User Manual

Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG

06.08.2018 10/28 Frauenfeld, Switzerland

4.5 Encoder with redundant design

In case of redundant design both encoder channels are connected with the same connector to the network. This means

both nodes do acknowledge the message of each other, without being connected to a network.

For encoders with redundant design the battery voltage is monitored during power off. Following minimum power off time

is required for proper detection:

Warning 0x6505 BattLow: Batterie low charge Minimum power-off time: 11 seconds

Alarm 0x6503 BattEmpt: Battery empty Minimum power off time: 1 second

4.5.1 Baudrate

Both encoders shall be configured with the same baudrate to avoid bus collisions.

Note:

In the case that the encoders are configured with different baudrates, do following sequence:

1. Configure CAN Master with the higher baudrate of the encoder

2. Reconfigure the node with this higher baudrate to the lower baudrate again (object 0x2100)

3. Save the baudrate according chapter 6.2.1

4. Performing a NMT Reset

5. Reconfigure CAN Master with lower baudrate (object 0x2100)

6. Reconfigure both nodes to the desired baudrate

7. Save both baudrates according chapter 6.2.1

4.5.2 Node Id

Both encoders shall be configured with different Node Id’s which are not reserved by other nodes, to avoid bus collisions.

Note:

In the case that the encoders are configured with the same node id, do following sequence:

1. Configure CAN Master with the used baudrate and node id of the encoders

2. Request a parameter restore to factory default (object 0x1011-01) according chapter 6.2.2

3. Performing a NMT Reset

4. Reconfigure CAN Master with the factory default baudrate

5. Reconfigure both nodes to the desired, different node id’s

6. Save both node id’s according chapter 6.2.1

4.6 Encoder as standard component with embedded software used in safety functions

If this standard encoder is used in safety functions, please request the according “Application Note MAGRES EAM” for

further information.