ARR
U8
U16
U16
U16
U16
ARR
U8
U16
U16
U16
U16
ARR
U8
U32
U32
U32
U32
ARR
U8
U32
U32
U32
U32
Manual_GXP5_417_Lift_EN.doc
04.05.11
ro
ro
rw
rw
rw
Position of Unit 1
03h
64h
0Ah
0Ah
1
1
1
Unit of measuring step, multiple of 10 µm
Unit of speed, multiple of 0.1 mm/s
Unit of acceleration, multiple of 1 mm/s²
ro
ro
ro
ro
ro
04h
ro
ro
ro
ro
ro
04h
04h
04h
04h
04h
ro
ro
ro
ro
ro
04h
2000h
2000h
2000h
2000h
ro
ro
ro
ro
ro
04h
10000h
10000h
10000h
10000h
ro
ro
ro
ro
ro
04h
14h
14h
14h
14h
Following warnings are supported:
Bit2 = CPU watchdog status
Bit4 = Battery charge
ro
ro
ro
ro
ro
04h
00h
00h
00h
00h
Following warnings are evaluated:
Bit2 = CPU watchdog status
Bit4 = Battery charge
ro
ro
ro
ro
ro
04h
01h
01h
01h
01h
ro
ro
ro
ro
ro
04h
00h
00h
00h
00h
ro
ro
ro
ro
ro
4h
0h
0h
0h
0h
ro
ro
ro
ro
ro
4h
0h
0h
0h
0h
Speed
(see Object 6384 for unit)
19/41
Bit0 = Rotating direction 0 = CW, 1 = CCW
Bit2 = Scaling Function 0 = off, 1 = on
CW = Increasing position value during clockwise
rotation (when viewing flange)
CCW = Increasing position value during counterclockwise rotation (when viewing flange)
Maximum resolution in steps/rotation
Max. number of rotations
Following alarms are supported:
Bit0=Position error
Following alarms are evaluated:
Bit0=Position error
Time in 1/10 hours since last Reset
Offset calculated from Preset Æ 6382 h
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
3.5.2. Detailed object description
Object 1000
Device Type
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 1001
20..215 Profile No.= 1A1h=417 (Application Profile for Lift Control
Systems).
216..223 Communication model
224..231 Virtual device code
Error Register
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 1003
0
Unsigned 32
ReadOnly
060001A1h
No
Information on device profile and device model
0
Unsigned 8
ReadOnly
0h
No
Current Error Code
Bit 0
1 = Generic Error
Predefined Error Field
Here CiA (CAN in Automation) defines approximately 200 different Error Codes.
This document only describes the Error Codes relevant for the sensor.
This object saves the last 8 errors or warnings which have occurred.
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Manual_GXP5_417_Lift_EN.doc
04.05.11
0
Unsigned 8
ReadWrite
0
No
Read: Number of errors or warnings
Write 0: Reset errors
0-8
1..8
Unsigned 32
ReadOnly
0
No
Errors or warnings which have occurred, whereby Subindex 1 is the last
entry, Subindex 2 the next to the last etc.
Not yet defined
20/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1005
COB-ID SYNC Message
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 1008
0
Unsigned 32
ReadWrite
80h
Yes
Defines COB-ID of 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 29-bit SYNC COB-ID
Bit 10..0 Bit 10 - 0 of SYNC COB-ID
Manufacturer Device Name
Subindex
Data Type
Access
Default
0
Unsigned 32
ReadOnly
"GXP5"
EEPROM
Description
Values
No
Device designation in ASCII
Data 0 - 3:
"GXP5" = 47h 58h 50h 35h
Object 1009
Manufacturer Hardware Version
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 100A
Æ GXP5W Multiturn
0
Unsigned 32
ReadOnly
No
Hardware version in ASCII
Data 0 - 3 example:
31h 2Eh 30h 30h
= "1.00“
Manufacturer Software Version
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Manual_GXP5_417_Lift_EN.doc
04.05.11
0
Unsigned 32
ReadOnly
No
Software version in ASCII
Data 0 - 3
See rating plate
21/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1010
Save Parameters
With Object 1010h the saving of the objects below in the non-volatile memory (EEPROM) is triggered.
To prevent accidental saving, the message "save" must be written to Subindex 1.
