Baumer GNAMG - Manual (Page 21)

Manual_GNAMG_CANopen_EN.doc 21/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
3.4.2. Detailed object list
Object 1000 Device type
SubIndex 0
Data type Unsigned 32
Access ReadOnly
Default 0004019Ah
EEPROM No
Meaning Information ond device profile and device type
Parameters 0x019A = 410 = device profile inclination sensor
0x0004 = Two axis with resolution max. 32-bit
Object 1001 Error register
SubIndex 0
Data type Unsigned 8
Access ReadOnly
Default 0h
EEPROM No
Meaning Current error code
Parameters Bit0 = Generic error
Bit4 = Communication erro
r (overrun, …)
Bit7 = Manufacturer- specific
Object 1003 Pre-defined error field
CiA (CAN in Automation) defines here about 200 different error codes. This documentation only describes the
sensor-relevant error codes.
This object saves the latest 8 errors or warnings that occurred.
SubIndex
0
Data type Unsigned 8
Access ReadWrite
Default 0
EEPROM No
Meaning Read: Number of errors or warnings
Write 0: error reset
Parameters 0..8
SubIndex
1..8
Data type Unsigned 32
Access ReadOnly
Default 0
EEPROM No
Meaning Errors or warnings occured, subindex 1 being the last, subindex 2 the second-
to-
last,…… entry
Parameters Not yet defined
Object 1005 COB-ID SYNC Message
SubIndex 0
Data type Unsigned 32
Access ReadWrite
Default 80h
EEPROM Yes
Meaning Defines COB-ID of the synchronisation object (SYNC)
Parameters Bit 31 not defined
Bit 30 1=Sensor generates SYNC messages, 0=no SYNC message generated
Bit 29 1=29 Bit SYNC COB-ID (CAN 2.0B), 0=28 Bit SYNC COB-ID (CAN 2.0A)
Bit 28..11 Bit 28..11 of 29 Bit SYNC COB-ID
Bit 10..0
Bit 10..0 of SYNC COB-ID