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Baumer Electric AG

18.06.2013

Frauenfeld, Switzerland

3 System Overview

3.1

General

The encoder is a linear 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 linear encoder - Class C2.
The encoders are galvanically isolated (non-isolated on request).

3.2

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)

o

Absolute encoder with cable-pull: Absolute linear encoder

o

Absolute encoder redundant with cable-pull: Multi-sensor encoder interface / Absolute linear encoder

3.3

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 LSS Client (according to CiA 305)

3.4

Function Principle

3.4.1

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]

3.4.2

Scaling

The step size for all speed and position objects can be adapted in the object 6005h.

Example 1: A position step s

etting of 1’000’000 nm/step means that the position output unit is 1mm.

Example 2: A speed step s

etting of 100’000 nm/s means that the speed output unit is 0.1mm/s

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Содержание MAGRES BMMS M75

Страница 1: ...ld Phone 41 52 728 11 22 Fax 41 52 728 11 44 05 13 sales ch baumer com Subject to modification in technic and design www baumer com Errors and commissions excepted Manual Absolute encoder with cable pull Absolute encoder redundant with cable pull CANopen ...

Страница 2: ...ifference between absolute encoder with cable pull and absolute encoder redundant with cable pull 8 4 NMT Service 8 4 1 Supported commands 8 4 2 Boot up message 8 5 SDO service 9 5 1 General 9 5 2 Save load parameters 9 5 2 1 Save 9 5 2 2 Load 9 5 2 3 Safe non volatile operation 9 5 2 4 Side effect 9 6 PDO Service 10 6 1 General 10 6 2 PDO transmission types 10 6 3 COB ID 10 6 4 PDO mapping 10 6 4...

Страница 3: ...ble pull system 14 8 3 Error behavior 14 9 Heartbeat Service 15 9 1 General 15 9 2 COB ID 15 9 3 Timing 15 10 LSS slave 16 10 1 General 16 10 2 Supported commands 16 10 3 LSS address 16 11 Object directory 17 11 1 Communication Profile Area 17 11 2 Manufacturer Specific Profile Area 18 11 3 Standardized Device Profile Area 19 Appendix A Pin Assignments 20 A 1 Assignment cable connection 5 20 A 2 P...

Страница 4: ...ing Never drop encoders or expose them to major vibrations 1 6 Assembly Avoid impacts or shocks on the housing and shaft hollow shaft Avoid any twist or torsion on the housing Do not open the encoder or make any mechanical changes to it The shaft ball bearings glass pane or electronic components can be damaged In this case safe and reliable operation cannot be guaranteed 1 7 Electrical commissioni...

Страница 5: ... AG 18 06 2013 Frauenfeld Switzerland 2 Product Assignment 2 1 Cable pull System Product Product Code Device Name EDS file Absolute encoder with cable pull 0x40 BMMS BMMS_0x0040 eds Absolute encoder redundant with cable pull 0x60 BMMS Redundant BMMS_0x0060 eds ...

Страница 6: ...l Multi sensor encoder interface Absolute linear encoder 3 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 LSS Client according to CiA 305 3 4 Function Principle 3 4 1 Ove...

Страница 7: ...figure 2 Figure 2 Position range depending on scaling 0000 0000h FFFF FFFFh Output Position 8000 0000h 7FFF FFFFh 8000 0000h 7FFF FFFFh 0204 0000h 0204 0000h 0mm Example1 Scaling 1 000 000 nm Step Max Range 0204 0000h Example2 Scaling 15 748 nm Step Max Range 8000 0000h 3 4 4 Speed range The range for object 6030h 1 Speed encoder A and object 6030h 2 Speed encoder B is 8000 0000h 7FFF FFFFh If the...

Страница 8: ...with a second position from a second position acquisition There is also the possibility to monitor the difference between these two positions The absolute encoder redundant with cable pull pull is fully compatible to the absolute encoder with cable pull 4 NMT Service 4 1 Supported commands Following NMT commands are supported NMT Start NMT Preoperational NMT Stop NMT Reset NMT Communication Reset ...

