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Baumer_EAM580_360_CANopen_MA_DE_Rev0003.0000h_Index0004.docx Baumer Electric AG

06.08.2018 3/29 Frauenfeld, Switzerland

9.1 Nicht-redundanter Drehgeber ...................................................................................................................... 16

9.2 Redundanter Drehgeber .............................................................................................................................. 17

9.3 Verhalten des Geräts im Fehlerfall (Error behavior) .................................................................................... 17

9.4 Fehlereinpflanzung ...................................................................................................................................... 18

9.5 Drehgeber Diagnosequellen ........................................................................................................................ 19

10 Heartbeat Service ...................................................................................................................................... 21

10.1 Allgemein ..................................................................................................................................................... 21

10.2 COB-ID ........................................................................................................................................................ 21

10.3 Timing .......................................................................................................................................................... 21

11 LSS slave .................................................................................................................................................... 22

11.1 Allgemein ..................................................................................................................................................... 22

11.2 Unterstützte Befehle .................................................................................................................................... 22

11.3 LSS Addresse .............................................................................................................................................. 22

12 Objektverzeichnis ...................................................................................................................................... 23

12.1 Kommunikations-Profil ................................................................................................................................. 23

12.2 Herstellerspezifische Objekte ...................................................................................................................... 24

12.3 Standardisiertes Geräteprofil ....................................................................................................................... 26

13 Applikationen ............................................................................................................................................. 27

14 Abweichungen zur CIA Spezifikation ....................................................................................................... 28

A. Anhang ....................................................................................................................................................... 29

a. Anschlussbelegung ...................................................................................................................................... 29