COB-ID
DLC Command
Object L
600h+Node-ID
8
10h
23h
Object H Subinde
x
10h
01
Data 0
73h 's'
Data
Data
Data
1
2
3
61h 'a' 76h 'v' 65h 'e'
Objects saved in the EEPROM:
Object
1005h
1008h
Subindex Description
0h
Sync ID
0h
Device Name
Default Value (as per Object 1011)
80h
"GXP5"
1014h
1017h
1018h
1018h
0h
0h
1h
2h
Emergency COB-ID
Producer Heartbeat Time
VendorID
Product Code
80h+Node-ID
0h (disabled)
ECh
28h
1018h
1906h
1906h
1906h
4h
1h
2h
5h
Serial Number
PDO1 ID
PDO1 Type
PDO1 Event Timer Asynchronous Operation
Xyz
PDO ID = 17Bh + LiftNr * 10 + PosUnit
FFh -> asynchronous, cyclical
0h (disabled)
2100h
2101h
2110h
2201h
2201h
2201h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2800h
0h
0h
0h
1h
2h
3h
1h
2h
3h
4h
5h
6h
7h
8h
0h
Baud Rate
Node-ID
Manufacturer_Options
Number of Position Errors
Total Operating Time in Seconds
Number of Timer Resets from 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)
2h = 50 kBaud
1h
8h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
6001h
6380h
6381
6382h
6384h
0h
1h
1h
1h
01h
1h
0004h
2000h
0h
64h
6384h
02h
6384h
03h
Lift Number
Operating Parameter
Triggering in Steps/Rotation
Preset Value in Steps
Encoder Measuring Step Setting
Unit for Measuring Step: Multiple of 10 µm
Encoder Measuring Step Setting
Unit for Speed: Multiple of 0.1 mm/s
Encoder Measuring Step Setting
2
Unit for Acceleration: Multiple of 1 mm/s
Manual_GXP5_417_Lift_EN.doc
04.05.11
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0Ah
0Ah
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1011
Restore Parameters
With Object 1011h the values in the RAM are overwritten with the Default Values (see Object 1010h).
In addition, the content of the EEPROM is marked as invalid. This means that up to the next saving of
the data in the EEPROM, the respective Default Values are loaded.
To prevent accidental overwriting, the message "load" must be written to Subindex 1.
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
11h
10h
Object 1014
6Ch 'l'
Data
1
6Fh
'o'
Data
Data
2
3
61h 'a' 64h 'd'
0
Unsigned 32
ReadWrite
80h+Node-ID
Yes
Defines COB-ID of Emergency object
80h + Node-ID
Producer Heartbeat Time
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 1018
Data 0
COB-ID Emergency Message
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 1017
23h
Subinde
x
01
0
Unsigned 16
ReadWrite
0h
Yes
Defines repetition time of Heartbeat monitoring service
0 = Disabled
1..65535 = Repetition time in ms
Identity Object
Subindex
Data Type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadOnly
4
No
Largest supported Subindex
4 = Largest supported Subindex
Subindex
Data Type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
ReadOnly
ECh
Yes
VendorID for IVO GmbH & Co. KG assigned by CiA
ECh (on Internet at www.can-cia.de)
Manual_GXP5_417_Lift_EN.doc
04.05.11
23/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Subindex
Data Type
Access
Default
EEPROM
Description
Values
2
Unsigned 32
ReadOnly
28h
Yes
Product Code
28h
Æ GXP5W Multiturn
Subindex
Data Type
Access
Default
EEPROM
Description
Values
3
Unsigned 32
ReadOnly
No
Revision Number des Sensors
Data 0 = Build
Data 1 = Build
Data 2 =
Data 3 =
number LOW
number HIGH
Version LOW
Version HIGH
Version of current software = xxyy (xx = Version, yy = Serial number)
See rating plate
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 1906
4
Unsigned 32
ReadOnly
0
Yes
Consecutive unique sensor serial number
Defined at factory during final test
PDO1 Parameter
Subindex
Data Type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
ReadOnly
5
No
Largest supported Subindex
5
Subindex
Data Type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
ReadWrite
18Ch
Yes
COB-ID of PDO
17Bh + Lift No * 10 + PosUnit
Manual_GXP5_417_Lift_EN.doc
04.05.11
24/41
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Subindex
Data Type
Access
Default
EEPROM
Description
Values
2
Unsigned 8
ReadWrite
FFh
Yes
PDO Type
1..n..F0h = PDO has synchronous characteristic (PDO is sent for
each nth SYNC telegram)
FFh =
PDO has asynchronous characteristic (PDOs are sent
cyclically in dependence on Event Timer and Event
Trigger)
Subindex
Data Type
Access
Default
EEPROM
Description
Values
5
Unsigned 16
ReadWrite
203h
Yes
Event Timer for Process Data Object
0=
Cyclical transmission deactivated
1..n..65535 =Repetition time of cyclical transmission is n ms.
