Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 2)

Manual_CANopen_BIDE_EN.docx 2/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Contents
Page
1. Introduction 3
1.1. Scope of delivery 3
1.2. Product assignment 4
2. Safety and operating instructions 5
3. Product families 6
4. CAN bus and CANopen communication 7
4.1. CAN bus 7
4.1.1. CAN bus characteristics 7
4.2. CANopen 8
4.3. CANopen communication 9
4.3.1. Communication profile 9
4.3.2. CANopen message structure 9
4.3.3. Service data communication 10
4.3.4. Process data communication 11
4.3.5. Emergency service 13
4.3.6. Network management services 14
4.3.7. Layer Setting Services 18
4.4. Encoder profile 21
4.4.1. Overview of encoder objects 21
4.4.2. Detailed object list (DS-301) 25
5. Diagnosis and useful information 40
5.1. Error diagnosis field bus communication 40
5.2. Error diagnosis via field bus 40
5.3. Useful information relating to the sensor 41
6. Applications 42
6.1. Setting and reading objects 42
6.2. Configuration 43
6.3. Operation 44
6.4. Use the encoder via CAN interface 46
7. Terminal assignment and commissioning 48
7.1. Mechanical mounting 48
7.2. Electrical connection 48
7.2.1. Setting the user address (Node ID) 48
7.2.2. Setting the baud rate 49
7.2.3. Terminating resistor 49
7.2.4. Bus cover connection 49
7.2.5. Terminal assignment 52
7.3. Display elements (status display) 52