Encoder profile, Overview of encoder objects – Baumer G0-GB-GXP5W/S/H-GXU5W/S User Manual
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Manual_G0-GB-GXP5-GXU5_406_EN.docx
19/48
Baumer IVO GmbH & Co. KG
20.11.12
Villingen-Schwenningen, Germany
3.4. Encoder profile
3.4.1. 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
Type Attr
Default
EE
Info
1000h Device type
U32
ro
00020196h
00010196h
Multiturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =2 (Multiturn, absolute)
Singleturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =1 (Singleturn, absolute)
1001h Error register
U8
ro
0h
Bit0=Generic Error
1003h Predefined error field
ARR
Contains the last 8 errors or warnings
00h Biggest subindex
U8
rw
0h
Number of stored messages (0 - 8)
01h Last entry
U32
ro
Error or warning
1000h Generic Error
5530h EEPROM Error
6010h Software Reset (Watchdog)
7320h Positions-Error
7510h Interner Kommunikations-Error
8130h Life Guard Error or Heartbeat Error
FF00h Battery low
.. ..
..
..
..
..
08h Oldest entry
U32
ro
Error or warning
1005h Sync COB ID
U32
rw
80h
1
COB ID of the sync object
1008h Device name
U32
ro
"GBP5"
"GBU5"
"GXP5"
"GXU5"
1
"GBP5" multiturn
"GBU5" singleturn
"GXP5" multiturn
"GXU5" singleturnn
1009h Hardware version
U32
ro
actual value
Hardware version in ASCII
100Ah Software version
U32
ro
actual value
Software version in ASCII
100Ch Guard Time
U16
rw
0h
1
Node Guarding Timer
100Dh Life Time factor
U8
rw
0h
1
Multiplicator of Guard Time
1010h Store parameters
ARR
00h Biggest subindex
U8
ro
4h
No. of save possibilities 4
01h Save all parameters
U32
rw
=“save“ (0x73617665) to save
02h Communication parameters U32
rw
=“save“ (0x73617665) to save
03h Application parameters
U32
rw
=“save“ (0x73617665) to save
04h Manuf. specific parameters
U32
rw
=“save“ (0x73617665) to save
1011h Restore default parameters
ARR
00h Biggest subindex
U8
ro
4h
No. of reset possibilities = 4