Baumer GK473 - Manual (Page 2)

Manual_GK473_CANopen_EN.doc 2/24 Baumer IVO GmbH & Co. KG
04.05.11 Villingen-Schwenningen, Germany
Contents
Page
1. Introduction 3
1.1. Scope of delivery 3
1.2. Product assignment 3
2. Overview 3
3. Safety and operating instructions 4
4. Commissioning 5
4.1. Mechanical mounting 5
4.2. Electrical connection 5
4.2.1. Electrical commissioning 5
4.2.2. Supply voltage connection 5
4.2.3. Shield connection / functional earth 5
4.2.4. CAN-Bus - RS485 connection 6
4.3. Device parameter setting 7
4.3.1. How to open the housing 7
4.3.2. Setting the CANopen user address (Node ID) 7
4.3.3. Setting the baud rate 7
4.3.4. Activation of CANopen terminating resistor 8
4.3.5. Gateway projecting in the CANopen project 8
5. CANopen interface description 9
5.1. General information 9
5.2. Data transfer structure 9
5.3. Transparent gateway function 12
5.3.1. General information 12
5.3.2. Broadcast commands 15
5.3.3. Interface documentation 15
5.4. Automatic gateway functions 15
5.4.1. Automatic SPA recognition 15
5.4.2. Continous scanning operations of all SPAs connected 15
5.5. Transmit PDO 1..4 „check position“ 15
5.6. Error signals 16
5.7. CANopen Object directory 17
5.8. Front face indicators (LEDs) 20
6. Technical data 22
7. Annex 23