Object 1B06
PDO1 Mapping
Subindex
Data Type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadOnly
0
No
Largest supported Subindex
1
Subindex
Data Type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
ReadOnly
63830120h
No
Describes content of PDO1 message
6383h = Position (Subindex 01, Length 0x20)
Subindex
Data Type
Access
Default
EEPROM
Description
Values
2
Signed 16
ReadOnly
63900110h
No
Describes content of PDO1 message
6390h = Speed (Subindex 01, Length 0x10)
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Object 2100
Baud Rate
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 2101
Node-ID
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 2110
0
Unsigned 8
ReadWrite
2 = 50kBaud
Yes
Read or set new sensor baud rate.
Æ After setting, parameters must be saved in EEPROM with Object
1010h and then sensor must be reinitialized
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
0
Unsigned 8
ReadWrite
1
Yes
Read or set new sensor Node-ID.
Æ After setting, parameters must be saved in EEPROM with Object
1010h and then sensor must be reinitialized
1 - 127
Manufacturer_Options
Subindex
Data Type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
ReadWrite
8h
Yes
Settings for ensuring compatibility to older sensors
Bit 3 =1 : Reset after Bus Off
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Object 2201
Statistics
Subindex
Data Type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadOnly
3h
No
Largest supported Subindex
3
Subindex
Data Type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
ReadOnly
0h
Yes
Total number of position errors
0...4294967295
Subindex
Data Type
Access
Default
EEPROM
Description
Values
2
Unsigned 32
ReadOnly
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
ReadOnly
0h
Yes
Watchdog Timer Reset counter
0 - 4294967295
Object 2300
Customer EEPROM Area
Subindex
Data Type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadOnly
8h
No
Any desired data can be saved in this object
8
Subindex
Data Type
Access
Default
EEPROM
Description
1-8
Unsigned 16
ReadWrite
0h
Yes
One 16-bit value can be saved per Subindex
(saving in EEPROM with Object 1010h)
0
Values
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Object 2800
PDO1 Addition (Event Trigger)
Subindex
Data Type
Access
Default
EEPROM
Description
Values
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0
Unsigned 8
ReadWrite
0h
Yes
Event Trigger value determines how often same PDO value is
transmitted
0=
PDO counter is deactivated Æ constant transmission (time
basis from Event Timer)
1..n..255 = Same PDO value is transmitted n times
(time basis from Event Timer)
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Object 6001
Lift Number
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 6380
Operating Parameters
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 6381
0
Unsigned 8
ReadWrite
1
Yes
Lift number
1
0
Unsigned 16
ReadWrite
4
Yes
Operating parameters
Bit 0 Rotating direction = 0
Æ Clockwise; 1 Æ Counter-clockwise
Bit 2 Scaling function = 0
Æ Max. resolution; 1 Æ Saved resolution
Resolution
Subindex
Data Type
Access
Default
EEPROM
Description
1
Unsigned 32
ReadWrite
2000h = 8192 = 13Bit
Yes
Number of steps per rotation is freely selectable.
!Offset value is reset when resolution is changed!
