Baumer GK473 - Manual (Page 15)

Manual_GK473_CANopen_EN.doc 15/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
5.3.2. Broadcast commands
Due to the bus conflict on the RS485 interface the spindle position displays are generally not capable
of replying to broadcast commands (commands addressed simultaneously to all SPAs, identifier 99,
83h). Instead, the gateway will reply to the CANopen master, but only confirming having transmitted
the broadcast command to the RS485 interface of all SPAs. It is NOT a confirmation that the command
has been accepted and accomplished by all SPAs.
More examples in the annex.
5.3.3. Interface documentation
The SPA interface is completely documented in the respective SPA interface description which is
absolutely imperative for utilizing the gateway.
5.4. Automatic gateway functions
5.4.1. Automatic SPA recognition
After power on the gateway will proceed an automatic SPA identifier scan operation and will store the identifiers encountered
in the internal memory. Later, the identifiers of all SPAs connected can be read in by CANopen master by help of
SDO collective information.
The function „automatic SPA recognition“ takes for granted that all SPAs are being switched on
previously or at the same time with the gateway. Reliable information on the SPAs connected is
provided upon gateway init at the CAN bus by bootup message.
Refer also to NMT status diagram.
5.4.2. Continous scanning operations of all SPAs connected
During operation the gateway is automatically scanning all SPAs connected, checking whether they are
„in position“ or giving an error signal. Upon request this information can be requested by SDO
collective information (see 0x3204, 0x3205, 0x3206) or by PDO.
5.5. Transmit PDO 1..4 „check position“
Objects 0x3204_2.. 0x3204_5 are mapped to Transmit PDO’s 1..4 in a static way.
0x3204_2
TXPDO1 SPA with SUB bus identifier 0..31 ‚not in position’
0x3204_3 TXPDO2 SPA with SUB bus identifier 32..63 ‚not in position’
0x3204_4 TXPDO3 SPA with SUB bus identifier 64..95 ‚not in position’
0x3204_5 TXPDO4 SPA with SUB bus identifier 96..99 ‚not in position’
The information SPA ‚not in position’ is in binary code in a 32 bit double word.
(see object 0x3204)
A bit entry on location 2
n represents a SPA with identifier n ‚not in position’
Ideally the SUB bus users (SPA) are given an identifier between 0..31.
This way one PDO only is enough for a complete SPA status request.
Possible PDO definition as time triggered (default) or sync-triggered.
Please note that a cycle time of less than 1 second does not make sense since the SUB bus status
has to be scanned first once per cycle. This will take approx. 70 ms per user.