Baumer GCA12, Руководство пользователя

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– Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
6.4 PDO mapping
The encoder supports dynamic mapping.
6.4.1
Mappable objects
The following objects are mappable (see Object dictionary at Par.10 for further specifications):
Mapping content Mapping entry Description
Length raw channel 1 value 0x20000120 Object 2000h Subindex 01h, data length 32 Bit
Length raw channel 2
1
value 0x20000220 Object 2000h Subindex 02h, data length 32 Bit
Length channel 1 value 0x21100120 Object 2110h Subindex 01h, data length 32 Bit
Length channel 2
1
value 0x21100220 Object 2110h Subindex 02h, data length 32 Bit
Firmware version
0x21950008 Object 2195h Subindex 00h, data length 8 Bit
String Customer
0x21960020 Object 2196h Subindex 00h, data length 32 Bit
Dummy double word
0x21970020 Object 2197h Subindex 00h, data length 32 Bit
Dummy word
0x21980010 Object 2198h Subindex 00h, data length 16 Bit
Dummy byte
0x21990008 Object 2199h Subindex 00h, data length 8 Bit
Length channel 1 value
0x60040020 Object 6004h Subindex 00h, data length 32 Bit
Length channel 1 value
0x60200120 Object 6020h Subindex 01h, data length 32 Bit
Length channel 2 value
1
0x60200220 Object 6020h Subindex 02h, data length 32 Bit
Channel 1 speed value
0x60300120 Object 6030h Subindex 01h, data length 32 Bit
Channel 2 speed value
1
0x60300220 Object 6030h Subindex 02h, data length 32 Bit
Slope Long 16bit Angle 1
0x68100010 Object 6810h Subindex 00h, data length 16 Bit
Slope Long 32bit Angle 1
0x69100020 Object 6910h Subindex 00h, data length 32 Bit
Slope Long 16bit Angle 2
1
0x70100010 Object 7010h Subindex 00h, data length 16 Bit
Slope Long 32bit Angle 2
1
0x71100020 Object 7110h Subindex 00h, data length 32 Bit
To change PDO mapping first disable the mapping by writing 0 to 0x1A0x-0. Write the desired mapping entry and enable
the mapping again by writing the number of PDO contents to 0x1A0x-0.
6.4.2
Default mapping of absolute encoder redundant with cable-pull
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
184h 8 xx xx xx xx yy yy yy yy
Byte 0..3: Length A (Object 6020h-1)
Byte 4..7: Length B
1
(Object 6020h-2)
ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
284h 8 xx xx 00 00 yy yy 00 00
Byte 0..3: Angle A (Object 6910h-0)
Byte 4..7: Angle B
1
(Object 7110h-0)
1
In case of GCA (C50)