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. Reconf
igure 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.
