Baumer GNAMG - Manual (Page 19)

Manual_GNAMG_CANopen_EN.doc 19/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Object
Sub-Index
Name Format Access Default Save Meaning
02h Communication
Parameters
U32 rw =“load“ (0x6C6F6164) to load
03h Application
Parameters
U32 rw =“load“ (0x6C6F6164) to load
04h Manufacturer
Specific Parameters
U32 rw =“load“ (0x6C6F6164) to load
1014h Emergency COB-ID U32 rw 80h + Node-
ID
yes COB-ID of the emergency object
1016h Consumer heartbeat
time
ARR yes
00h Maximum Subindex U8 ro 1h
01h Consumer heartbeat
time
U32 rw 10000h yes Bit0..15 Consumer Heartbeat time in ms
Bit16..23 Node-ID
1017h Producer Heartbeat
Time
U16 rw 0h yes Producer Heartbeat time in ms
1018h Identity Object REC ro
00h Maximum Subindex U8 ro 4h
01h VendorID U32 ro ECh Vendor ID specified by CiA
02h Product Code U32 ro 32h Product Code:
0x32 = GNAMG.x225xxx
0x33 = GNAMG.x215xxx
0x34 = GNAMG.x235xxx
03h Revision Number U32 ro Works-
defined
yes Product revision number
04h Serial Number U32 ro Works-
defined
yes Unique successive serial number
1029h Error behaviour ARR Error behaviour
00h Maximum Subindex U8 ro 1h
01h Communication error U8 rw 1h yes 0h = go to pre-operational mode
1h = no change of mode
2h = go to stop mode
3h = Node reset
1800h Transmit PDO1
Parameter
REC
00h Maximum subindex U8 ro 5h
01h COB-ID U32 rw 180h+id ja PDO ID = 180h + Node-ID
02h PDO Type U8 rw FEh ja FEh=User defined, cyclic
05h EventTimer U16 rw 203h ja Cycle time in ms
1A00h Transmit PDO1
Mapping
ARR
00h Maximum Subindex U8 ro 2h
01h Content of PDO1 I32 ro 61100020h Slope angle Slope Long , Y-axis
02h Content of PDO1 I32 61200020h Slope angle Slope Lateral, X-axis
2100h Baud rate U8 rw 2h ja Setting the baud rate must be followed by
saving operation in EEPROM and re-init.
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
2101h Node-ID U8 rw 1h yes Node ID available from 1..127
Setting the baud rate must be followed by a
saving operation in EEPROM and re-init.
2110h Manufacturer_
Options
U32 rw 8h yes Bit3 = 0 no BusOFF reset
1 if BusOFF there is a bus reset
Bit5 = 0 Heartbeat protocol active
1 Nodeguarding protocol active
2201h Statistics REC
00h Maximum subindex U8 ro 3h
01h Total of position
errors
U32 ro yes