Baumer GK473 - Manual (Page 10)

Manual_GK473_CANopen_EN.doc 10/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
Object Auto Scan SPA 0x3203
Parameter: ON
During operation the gateway is performing automatic and continuous scanning operations of all
SPAs connected to verify whether they are “in position”. Upon request this information can be
gathered under a special command for CANopen read-in. Thus the AutoScan function relieves the
CANopen master from proceeding cyclic SPA scanning operations itself.
This operating mode is imperative for providing void data under „collective information“ objects.
However, there might be situations where this is not desired.
Several commands to the SPA are only valid for the time being until another command is received
(for example indicate SPA identifier in the lower display line). The AutoScan object would make these
commands ineffective. Furthermore, the scanning procedure keeps the RS485 bus busy and
consequently the commands received from the CANopen master can be processed by the gateway
faster with AutoScan off.
Objects collective information 0x3204, 0x3205, 0x3206
These objects enable comfortable reading of the SUB bus status.
Precondition for updated data is Auto Scan SPA (0x3203) ON.
Ideally, the SUB bus users (SPA) are given an identifier from 0..31.
This way one SDO only is enough for scanning the complete SUB bus status with corresponding
SPA.
The data on SDO Upload subindex 2..5 of the respective collective information are in binary code in a
32 bit double word.
Subindex 2 2 0 ..2 31 SPA identifier 0..31
Subindex 3 2 0 ..2 31 SPA identifier 32..63
Subindex 4 2 0 ..2 31 SPA identifier 64..95
Subindex 5 2 0 ..2 31 SPA identifier 96..99