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 7/28 Frauenfeld, Switzerland
4 System Overview
4.1 General
The encoder is a rotary measuring system with a CANopen interface. It supports scaling and presetting.
In consideration of “CAN in Automation” (CiA) Profile 406 for Encoders, it’s an Absolute rotary encoder - Class C2.
The redundant encoders are galvanically isolated, for non-redundant encoders galvanical isolation on request.
4.2 Supported Profiles
Following CANopen profiles are supported:

CiA 301 / Version 4.1 (Communication)

CiA 305 / Version 1.0 (LSS)

CiA 406 / Version 3.2 (Encoder Profile)
4.3 Supported CANopen Services
Following CANopen services are supported:

1 Network Management (according to CiA 301)

1 SDO Server (according to CiA 301)

2 TPDOs (according to CiA 301/CiA 406)

1 Emergency Producer (according to CiA 301/CiA 406)

1 Heartbeat Producer (according to CiA 301)

1 Node guarding (according to CiA 301)

1 LSS Client (according to CiA 305)
4.4 Function Principle
4.4.1
Overview
Figure 1: Function principle overview
Direction
Correction
User Zero Point
(Offset)
Physical
Position
Speed
Calculating
Scaling
Scaling [Inc] [Inc] [Inc]
[Inc]
[Inc/s]
[Steps]
[Steps/s]
4.4.2
Scaling
The scaling of speed and position objects can be adapted in the object 6001h or object 6002h.
Relationship between object 6001h and 6002h:
Total measuring range = Measuring units per revolution x Number of distinguishable revolutions
(Value Object 6002h) = (Value Object 6001h) x (Value Object 6502h)