Baumer GNAMG User Manual download pdf (Page 36)

Manual_GNAMG_CANopen_EN.doc 36/41 Baumer IVO GmbH & Co. KG

21.11.12 Villingen-Schwenningen, Germany

5.3. Operation

NMT states

After init the inclination sensor is in Pre-Operational Mode which is the state for reading and writing SDOs.

To start PDO communication NMT-Start must be transmitted to switch the inclination sensor to Operational

Mode. Now the required PDO's are transmitted. Now there is also read and write access to SDOs.

Upon stopping the inclination sensor by NMT-Stop it will got to Stopped Mode. This state is only for NMT

communication including Heartbeat.

NMT-Reset means re-init of the inclination sensor that now will be in Pre-Operational Mode again .

The NMT state is indicated by LED (refer to chapter Status LED)

Setting the Heartbeat Time

For guarding the communication capability a „Producer Hearbeat Time“ must be defined in object 1017h. The

service will be utilized upon confirmation of the parameter. Example: Every 100 ms the inclination sensor shall

transmit a heartbeat (100 = 64h):

COB-ID

DLC

Command

Object L

Object H

Subindex

Data 0

Data 1

600h+Node-ID

2Bh

17h

10h

64h

Confirmation:

COB-ID

DLC

Command

Object L

Object H

Subindex

Data 0

Data 1

580h+Node-ID

60h

17h

10h

COB-ID

Data/ Remote

Byte 0

701h

7Fh

Hearbeat messages comprise COB-ID and one byte, latter is transmitting the NMT state.

0: BootUp-Event

4: Stopped

5: Operational

127: Pre-Operational

i.e. the inclination sensor is in pre-operational mode (7Fh = 127).

1 2 ... 31 32 33 34 35 36 37 38 39 40 41

Comments to this Manuals

No comments

Baumer GNAMG User Manual Page 36

Comments to this Manuals

Related products and manuals for Sensors Baumer GNAMG