Baumer EAM MT Series, Руководство пользователя

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Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG
06.08.2018 2/28 Frauenfeld, Switzerland
Contents
1 Version overview ......................................................................................................................................... 4
2 Safety and operating instructions .............................................................................................................. 5
3 Product Assignment .................................................................................................................................... 6
3.1 Absolute encoder ........................................................................................................................................... 6
4 System Overview ......................................................................................................................................... 7
4.1 General .......................................................................................................................................................... 7
4.2 Supported Profiles ......................................................................................................................................... 7
4.3 Supported CANopen Services ....................................................................................................................... 7
4.4 Function Principle .......................................................................................................................................... 7
4.4.1 Overview ........................................................................................................................................................ 7
4.4.2 Scaling ........................................................................................................................................................... 7
4.4.3 Position Range .............................................................................................................................................. 8
4.4.4 Speed range .................................................................................................................................................. 8
4.4.5 Electronic gear function ................................................................................................................................. 9
4.5 Encoder with redundant design ................................................................................................................... 10
4.5.1 Baudrate ...................................................................................................................................................... 10
4.5.2 Node Id ........................................................................................................................................................ 10
4.6 Encoder as standard component with embedded software used in safety functions ................................... 10
5 NMT Service ............................................................................................................................................... 11
5.1 Supported commands .................................................................................................................................. 11
5.1.1 NMT Reset................................................................................................................................................... 11
5.1.2 NMT Communication Reset ......................................................................................................................... 11
5.2 Boot-up message ......................................................................................................................................... 11
6 SDO service................................................................................................................................................ 12
6.1 General ........................................................................................................................................................ 12
6.2 Save/load parameters .................................................................................................................................. 12
6.2.1 Save ............................................................................................................................................................ 12
6.2.2 Load ............................................................................................................................................................. 12
6.2.3 Safe non-volatile operation .......................................................................................................................... 12
7 PDO Service ............................................................................................................................................... 13
7.1 General ........................................................................................................................................................ 13
7.2 PDO transmission types .............................................................................................................................. 13
7.3 COB-ID ........................................................................................................................................................ 13
7.4 PDO mapping .............................................................................................................................................. 13
7.4.1 Mappable objects ......................................................................................................................................... 13
7.4.2 Default mapping of absolute encoder .......................................................................................................... 14
7.5 Timing .......................................................................................................................................................... 14
7.6 Exceptions of accurate calculation of process data ..................................................................................... 14
8 Emergency Service .................................................................................................................................... 15
8.1 General ........................................................................................................................................................ 15
8.2 COB-ID ........................................................................................................................................................ 15
8.3 Emergency message ................................................................................................................................... 15
8.4 Error register ................................................................................................................................................ 15
8.4.1 Communication error ................................................................................................................................... 15
8.4.2 Temperature error ........................................................................................................................................ 15
8.4.3 Generic error................................................................................................................................................ 15
9 Alarms, warnings, errors, emergency messages and error behavior ................................................... 16