Values
1 - 8192
Object 6382
Preset Value
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 6383
1
Unsigned 32
ReadWrite
0h
Yes
Freely selectable position value. Preset and internal position result in
offset (Æ Object 63C9h)
0 - 536870911
Position in Steps
Subindex
Data Type
Access
Default
EEPROM
Description
Values
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1
Unsigned 32
ReadOnly
No
Current position incl. offset
0 - 536870911
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Object 6384
Encoder Measuring-Step Setting
Subindex
Data Type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadOnly
3h
No
Largest supported Subindex
3
Subindex
Data Type
Access
Default
EEPROM
Description
Values
1
Unsigned 16
ReadOnly
64h
Yes
Encoder measuring-step setting
Unit for measuring step: multiple of 10 µm
Subindex
Data Type
Access
Default
EEPROM
Description
Values
2
Unsigned 16
ReadOnly
0Ah
Yes
Speed measuring step
Unit for speed: multiple of 0.1 mm/s
Subindex
Data Type
Access
Default
EEPROM
Description
Values
3
Unsigned 16
ReadOnly
0Ah
Yes
Acceleration measuring step
Unit for acceleration: multiple of 1 mm/s2
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Object 6390
Speed Value Car
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 63C0
1
Unsigned 16
ReadOnly
4h
No
Operating data written in Object 6380h
Bit 0 Rotating direction = 0
Æ Clockwise; 1 Æ Counter-clockwise
Bit 2 Scaling function = 0
Æ Max. resolution; 1 Æ Saved resolution
Max. Resolution in Steps
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 63C2
no
Speed
Operating Status
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 63C1
1
Signed 16
ReadOnly
1
Unsigned 32
ReadOnly
2000h = 8192 = 13-bit
No
Maximal single-turn resolution in steps
2000h = 8192 = 13-bit
Max. Rotations
Subindex
Data Type
Access
Default
EEPROM
Description
Values
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1
Unsigned 16
ReadOnly
10000h = 65536 = 16-bit
No
Maximum number of rotations
10000h = 65536= 16-bit
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Object 63C4
Supported Warnings
Subindex
Data Type
Access
Default
1
Unsigned 16
ReadOnly
Multiturn:
14h
EEPROM
Description
Values
No
Warnings supported by Object 63C5
Multiturn:
Bit 2 = CPU Watchdog status
Bit 4 = Battery charge
Object 63C5
Warnings
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 63C6
Supported Alarms
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 63C7
1
Unsigned 16
ReadOnly
0h
No
Warnings as per Object 63C4
Multiturn:
Bit 2 = 1 Æ CPU Watchdog reset
Bit 4 = 1 Æ Battery charge is insufficient
1
Unsigned 16
ReadOnly
1h
No
Alarm messages supported by Object 63C7
Bit 0 = Position error
Alarms
Subindex
Data Type
Access
Default
EEPROM
Description
Values
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1
Unsigned 16
ReadOnly
0h
No
Alarm messages as per Object 63C6h
Bit 0 = 1 Æ Position error active
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Object 63C8
Operating Time
Subindex
Data Type
Access
Default
EEPROM
Description
Values
Object 63C9
1
Unsigned 32
ReadOnly
0h
No
Operating time in 1/10 hour since last sensor reset
0..n..4294967295 = n * 6 minutes operating time without reset
Offset
Subindex
Data Type
Access
Default
EEPROM
Description
Values
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1
Unsigned 32
ReadOnly
0h
Yes
Calculated from preset (Æ Object 6382h)
0 - current total measuring range - 1
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4. Diagnosis and Important Information
4.1. Error diagnosis field bus communication
• If the encoder cannot be addressed via the CANopen bus, you should first check the connections.
If the connections are OK, next the field bus operation should be tested. A CAN monitor is required for this
purpose which records the CANopen communication and displays the telegrams.
• Now the encoder should output a BootUp message when the power supply is switched off and then on
again.
If no BootUp message appears, check whether the baud rates of the encoder, the CAN monitor and the
bus system match.
• If you have difficulties establishing a connection to a node, check the node number and the baud rate.
The same baud rate must be set everywhere. The node number (Node-ID, node address) must be
between 1 and 127. Each bus node must be defined with a unique Node-ID. This means the same NodeID may never be assigned multiple times.
The Node-ID and baud rate can also be conveniently set via the LSS service.
4.2. Troubleshooting with field bus
The encoder has several objects and messages which describe the status or error states of the encoder:
• Object 1001h: This object is an error register for the error state of the device.
• Object 1003h: The last eight error codes and warnings are saved in this object.
• Object Emergency (80h + Node-ID): High-priority error message of a node with an Error Code and an
Error Register.
• SDO Abort Message: If the SDO communication does not run correctly, the SDO response contains an
Abort Code.
Object 1001h Error register
In this register the presence of a device error and its type are displayed.
Bit 0: Generic error
The remaining bits are not supported by our encoder.
Object 1003h Predefined error field
In this object the last eight Error Codes which have occurred in the objects 63C5h and 63C7h are saved,
whereby the last error is entered in Subindex1 and the oldest error in Subindex8.
