BUDE_Manual-CANopen_EN.doc
23/55
Baumer Hübner GmbH
23.10.2012/bja
Berlin, Germany
3.4
Encoder/converter profile
3.4.1
Overview of encoder/converter objects
According to CiA (CAN in Automation), objects are subdivided into three groups:
•
Standard objects
:
1000h, 1001h, 1018h
•
Manufacturer-specific objects
:
2000h - 5FFFh
•
Device-specific objects
:
All other objects from 1000h - 1FFFh, 6000h - FFFFh
The following table provides a summary of all SDO objects supported by the encoder/converter.
Object
Object number in Hex
Name
---
Type
U/I = Unsigned/Integer , No. = no of bits, ARR = Array
Attr
ro = read only, wo = write only, rw = read write
Default
Default value on first init
EE
yes
is stored in the EEPROM
Info
Additional info
Object
Name
Type Attr
Default
EE
Info
1000h Device type
U32
ro
00020196h
00010196h
Multiturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =2 (Multiturn, absolute)
Singleturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =1 (Singleturn, absolute)
1001h Error register
U8
ro
0h
Bit0 = Generic Error
Bit4 = Communication error (overrun, …)
Bit7 = manufacturer specific
1003h Predefined error field
ARR
Contains the last 8 errors or warnings
00h Biggest subindex
U8
rw
0h
Number of stored messages (0..8)
01h Last entry
U32
ro
Error or warning
1000h Generic error
5530h EEPROM error
6010h Software reset (Watchdog)
7320h Position error
7510h Internal communication error
8130h Life Guard error oder Heartbeat
error
FF00h Battery low (only AMG 81 C 29)
.. ..
..
..
..
..
08h Oldest entry
U32
ro
Error or warning (see subindex 01h)
1005h Sync COB ID
U32
rw
80h yes COB ID of the sync object
1008h Device name
U32
ro
"CO13"
„CO18“
"CO29"
yes Device name =
"CO13" 13 bit encoder/converter
"CO18" 18 bit encoder/converter
"CO29" 29 bit encoder/converter
1009h Hardware version
U32
ro
actual value
Hardware version in ASCII
100Ah Software version
U32
ro
actual value
Software version in ASCII
100Ch Guard time
U16
rw
0h yes Node Guarding timer
