Baumer GK473 User Manual
Page 2
Manual_GK473_CANopen_EN.doc
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Baumer IVO GmbH & Co. KG
04.05.11
Villingen-Schwenningen,
Germany
Contents
Page
1. Introduction
3
1.1.
Scope of delivery
3
1.2. Product
assignment
3
2. Overview
3
3. Safety and operating instructions
4
4. Commissioning
5
4.1. Mechanical
mounting
5
4.2. Electrical
connection
5
4.2.1. Electrical
commissioning
5
4.2.2. Supply voltage connection
5
4.2.3. Shield connection / functional earth
5
4.2.4. CAN-Bus - RS485 connection
6
4.3.
Device parameter setting
7
4.3.1. How to open the housing
7
4.3.2. Setting the CANopen user address (Node ID)
7
4.3.3. Setting the baud rate
7
4.3.4. Activation of CANopen terminating resistor
8
4.3.5. Gateway projecting in the CANopen project
8
5. CANopen interface description
9
5.1. General
information
9
5.2.
Data transfer structure
9
5.3.
Transparent gateway function
12
5.3.1. General
information
12
5.3.2. Broadcast
commands
15
5.3.3. Interface
documentation
15
5.4.
Automatic gateway functions
15
5.4.1. Automatic SPA recognition
15
5.4.2. Continous scanning operations of all SPAs connected
15
5.5.
Transmit PDO 1..4 „check position“
15
5.6. Error
signals
16
5.7.
CANopen Object directory
17
5.8.
Front face indicators (LEDs)
20
6. Technical
data
22
7. Annex
23