Object Emergency
Error message of a node.
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SDO Abort Message
If the SDO communication is not carried out problem-free, 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 accessing of 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 large
: General error
: Incorrect memory signature ("save")
: Data cannot be saved
4.3. Important information on sensor
Set new Node-ID
1. A new Node-ID is set with the IVO-specific Object 2100h.
2. After the Node-ID is set, it must be saved in the EEPROM with Object 1010h.
3. During the next initialization the sensor will report with the new Node-ID.
Set new baud rate
1. A new baud rate is set with the IVO-specific Object 2101h.
2. After the baud rate is set, it must be saved in the EEPROM with Object 1010h.
3. During the next initialization the sensor will report at the new baud rate.
4. ! REMEMBER TO SET THE MASTER TO THE NEW BAUD RATE !
Shielding
As, depending on the installation position, the encoder is not always connected to a defined ground potential,
the encoder flanges should also always be connected to ground potential. The encoder should always be
connected via a shielded cable.
If possible, the cable shield should be connected on both sides. It must be ensured that no transient currents
are discharged via the encoder.
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5. Applications
5.1. Setting and reading objects
To overwrite or read an object (SDO), two telegrams are always sent.
Set object
First the Master sends the value to be set. Then the encoder sends the confirmation.
Value (ba) is sent:
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
00h
23h
2Bh
Subinde
x
3h
Data 0
a
Data
1
b
Data
2
x
Data
3
x
Confirmation:
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
00h
23h
60h
Subinde
x
3h
Data 0
0
Data
1
0
Data
2
0
Data
3
0
Read object
First the Master sends a request for the desired object. Then the encoder sends the requested value.
Request from Master:
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
81h
63h
40h
Subinde
x
01h
Data 0
x
Data
1
x
Data
2
x
Data
3
x
Data
1
b
Data
2
c
Data
3
d
Response (dcba) of encoder to the request:
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
81h
63h
43h
Subinde
x
01h
Data 0
a
Commissioning
When the encoder is connected to the bus, it reports with a BootUp message. Now the encoder must be
adapted to its environment and configured.
Change Node-ID and baud rate with LSS
The Node-ID and baud rate can be changed without having to address the encoder via these. With the LSS
service the sensors are addressed and configured via ProductCode, RevisionNo, VendorID and
SerialNumber.
Change Node-ID (Node No.)
The Node-ID can be changed in Object 2101h between 1 and 127. Then a save should be carried out with
Object 1010h. During the next initialization the encoder then reports with the new Node-ID.
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Change baud rate
The baud rate can be changed in Object 2100h. An index is written to 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
Now the baud rate must still be saved with Object 1010-1. During the next initialization the encoder then
reports at the new baud rate. However, the baud rate of the Master should be changed.
5.2. Configuration
Set position (Preset, Referencing)
Value is sent:
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
82h
63h
23h
Subinde
x
01h
Data 0
a
Data
1
b
Data
2
c
Data
3
d
Data
1
0
Data
2
0
Data
3
0
Confirmation:
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
82h
63h
60h
Subinde
x
01h
Data 0
0
Change rotating direction and scaling
The rotating direction can be set to CW (clockwise) or CCW (counter-clockwise). In addition, the scaling can
be activated or deactivated in the same object (6380). With the scaling activated, the set resolution is used.
However, if the scaling is deactivated, the encoder operates with the maximum resolution.
Bit 0:
Bit 2:
0 -> CW (clockwise)
1 -> CCW (counter-clockwise)
0 -> Scaling off
1 -> Scaling on
Value: 0
Value: 1
Value: 0
Value: 4
Counter-clockwise and scaling activated:
COB-ID
DLC Command
Object L
600h+Node-ID
8
80h
23h
Object H Subinde
x
63h
01h
Data 0 Data
1
5h
x
Data
2
x
Data
3
x
Confirmation:
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
80h
63h
60h
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Subinde
x
01h
Data 0
0
Data
1
0
Data
2
0
Data
3
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Change single-turn resolution
In Object 6381h the singleturn resolution can be configured. For example, 1024 (10-bit) steps per rotation
(1024 = 400h):
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
81h
63h
23h
Subinde
x
01h
Data 0
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
580h+Node-ID
8
81h
63h
60h
Subinde
x
01h
Data 0
0
Save settings to EEPROM
With Object 1010h the saving of the objects below to the non-volatile memory (EEPROM) is triggered. To
prevent accidental saving, the message "save“ must be written to Subindex 1.
