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19.07.2013
5 Technical specifications
5.1 Powerlink specifications
The bus cover complies with following specifications:
Powerlink version
2.0
CANopen profile
CiA 406 (encoders)
Minimum cycle time: 250µs
5.2 Ethernet specifications
MTU 300 Bytes
Delay internal Hub (Daisy Chain)
400ns/Node
Max. Response Time
2 µs (incl. hub delay)
Transmission rate
100 MBit/s semi-duplex
Ethernet outputs
2 outputs: M12 D-coded (Auto-Negation)
5.3 Timing behavior
The following table describes the delay and jitter between the Start of Cycle (SoC) and acquisition of a new
position value.
Product Delay typical Jitter
BMSx (ST):
BMMx (MT):
GXAMx (ST):
GXMMx (MT):
GBAMx (ST):
GBMMx (MT): 11,34µs
13,84µs
5,00µs
5,00µs
7,20µs
7,20µs +- 7,6µs (=7,5µs +/- 68ns)
+- 10,1µs (= 10µs +/- 68ns)
+- 0,6µs (= 0,54µs +/- 68ns)
+- 0,6µs (= 0,54µs +/- 68ns)
+-1,3µs (= 1,2µs +/- 68ns)
+-1,3µs (= 1,2µs +/- 68ns)
5.4 Physical resolution for each product
The following table describes the non-scaled physical resolution dependent on the used basic encoder.
Encoder Product Name ST Resolution MT Resolution Total Resolution
BMS ST BMSx 4000h 14 Bit - 4000h 14 Bit
BMM MT BMMx 4000h 14 Bit 4 0000h 18Bit 1 0000 0000h 32 Bit
GXAM ST GXAMx 2000h 13 Bit - 2000h 13 Bit
GXMM MT GXMMx 2000h 13 Bit 1 0000h 16Bit 2000 0000h 29 Bit
GBAM ST GBAMx 4 0000h 18 Bit - 4 0000h 18 Bit
GBMM MT GBMMx 4 0000h 18 Bit 4000h 14Bit 1 0000 0000h 32 Bit