User Manual

Baumer_GIM500R_CANopen_MA_EN.docx 2/29 www.baumer.com
03.19
Contents Page
1 Introduction ................................................................................................................................................. 3
1.1 Scope of delivery ....................................................................................................................................... 3
1.2 Product assignment ................................................................................................................................... 3
2 Safety and operating instructions ............................................................................................................ 4
3 CAN-bus and CANopen communication .................................................................................................. 5
3.1 CAN-bus characteristics ............................................................................................................................ 5
3.2 CANopen ................................................................................................................................................... 6
3.3 CANopen communication .......................................................................................................................... 6
3.3.1 Communication profile ............................................................................................................................ 6
3.3.2 CANopen message structure ................................................................................................................. 7
3.3.3 Service data communication .................................................................................................................. 8
3.3.4 Process data communication ............................................................................................................... 10
3.3.5 Emergency service ............................................................................................................................... 11
3.3.6 Network management services ............................................................................................................ 14
3.4 Object Dictionary ..................................................................................................................................... 21
3.4.1 Communication Parameter (CiA DS-301, CiA DS-302 Part 2) ............................................................. 22
3.4.2 Manufacturer Specific Parameter ......................................................................................................... 23
3.4.3 Device Profile Specific Parameter (CiA DS-410) ................................................................................. 25
3.5 LED status display ................................................................................................................................... 28
3.5.1 CANopen Status LED (Green) ............................................................................................................. 28
3.5.2 CANopen Error LED (Red) ................................................................................................................... 28
4 Terminal assignment ................................................................................................................................ 29
4.1 M12 flange connector, 5-pin .................................................................................................................... 29
4.2 2xM12 flange connector, 5-pin ................................................................................................................ 29
4.3 Cable ....................................................................................................................................................... 29