Baumer EAM MT Series, Manual

Page: 23 / 28

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
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
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