Baumer GNAMG User Manual
Page 10
Manual_GNAMG_CANopen_EN.doc
10/41
Baumer IVO GmbH & Co. KG
21.11.12
Villingen-Schwenningen, Germany
Overview
The following table is giving an overview on several kinds of PDO transmission.
Examples:
1800h
Brief explanation
Sub2
Sub5
FEh
3ms
Cyclic transmission every 3 ms
FEh
0ms
PDO transmission off
3
xxx
PDO transmission on every third sync telegram
1
xxx
PDO transmission on every sync telegram
PDO (slope angle)
PDO1 telegram structure:
COB-ID DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
181h
8
Xx
Xx
Xx
Xx
Xx
Xx
Xx
Xx
ID
: 180h + Node-ID
Length
: 8 DataByte
Byte 0.. 3
: Slope angle in degrees axis Slope Long Y
Byte 4.. 7
: Slope angle in degrees axis Slope Lateral X
Emergency service
Internal device errors or bus problems will result in an emergency message:
COB-ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
80h+Node-
ID
8
Error Code
00h 01h
Error-
Register
1001h
Xx
Xx
Xx
Xx
Xx
Byte 0..1: Error Codes
Error Code (hex) Meaning
0000
Error Reset or No Error
1000
Generic Error
5530
EEProm error
6010
Software reset (Watchdog)
7510
Internal communication error
8130
Life Guard error or Hearbeat
Byte 2: Error-Register
Bit
Meaning
0
Generic Error
4
Communication error
7
manufacturer specific