Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 21)

Manual_CANopen_BIDE_EN.docx 21/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
4.4. Encoder profile
4.4.1. Overview of encoder objects
According to CiA (CAN in Automation), objects are subdivided into three groups:
Standard objects:
1000h, 1001h, 1018h
Manufacturer-specific objects:
2000h - 5FFFh
Device-specific objects:
All other objects from 1000h - 1FFFh, 6000h - FFFFh
The following table provides a summary of all SDO objects supported by the encoder.
Object Object number in Hex
Name
---
Type U/I = Unsigned/Integer , No. = no of bits, ARR = Array
Attr ro = read only, wo = write only, rw = read write
Default Default value on first init
EE
1 = is stored in the EEPROM
Info Additional info
Object Name Type Attr Default EE Info
1000h Device type U32 ro 00020196h
00010196h
Multiturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =2 (Multiturn, absolute)
Singleturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =1 (Singleturn, absolute)
1001h Error register U8 ro 0h Bit0=Generic Error
1003h Predefined error field ARR Contains the last 8 errors or warnings
00h Biggest subindex U8 rw 0h Number of stored messages (0 - 8)
01h Last entry U32 ro Error or warning
1000h Generic Error
5530h EEPROM Error
6010h Software Reset (Watchdog)
7320h Positions-Error
7510h Internal communication-Error
8130h Life Guard Error or Heartbeat Error
FF00h Battery low
.. .. .. .. .. ..
08h Oldest entry U32 ro Error or warning
1005h Sync COB ID U32 rw 80h 1 COB ID of the sync object
1008h Device name U32 ro
"GXMM"
"GXAM"
"GCMM“
"GCAM"
"GDMM"
"GDAM"
“GBMMW”
“GBAMW”
1 Device name =
"GXMM" multivo Multiturn
"GXAM" multivo Singleturn
"GCMM“ magtivo Multiturn
"GCAM“ magtivo Singleturn
"GDMM" activo Multiturn
"GDAM" activo Singleturn
"GBMM" multivoPlus Multiturn
"GBAM" multivoPlus Singleturn
1009h Hardware version U32 ro actual value Hardware version in ASCII
100Ah Software version U32 ro actual value Software version in ASCII
100Ch Guard Time U16 rw 0h 1 Node Guarding Timer
100Dh Life Time factor U8 rw 0h 1 Multiplicator of Guard Time
1010h Store parameters ARR
00h Biggest subindex U8 ro 4h No. of save possibilities 4
01h Save all parameters U32 rw =“save“ (0x73617665) to save
02h Communication parameters U32 rw =“save“ (0x73617665) to save
03h Application parameters U32 rw =“save“ (0x73617665) to save