Manual_BMMS_CANopen_BECH_EN_rev05.docx
11/20
Baumer Electric AG
18.06.2013
Frauenfeld, Switzerland
6.4.2
Default mapping of absolute encoder with cable-pull
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
181h/281h
4
xx
xx
xx
xx
Byte 0..3: Position (Object 6004h)
6.4.3
Default mapping of absolute encoder redundant with cable-pull
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
181h/281h
8
xx
xx
xx
xx
yy
yy
yy
yy
Byte 0..3: Position A (Object 6020h-1)
Byte 4..7: Position B (Object 6020h-2)
6.5
Timing
The minimal cycle time for TPDOs is 1 ms.
6.6
Exceptions of accurate calculation of process data
The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and
alarms:
-
Non-volatile operations
-
Changing the scaling parameters
