Baumer MAGRES BMMS M75, Manual

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Manual_BMMS_CANopen_BECH_EN_rev05.docx 17/20 Baumer Electric AG
18.06.2013 Frauenfeld, Switzerland
11 Object directory
The following tables provide a summary of all SDO objects supported by the encoder.
Object Object number in Hex
Name Object name
Format U/I = Unsigned/Integer , No. = no of bits, ARR = Array, REC = Record, STR = String
Access ro = read only, wo = write only, rw = read write, m = mappable
Default Default value on first init
Save X = can be stored in the EEPROM
Description Additional information
Objects extensions for
Absolute encoder redundant with cable-pull only are marked with grey background.
11.1 Communication 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
1000h Device Type U32 ro
Cable Pull: 0008’0196h
Redundant Devices: 000A’0196h
1001h Error Register U8 ro 0h Bit0 = Generic error
Bit4 = Communication error
1003h PreDefined ErrorField ARR
00h Largest Subindex U8 rw 0h Number of stored messages (0 - 8)
01h Last Entry U32 ro Newest Error Code
.. .. .. .. ..
…
08h Oldest Entry U32 ro Oldest Error Code
1005h Sync COB-ID U32 rw 80h X COB ID of the sync object
1008h DeviceName STR ro Devicename =
"BMMS
“
"BMMS
Redundant“
1009h Hardware Version STR ro Hardware version in ASCII
100Ah Software Version STR ro Software version in ASCII
1010h Store parameters ARR
00h Largest Subindex U8 ro 4h No. of save possibilities 4
01h Save all parameters U32 rw
=“evas “ (0x65766173) to save
02h Communication parameters U32 rw
=“evas “ (0x65766173) to save
03h Application parameters U32 rw
=“evas “ (0x65766173) to save
04h Manuf. specific parameters U32 rw
=“evas “ (0x65766173) to save
1011h Restore default parameters ARR
00h Largest Subindex U8 ro 4h No. of reset possibilities = 4
01h All parameters U32 rw
=“daol“ (0x64616F6C) to load
02h Communication parameters U32 rw
=“daol“ (0x64616F6C) to load
03h Application parameters U32 rw
=“daol“ (0x64616F6C) to load
04h Manufacturer specific parameters U32 rw
=“daol“ (0x64616F6C) to load
1014h Emergency COB-ID U32 rw 80h + Node-ID X COB ID of the emergency object
1017h Producer heartbeat time U16 rw 0h X Producer heartbeat time in ms
1018h Identity object REC ro
00h Largest Subindex U8 ro 4h
01h Vendor ID U32 ro 5Fh Vendor ID
02h Product code U32 ro Product code:
40h = MAGRES Absolute encoder redundant with cable-
pull
60h = MAGRES Absolute encoder with cable-pull
03h Revision number U32 ro Product revision No.
04h Serial number U32 ro Serial No.
1029h Error behavior ARR
00h Largest Subindex U8 ro 2h
01h Communication error U8 rw 1h X 0h = Change to pre-operational mode
1h = No state change
2h = Change to stopped mode
02h Generic error U8 rw 1h X