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
10h
10h
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
10h
10h
23h
60h
Subinde
x
01h
Subinde
x
01h
Data 0
73 's’
Data 0
0
Data
1
61 'a’
Data
2
76 'v’
Data
3
65 'e’
Data
1
0
Data
2
0
Data
3
0
5.3. Operation
NMT states
After the encoder has been initialized, it is in the Pre-Operational Mode. In this state SDOs can be read and
written.
To also start PDO communication, an NMT Start must be sent. Then the encoder is in the Operational
Mode. Now desired PDOs are sent. In addition, SDOs can also be read and written.
When the encoder is stopped with an NMT Stop, the encoder is in the Stopped Mode. In this state only NMT
communication is possible, i.e. also the Heartbeat.
With an NMT Reset the encoder is reinitialized and is then in the Pre-Operational Mode again.
Read position
Request from the Master:
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
83h
63h
40h
Subinde
x
01h
Data 0
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
580h+Node-ID
8
83h
63h
43h
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Subinde
x
01h
Data 0
a
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Configure PDOs
The PDOs can be configured according to the following table:
1906h
Sub2
Sub5
FFh
3ms
FFh
5ms
FFh
0ms
FFh
0ms
3
xxx
3
xxx
2800h
0
2
0
2
0
2Bh
Brief Description
Cyclical transmission every 3 ms
PDO is sent double every 5 ms if a change exists.
Send PDO deactivated
Send PDO deactivated
Send during every third Sync telegram
Every third Sync telegram, but total of only 43 times (=2Bh).
Specify Heartbeat Time
To monitor the communication capability, the time of the heartbeat must be defined in Object 1017h
"Producer Heartbeat Time". As soon as the value has been confirmed, the service begins to transmit. For
example, the encoder is to send a heartbeat every 100 ms (100 = 64h):
COB-ID
DLC Command
Object L
Object H
600h+Node-ID
8
17h
10h
2Bh
Subinde
x
0h
Data
0
64h
Subinde
x
0h
Data
0
0
Data 1
0h
Confirmation:
COB-ID
DLC Command
Object L
Object H
580h+Node-ID
8
17h
10h
COB-ID
701h
60h
Data 1
0
Data/ Remote Byte 0
d
7Fh
The Heartbeat messages consist of the COB-ID and a byte. The NMT state is transmitted in this byte.
0:
4:
5:
127:
BootUp event
Stopped
Operational
Pre-Operational
This means the encoder is in the Pre-Operational mode (7Fh = 127).
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6. Connection Assignment and Commissioning
6.1. Mechanical attachment
Shaft encoder
• Mount the encoder housing on the flange mounting holes with three screws (square flange with 4 screws).
Observe the thread diameter and thread depth.
• As an alternative the encoder can be mounted in any angled position with eccentric mountings, see
Accessories.
• Connect the drive shaft and encoder shaft via a suitable coupling. The shaft ends may not touch each
other. The coupling must compensate shifting caused by temperature and mechanical play. Observe the
permissible axial or radial axis load. For suitable connections, see Accessories.
• Firmly tighten the mounting screws.
6.2. Electrical connection
6.2.1. Description of connections
Pin
CAN_L
CAN_H
UB
GND B
CAN_GND
Assignment
CAN Bus Signal (dominant Low)
CAN Bus Signal (dominant High)
Supply voltage 10 - 30 VDC
Ground connection for UB
Optional GND reference for CAN interface
6.2.2. Connection assignment of M12 plug
Pin
1
2
3
4
5
Assignment
GND B
UB
CAN_GND
CAN_H
CAN_L
3
4
5
1
2
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6.2.3. Connection assignment of D-SUB plug
Pin
1
2
3
4
5
6
7
8
9
Assignment
-CAN_L
CAN_GND
--GND B
CAN_H
-UB
6.3. Display elements (status display)
Depending on the design, a DUO-LED may be integrated on the back of the encoder.
LED green
off
flashing
on
on
off
off
LED red
off
off
off
on
flashing
on
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Status
Supply Voltage Not Connected
Preoperational Mode
Operational Mode
Stopped/Prepared Mode
Warning
Error
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