Baumer GNAMG - Manual (Page 10)

Manual_GNAMG_CANopen_EN.doc 10/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Overview
The following table is giving an overview on several kinds of PDO transmission.
Examples:
1800h
Brief explanation
Sub2 Sub5
FEh 3ms Cyclic transmission every 3 ms
FEh 0ms PDO transmission off
3 xxx PDO transmission on every third sync telegram
1 xxx PDO transmission on every sync telegram
PDO (slope angle)
PDO1 telegram structure:
COB-ID DLC
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
181h 8 Xx Xx Xx Xx Xx Xx Xx Xx
ID
: 180h + Node-ID
Length : 8 DataByte
Byte 0.. 3 : Slope angle in degrees axis Slope Long Y
Byte 4.. 7 : Slope angle in degrees axis Slope Lateral X
Emergency service
Internal device errors or bus problems will result in an emergency message:
COB-ID
DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
80h+Node-
ID 8 Error Code
00h 01h
Error-
Register
1001h
Xx Xx Xx Xx Xx
Byte 0..1: Error Codes
Error Code (hex) Meaning
0000 Error Reset or No Error
1000 Generic Error
5530 EEProm error
6010 Software reset (Watchdog)
7510 Internal communication error
8130 Life Guard error or Hearbeat
Byte 2: Error-Register
Bit Meaning
0 Generic Error
4 Communication error
7 manufacturer specific