Baumer EAM MT Series, Manual

Page: 25 / 28

Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG
06.08.2018 25/28 Frauenfeld, Switzerland
12.3 Standardized Device Profile Area
Ob
je
c
t
S
u
b
-In
d
e
x
Name
F
o
rm
a
t
Acc
e
s
s
Default
S
a
v
e
Description
6000h Operating parameter U16 rw 4h X Bit0 = 0 Position CW
1 Position CCW
Bit 2 = 0 Scaling function disabled
1 Scaling function enabled
6001h Measuring units per revolution
[Step/rev] U32 rw 4000h X Measuring units per revolution. Allowed range 4
…65’536
Writing this object will adjust object 6502.
6502h = 6002h / 6001h
6002h Total measuring range [Step] U32 rw 0h X Total measuring range.
Writing to this object will adjust object 6502h.
6502h = 6002h / 6001h
Only values 6001h * 2
n
are allowed
Exception: Value 0h
means 1’0000’0000h Steps
6003h Preset value encoder [Step] U32 rw 0h X Preset in steps for encoder A

Offset
(Internally linked to object 6020h-1)
6004h Position encoder [Step] U32 ro
m Position in steps for encoder A (Internally linked to object
6020h-1)
6010h Preset Value Array
00h Largest Subindex U08 ro 1
01h Preset for encoder A [Step] U32 rw 0 Preset in steps for encoder A
6030h Speed Values Array
00h Largest Subindex U08 ro 1
01h Speed encoder A [Step/s] I32 ro,m Speed in steps/second for encoder A
6200h Cyclic timer PDO1 [ms] U16 rw 100 internally linked to object 1800h-2
6500h Operating Status U16 ro 4h Bit0 = 0 Position CW
1 Position CCW
Bit2 = 0 Scaling function disabled
1 Scaling function enabled
6501h Used single turn resolution
[step/rev] U32 ro 4000h
6502h Number of distinguishable
revolutions U32 ro 40000h
6503h Alarms U16 ro,m 0h The following alarms are evaluated:
Bit0 = Generic Position Alarm
Bit1 = Commissioning Diagnostic
Bit12 = Position Data not valid
Bit15 = Battery Empty
6504h Supported alarms U16 ro
Standard:
9001h
The following alarms are supported:
Bit0 = Generic Position Alarm
Bit1 = Commissioning Diagnostic
Bit12 = Position Data not valid
Bit15 = Battery Empty
6505h Warnings U16 ro,m 0h The following warnings are evaluated:
Bit0 = Frequency exceeded
Bit2 = CPU watchdog
Bit3 = Operating time limit
Bit4 = Battery charge low
Bit12= Mounting error
Bit13 = Multiturn System
Bit14 = Singleturn System
Bit15 = Multiturn Supervision
6506h Supported warnings U16 ro F00Dh The following warnings are supported:
Bit0 = Frequency exceeded
Bit2 = CPU watchdog
Bit3 = Operating time limit
Bit4 = Battery charge low
Bit12= Mounting error
Bit13 = Multiturn System
Bit14 = Singleturn System
Bit15 = Multiturn Supervision
6507h Profile & software version U32 ro Byte 0..1: Profile-Version =4.14 = 040Eh
Byte 2: Software minor version
Byte 3: Software major version
6508h Operating time U32 ro 0h
Always FFFF’FFFFh
6509h Offset encoder [step] I32 ro 0h Offset encoder (Internally linked to object 650Ch-1)
650Ah Module identification Array
00h Largest Subindex U08 ro 1
01h Manufacturer offset I32 ro 0
650Bh Serial number U32 ro Internally linked to object 1018h-4h
650Ch Offset values Array
00h Largest subindex U08 ro 1
01h Offset encoder [step] I32 ro 0h X Offset encoder A