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 22/28 Frauenfeld, Switzerland
12 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
12.1 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
Single turn Encoders: 0001’0196h
Multi turn Encoders: 0002’0196h
1001h Error Register U8 ro 0h Bit0 = Generic error
Bit3 = Temperature 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 =
"EAMxxx MT“
“EAMxxx ST“
1009h Hardware Version STR ro Hardware version in ASCII
100Ah Software Version STR ro Software version in ASCII
100Ch Guard time U16 rw 0h X Guard time (actual 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 rw 1h
=“evas “ (0x65766173) to save
02h Communication parameters U32 rw 1h
=“evas “ (0x65766173) to save
03h Application parameters U32 rw 1h
=“evas “ (0x65766173) to save
04h Manuf. specific parameters U32 rw 1h
=“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 1h
=“daol“ (0x64616F6C) to load
02h Communication parameters U32 rw 1h
=“daol“ (0x64616F6C) to load
03h Application parameters U32 rw 1h
=“daol“ (0x64616F6C) to load
04h Manufacturer specific parameters U32 rw 1h
=“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 (0 = disabled)
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:
70h = EAMxxx Multiturn Encoder
71h = EAMxxx Singleturn Encoder
03h Revision number U32 ro Product revision number
04h Serial number U32 ro Serial No.
1029h Error behaviour 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
03h Temperature error U8 rw 1h X