Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 23)

Manual_CANopen_BIDE_EN.docx 23/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Object Name Type Attr Default EE Info
2110h Manufactures_Options U32 rw 1h 1 Bit1 = Code sequence (Object 6000h Bit0)
0 Not inverted
1 Inverted
Bit2 = scaling function (Object 6000h Bit2)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protokoll enabled
1 Nodeguarding-Protokoll enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7)
Bit7 = 0 all PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
2
1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
2201h Statistics REC
00h Biggest subindex U8 ro 3h No. of subindexes
01h No. of position errors U32 ro 0h 1 Position control
02h Time in seconds U32 ro 0h 1 Time since last reset
03h Number timer reset
watchdog
U32 ro 0h 1 Timer watchdog
2300h Customer EEPROM range ARR Optional data can be stored in this object
00h Biggest subindex U8 ro 8h
01h Data0 U16 rw 0h 1
02h Data1 U16 rw 0h 1
03h Data2 U16 rw 0h 1
04h Data3 U16 rw 0h 1
05h Data4 U16 rw 0h 1
06h Data5 U16 rw 0h 1
07h Data6 U16 rw 0h 1
08h Data7 U16 rw 0h 1
2800h PDO1 addition / event
trigger
U8 rw 0h 1 Repeat counter for PDO1
2801h PDO2 addition (event
trigger)
U8 rw 0h 1 Repeat counter for PDO2
6000h Operating parameter U16 rw 4h 1 Bit0=Sense of rotation
Bit2=Scaling function
6001h Resolution U32 rw
2000h
1000h
40000h
1 Resolution in steps / revolution:
13Bit = multivo
12Bit = magtivo
18bit = activo/multivoPlus
6002h Overall measuring range in
increments
U32 rw
20000000h
2000h
4000000h
1000h
80000000h
40000h
1 Overall measuring range in increments
29Bit = multivo multiturn
13Bit = multivo singleturn
26Bit = magtivo multiturn
12Bit = magtivo singleturn
31Bit = activo/multivoPlus multiturn
18Bit = activo/multivoPlus singleturn
6003h Preset value in increments U32 rw 0h 1 Preset in increments  Offset
6004h Position in increments U32 ro Position value including offset in increments
6200h Cyclic timer for PDO1 U16 rw 203h 1 In ms, identical object 1800h, subindex 5
6500h Operating status U16 ro 4h Bit0=Sense of rotation
Bit2=Scaling function