Baumer GNAMG - Manual (Page 18)

Manual_GNAMG_CANopen_EN.doc 18/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
3.4. Inclination sensor profile
3.4.1. Inclination sensor object overview
According to CiA (CAN in Automation) the objects are subdivided into three groups:
Standard objects:
1000h, 1001h, 1018h
Manufacturer-specific objects:
2000h - 5FFFh
Device-specific objects:
All remaining objects from 1000h - 1FFFh, 6000h - FFFFh
The table below is giving a summary of all SDO objects supported by the inclination sensor.
Object
Object number in Hex
Name ---
Format U/I = Unsigned/Integer, number = number bit, ARR = Array, REC = Record
Access ro = ReadOnly, wo = WriteOnly, rw = ReadWrite
Default Default upon first init or restore default
Save yes  saved in EEPROM
Meaning supplementary description
Object
Sub-Index
Name Format Access Default Save Meaning
1000h Device Type U32 ro 0004019Ah 0x019A = 410 = device profile inclination
sensor
0x0004 = Two axis with resolution max.
32-bit
1001h Error Register U8 ro 0h Bit0 = Generic error
Bit4 = Communication error (overrun, …)
Bit7 = Manufacturer -specific
1003h PreDefined
ErrorField
ARR Comprises the last 8 errors or warnings
00h Maximum Subindex U8 rw 0h ja Number of messages saved (0..8)
01h Latest entry U32 ro Latest error or warning
1000h Generic Error
5530h EEPROM Error
6010h Software Reset (Watchdog)
7510h Internal Communication Error
8130h Life Guard Error or Heartbeat Error
.. .. .. .. .. ..
08h Oldest entry U32 ro Error or warning, see Sub-Index 01h
1005h Sync COB-ID U32 rw 80h ja COB-ID of Sync Oject
1008h DeviceName U32 ro
"GNAM"
Device name
GNAMG inclination sensor
1009h Hardware Version U32 ro werkseitig Product Hardware Version in ASCII
100Ah Software Version U32 ro werkseitig Product Software Version in ASCII
100Ch Guard Time U16 rw 0h ja Timer Nodeguarding
100Dh Life Time factor U8 rw 0h ja Guard Time Multiplier
1010h Store Parameters ARR
00h Maximum Subindex U8 ro 4h
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 Manufacturer-
specific parameters
U32 rw =“save“ (0x73617665) to save
1011h Restore Default
Parameters
ARR
00h Größter Subindex U8 ro 4h
01h Alle Parameter U32 rw =“load“ (0x6C6F6164) to load