Baumer GNAMG - Manual (Page 2)

Manual_GNAMG_CANopen_EN.doc 2/41 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 3
2. Safety and operating instructions 4
3. CAN-bus and CANopen communication 5
3.1.1. CAN-bus properties 5
3.2. CANopen 6
3.3. CANopen communication 7
3.3.1. Communication profile 7
3.3.2. CANopen message structure 7
3.3.3. Service data communication 8
3.3.4. Process data communication 9
3.3.5. Network management services 11
3.3.6. Layer Setting Services 15
3.4. Inclination sensor profile 18
3.4.1. Inclination sensor object overview 18
3.4.2. Detailed object list 21
4. Diagnostics and useful information 32
4.1. Error diagnostics in fieldbus communication 32
4.2. Error diagnostics via fieldbus 32
4.3. Useful information on the sensor 33
5. Applications 34
5.1. Write and read SDO objects 34
5.2. Configuration 35
5.3. Operation 36
5.4. Commissioning via CAN 37
6. Terminal assignment and commisisoning 38
6.1. Mechanical mounting 38
6.2. Electrical connection 39
6.2.1. Setting the user address 39
6.2.2. Setting the baud rate 40
6.2.3. Terminating resistor 40
6.2.4. Connecting the inclination sensor 40
6.2.5. Terminal assignment 41
6.3. Status LEDs (status indicators) 41