User Manual

Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG
06.08.2018 23/28 Frauenfeld, Switzerland
1800h
Transmit PDO1 parameter
REC
X
00h
Largest Subindex
U8
ro
5h
X
01h
COB ID
U32
rw
180h+ID
X
COB ID for TPDO 1
02h
PDO type
U8
rw
FEh
X
Transmission type
05h
Event timer
U16
rw
0
X
Cycle time in ms
1801h
Transmit PDO2 parameter
REC
X
00h
Largest Subindex
U8
ro
5h
X
01h
COB ID
U32
rw
280h+ID
X
COB ID for TPDO 2
02h
PDO type
U8
rw
1h
X
Transmission type
05h
Event timer
U16
rw
0
X
Cycle time in ms
1A00h
Transmit PDO1 mapping
ARR
X
00h
Largest Subindex
U8
rw
1
X
Maximum value is 8
01h
1st mapping parameter
U32
rw
6004’0020h
X
Position encoder
1A01h
Transmit PDO2 mapping
ARR
X
00h
Largest Subindex
U8
rw
1
X
Maximum Value is 8
01h
1st mapping parameter
U32
rw
6004’0020h
X
Position encoder
1F80h
NMTStartup
U32
rw
0
X
0h = NMT slave needs to be started by NMT master
8h = NMT slave enters the NMT state Operational
autonomously (self starting)
12.2 Manufacturer Specific Profile Area
Object
Sub-Index
Name
Format
Access
Default
Save
Description
2001h
Electronic Gear
ARR
Configuration of electronic gear function (for non-
redundant encoders)
00h
Largest Subindex
U8
ro
3
01h
Enable
U16
rw
1
X
1 = electronic gear function disabled
2 = electronic gear function enabled
02h
Gear Value1
U16
rw
1
X
Numerator of the gear factor, Range 1…32767
03h
Gear Value2
U16
rw
1
X
Denominator of the gear factor, Range 1…32767
2100h
Baudrate
U8
rw
2h
X
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
The baudrate is activated after a reset or power-on (if
parameter is saved to non volatile memory)
2101h
Node ID
U8
rw
1h
X
Node number 1...127 possible
The new node ID is activated after a reset or power-on (if
parameter is saved to non volatile memory)
2110h
Feature control
U16
rw
0008h
X
Bit 3: CAN Bus Off behavior
1 = Automatic CANopen restarting
0 = Encoder behaves according obj. 1029h
2114h
Manufacturer Reserved
U32
rw
0
2116h
Error Injection
ARR
Simulation of encoder errors for test purposes
00h
Largest Subindex
U8
ro
2
01h
Diagnostic Injection
U32
rw
0
An error injection code, written on this object simulates a
diagnostic source and activates the corresponding
signaling according to chapter 9.5.
02h
Position Offset Injection
U32
rw
0
A temporary position offset could be injected to test a
position cross-check in a PLC for example.
2117h
Encoder diagnostic
U16
ro, m
Encoder diagnostic bits
Bit0 = Frequency exceeded
Bit1 = CPU watchdog
Bit2 = Operating time limit
Bit3 = Battery charge low
Bit4 = Mounting Error
Bit5 = Multiturn System
Bit6 = Singleturn System
Bit7 = Multiturn Supervision
Bit10= Generic Position Alarm
Bit11= Commissioning diagnostic
Bit12= Communication Error
Bit13 = Temperature
Bit14 = Position Data not valid
Bit15 = Battery empty
2118h
Speed [rpm]
S16
ro, m
Speed value of Encoder in [rpm]
2120h
Time stamp [us]
U16
ro, m
Time stamp in [us] of current position acquisition