Baumer GK473 - Manual (Page 12)

Manual_GK473_CANopen_EN.doc 12/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
Object 0x3205 Collective information „SPAs connected“
0x3205_0 SDO Sub Index count
0x3205_1 reading total of SUB bus users connected (SPA RS485 Bus)
0x3205_2 reading SPA with SUB bus identifier 0..31
0x3205_3 reading SPA with SUB bus identifier 32..63
0x3205_4 reading SPA with SUB bus identifier 64..95
0x3205_5 reading SPA with SUB bus identifier 96..99
0x3205_2.. 0x3205_5
The information ‚SPAs connected’ is in binary code in a 32 bit double word.
A bit entry at location 2
n is representing a SPA connected with identifier n
Object 0x3206 Collective information „Device status“
0x3206_0 SDO Sub Index count
0x3206_1 reading total of SPA’s in error status ‚e’
0x3206_2 reading SPA with SUB bus identifier 0..31 error
0x3206_3 reading SPA with SUB bus identifier 32..63 error
0x3206_4 reading SPA with SUB bus identifier 64..95 error
0x3206_5 reading SPA with SUB bus identifier 96..99 error
0x3206_2.. 0x3206_5
The information SPA in error status ‚e’ is in binary code in a 32 bit double
word.
A bit entry at location 2
n is representing a SPA connected in error status ‚e’ with identifier n
5.3. Transparent gateway function
5.3.1. General information
Basically, there is a transparent transfer of all commands with code „A“...“z“ from the CANopen master
to the SPA and vice-versa. Thus, the PLC is capable of addressing each SPA individually or globally
by broadcast command. The gateway does not verify whether the SPA with the respective identifier is
connected or not, neither is the command code.
Basically, every command received from CANopen master (PLC) is given a reply by the gateway. The
CANopen master must always wait for a reply prior to sending another command to the gateway. This
procedure allows the CANopen master to always verify when a command has been accomplished.
Replied is by means of
•
transparent transfer of the SPA reply after having addressed directly an individual SPA and after
having duly received a reply.
• abort error signal if the SPA did not answer after having elapsed the timeout (approx. 100 ms)
Any timeout required in the CANopen master for monitoring of gateway replies should not be less than
400 ms.
Reading the SUB bus (SPA)
After ‚initiate upload’ the CANopen master must wait for at least 100 ms prior to start transmission of
the spindle positioning data by the first SDO segment (during this time the SPA is addressed by the
SUB bus).