Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx
21/23
Baumer
– Sensor Systems s.r.l.
03.12.2019
Chiari (Bs), Italy
10.3 Standardized Device Profile Area
Ob
je
c
t
S
u
b
-in
d
e
x
Name
Type
Default value
Description
0x6000
0
Length parameters
U16, rw
0x0000
see paragraph ’How to change the length direction’
0x6002
0
Length total range
U32, rw
0x00000000
Not used
0x6003
0
Length preset channel
1 value
I32, rw
0x00000000
Set the zero length values of channel 1
0x6004
0
Length channel 1
value
I32, ro,
m
-
Length value of channel 1
0x6005
0
Length position setting
U8, ro
0x02
Number of the entries
1
Length channel
position setting
U32, rw
0x0000F4240
Express the resolution in nanometers
2
Channel speed setting
U32, rw
0x0000F4240
Express the resolution in nanometers
0x6010
0
Length preset values
U8, ro
0x02
Number of the entries
1
Length preset channel
1 value
I32, rw
0x00000000
Preset the value of channel 1
2
1
Length preset channel
2 value
I32, rw
0x00000000
Preset the value of channel 2
1
0x6020
0
Length channel value
U8, ro
0x02
Same as object 2110.00
1
Length channel 1
value
I32, ro,
m
-
Same as object 2110.01
2
1
Length channel 2
value
I32, ro,
m
-
Same as object 2110.02
0x6030
0
Channel speed value
U8, ro
2
Number of the entries
1
Channel 1 speed value
I32, ro,
m
-
Speed value of channel 1
2
1
Channel 2 speed value
I32, ro,
m
-
Speed value of channel 2
0x6800
0
Resolution
U16, rw
0x0064
This object shall indicate the resolution of Slope long16 (object
6810h) and Slope lateral16 (object 6820h) objects based on
0,001°. This resolution is also valid for the 32-bit value
objects (6910h and 6920h).
0x6810
0
Slope Long 16bit
I16, ro,
m
-
This object shall provide the 16-bit slope value of the longitudinal
axis. The value shall be given in degree (angle) with the resolution
given in object 6800h.
0x6811
0
Slope long operating
parameter
U8, rw
0x02
If scaling is enabled, the Slope long16 value shall be calculated
accordingly to the following equation:
Slope long16 = physically measured angle + Differential slope
long16 Slope long16 offset
If scaling is disabled, the Slope long16 value shall be equal to the
physical measured angle.
0x6812
0
Slope long 16bit preset
value
I16, rw
0x0000
Accessing this object by means of SDO shall set directly the
actual longitudinal slope value to a desired longitudinal slope
value. The calculated application-offset of the longitudinal slope
value is given in Slope long16 offset (object 6813h). The Slope
long16 offset is calculated with respect to object 6814h. The value
shall be given in degree (angle) with the resolution given in
object 6800h.
0x6813
0
Slope long 16bit offset
I16, ro
0x0000
This object shall indicate the application-offset of the longitudinal
axis. The value shall be given in degree (angle) with the resolution
given in object 6800h. The following equation shall be applied:
Slope long16 offset = Slope long16 preset value at tacc
–
slope physical measured at tacc
– Differential slope long16 offset
(tacc = time when accessing object 6812h)
0x6814
0
Differential slope long
16bit offset
I16, rw
0x0000
This object shall shift the Slope long16 value (object 6810h)
independent of Slope long16 preset value (object 6812h) and
Slope long16 offset (object 6813h). The value shall be given
in degree (angle) with the resolution given in object 6800h.
0x6910
0
Slope Long 32bit
I32, ro,
m
Same as object 6810
0x6911
0
Slope long 32bit
operating parameter
U8, rw
0x02
Same as object 6811
0x6912
0
Slope long 32bit preset
value
I32, rw
0x00000000
Same as object 6812
0x6913
0
Slope long 32bit offset
I32, ro
0x00000000
Same as object 6813
0x6914
0
Differential slope long
32bit offset
I32, rw
0x00000000
Same as object 6814
0x7000
1
0
Resolution Angle 2
U16, rw
0x64
This object shall indicate the resolution of Slope long16 (object
7010h) and Slope lateral16 (object 7020h) objects based on
0,001°. This resolution is also valid for the 32-bit value
