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Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx

Baumer Electric AG

06.08.2018

11/28

Frauenfeld, Switzerland

5 NMT Service

5.1

Supported commands

Following NMT commands are supported:

NMT Frame:

COB ID

Byte 0

node ID

xx

5.1.1

NMT Reset

This NMT command performs a complete reset of the encoder, which can take up to 170 ms until the new bootup-

message is sent (restarting of the micro controller, be aware that all unsaved configurations will be lost).

5.1.2

NMT Communication Reset

This NMT command performs a restarting of the CAN Controller, which can take up to 5 ms until the new bootup-

message is sent (be aware that all unsaved configurations will be lost).

5.2

Boot-up message

After a power-on or NMT reset, the device will send a Boot-up message.

COB ID

Byte 0

700h + node ID

00

NMT Command

Byte 0

NMT Start

0x01

NMT Preoperational

0x80

NMT Stop

0x02

NMT Reset

0x81

NMT Communication Reset

0x82

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Содержание EAM MT Series

Страница 1: ...trasse 17 CH 8501 Frauenfeld Phone 41 52 728 11 22 Fax 41 52 728 11 44 08 18 sales ch baumer com Subject to modification in technic and design www baumer com Errors and commissions excepted Manual Abs...

Страница 2: ...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...

Страница 3: ...Encoder Diagnostic Sources 19 10 Heartbeat Service 20 10 1 General 20 10 2 COB ID 20 10 3 Timing 20 11 LSS slave 21 11 1 General 21 11 2 Supported commands 21 11 3 LSS address 21 12 Object directory...

Страница 4: ...ms Object 4001h range reduced from 4000 ms to 500 ms Comment Emergencies are not resent after NMT reset removed in chapter 5 1 1 0003 12 03 18 From V01 05 0003 0000h zest New profile version identific...

Страница 5: ...der shaft with a suitable coupling Hollow shaft Open clamping ring completely before mounting the encoder Foreign objects must be kept at a sufficient distance from the stator coupling The stator coup...

Страница 6: ...08 2018 6 28 Frauenfeld Switzerland 3 Product Assignment 3 1 Absolute encoder Product Product Code Device Name EDS file Absolute encoder multiturn single channel and redundant version 0x0070 EAMxxx M...

Страница 7: ...open 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 t...

Страница 8: ...1 This object provides a 32 Bit Speed information which has the unit Steps sec The range for object 6030h 1 Speed encoder A is 8000 0000h 7FFF FFFFh If the scaled speed value exceeds this range the o...

Страница 9: ...f this integer value is 1 32767 0x2001 3 Gear Value 2 This Object defines the denominator of the gear factor The range of this integer value is 1 32767 Figure 4 Example configuration of gear values ob...

Страница 10: ...Reconfigure the node with this higher baudrate to the lower baudrate again object 0x2100 3 Save the baudrate according chapter 6 2 1 4 Performing a NMT Reset 5 Reconfigure CAN Master with lower baudra...

Страница 11: ...p message is sent restarting of the micro controller be aware that all unsaved configurations will be lost 5 1 2 NMT Communication Reset This NMT command performs a restarting of the CAN Controller wh...

Страница 12: ...ects to the non volatile memory After a reset or power on the parameters are loaded from the non volatile memory The SDO request to 1010h x is answered after the saving of the parameters is performed...

Страница 13: ...PDOs is changeable in Object 180xh 1 Default Values are TPDO1 180h node ID TPDO2 280h node ID Changes will be applied immediately The COB ID is stored internally as a difference to the default COB ID...

Страница 14: ...e 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 7 5 Timing The minimal cycle time for TPDOs is 1 ms 7 6 Excepti...

Страница 15: ...and alarm fields object 6503h 6505h The emergency message is transmitted if an error is indicated in the error register COB ID DLC Byte0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h node ID 8...

Страница 16: ...Watchdog Bit 3 Operating time limit Bit 12 Mounting Error Bit 13 Multiturn System Bit 14 Singleturn System Bit 15 Multiturn Supervision Bit 3 Temperature Bit 15 Battery empty Only at Startup Only at S...

Страница 17: ...0 Frequency exceeded Bit 1 CPU Watchdog Bit 2 Operating time limit Bit 4 Mounting Error Bit 5 Multiturn System Bit 6 Singleturn System Bit 7 Multiturn Supervision Bit 1 Commissioning diagnostic Only...

Страница 18: ...wo objects that can be used for test purposes to simulate different encoder behaviors 0x2116 1 Diagnostic Injection An error injection code written on this object simulates a diagnostic source accordi...

Страница 19: ...xFF00 at startup 0x6505 Warning Bit 4 at reboot 0x0004 001C Battery Monitoring Error Battery Empty Battery of the Multiturn system is empty Absolute position can be incorrect after restart encoder sho...

Страница 20: ...28 Frauenfeld Switzerland 10 Heartbeat Service 10 1 General The device supports a heartbeat producer according CiA 301 10 2 COB ID The COB ID for the heartbeat message is 700h node ID 10 3 Timing The...

Страница 21: ...bject directory The LSS service is only available in NMT Stopped Mode 11 2 Supported commands Switch state global Switch state selective Configure node ID protocol Configure bit timing parameters Stor...

Страница 22: ...al guard time is Object 100Ch 100Dh ms 100D Life time factor U8 rw 0h X Life time factor 1010h Store parameters ARR 00h Largest Subindex U8 ro 4h No of save possibilities 4 01h Save all parameters U32...

Страница 23: ...e2 U16 rw 1 X Denominator of the gear factor Range 1 32767 2100h Baudrate U8 rw 2h X 0 10 kBit s 1 20 kBit s 2 50 kBit s 3 100 kBit s 4 125 kBit s 5 250 kBit s 6 500 kBit s 7 800 kBit s 8 1000 kBit s...

Страница 24: ...scription 2300h Customer EEPROM ARR Customer EEPROM to save any data 00h Largest Subindex U8 ro 4 01h CustomerEEPROM 0 U32 rw 0 X 02h CustomerEEPROM 1 U32 rw 0 X 03h CustomerEEPROM 2 U32 rw 0 X 04h Cu...

Страница 25: ...function disabled 1 Scaling function enabled 6501h Used single turn resolution step rev U32 ro 4000h 6502h Number of distinguishable revolutions U32 ro 40000h 6503h Alarms U16 ro m 0h The following al...

Страница 26: ...endor ID and serial number Changing the node ID node no The node ID can be changed in object 2101h between 1 and 127 A save routine should then be executed using object 1010h On the next initializatio...

Страница 27: ...ject Sub Index Name Discrepancy 0x1029 1 Error behavior Default Value is 1 instead of 0 Do not change NMT State on Communication Errors 3 Error behavior Default Value is 1 instead of 0 Do not change N...

Страница 28: ...n redundant CANopen redundant CANopen Inc Non redundant grey CAN_GND CAN_GND A brown Vs Vs Vs white 0 V 0 V 0 V green CAN_H CAN_H CAN_H yellow CAN_L CAN_L CAN_L pink A blue B red B Pin assignment conn...

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