Страница 9: ... After a reset or power on the parameters are loaded from the non volatile memory The SDO request to 1010h x is answered immediately Parameter saving is performed after answering the SDO request 5 2 2 Load Writing load to 1011h x restores the corresponding objects The parameters are restored after a reset or power on 5 2 3 Safe non volatile operation To ensure safe non volatile operation the time ...

Страница 10: ...2 280h node ID Changes will be applied immediately The COB ID is stored internally as a difference to the default COB ID Example Node ID 1 COB ID TPDO1 181h Default value COB ID TPDO1 187h Changed by user Node ID 9 COB ID TPDO1 189h Adapted automatic 6 4 PDO mapping The encoder supports dynamic mapping 6 4 1 Mappable objects The following objects are mappable Mapping content Mapping entry Descript...

Страница 11: ...der 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 181h 281h 8 xx xx xx xx yy yy yy yy Byte 0 3 Position A Object 6020h 1 Byte 4 7 Position B Object 6020h 2 6 5 Timing The minimal cycle time for TPDOs is 1 ms 6 6 Exceptions of accurate calculation of process data The follo...

Страница 12: ...sage 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 Error code Error register object 1001h Manufacturer specific Alarms 6503h Warning 6505h Not used 7 4 Error register Error register object 1001h Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Communication error Generic error 7 4 1 Communication error C...

Страница 13: ...Bit 13 Difference Alarm Bit 14 Battery Warning Bit 4 Generic Error Bit 4 Communication Error Bit 0 D R S OR OR D R S D R S OR CAN Controller Bus Passiv Bus Off Bus Warning Bus Active RX Buffer Overflow Error Behaviour 1029h 2h Error Behaviour 1029h 1h 8100h 8120h 8110h 5000h 5000h 5000h 5000h Emergency Message OR OR Write xx0x xxxx xxxx xxxx to Alarms 6503h Write xxx0 xxxx xxxx xxxx to Alarms 6503...

Страница 14: ...100h 8120h 8110h 5000h 5000h Emergency Message OR Write xxx0 xxxx xxxx xxxx to Alarms 6503h Alarms 6503h Error Register 1001h Warnings 6505h Emergency Error Codes Reset Reason Watchdog Watchdog Warning Bit 2 6100h 8 3 Error behavior The error behaviors are executed when the corresponding bit in object 1001 Error register is set and the device is in the NMT State Operational Example The error behav...

Страница 15: ...ic AG 18 06 2013 Frauenfeld Switzerland 9 Heartbeat Service 9 1 General The device supports a heartbeat producer according CiA 301 9 2 COB ID The COB ID for the heartbeat message is 700h node ID 9 3 Timing The minimal cycle time for heartbeat messages is 1 ms ...

Страница 16: ...ectory The LSS service is only available in NMT Stopped Mode 10 2 Supported commands Switch state global Switch state selective Configure node ID protocol Configure bit timing parameters Store configuration Inquire identity vendor ID Inquire identity product code Inquire identity revision number Inquire identity serial number Inquire identity node ID 10 3 LSS address The needed values for LSS addr...

Страница 17: ... ASCII 100Ah Software Version STR ro Software version in ASCII 1010h Store parameters ARR 00h Largest Subindex U8 ro 4h No of save possibilities 4 01h Save all parameters U32 rw evas 0x65766173 to save 02h Communication parameters U32 rw evas 0x65766173 to save 03h Application parameters U32 rw evas 0x65766173 to save 04h Manuf specific parameters U32 rw evas 0x65766173 to save 1011h Restore defau...

Страница 18: ...encoder A 02h 2nd mapping parameter U32 rw 6020 0220h X Position encoder B 11 2 Manufacturer Specific Profile Area Object Sub Index Name Format Access Default Save Description 2100h Baud rate 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 The baudrate is activated after a reset or power on if parameter is saved to non v...

Страница 19: ... B Step s U32 ro m Speed in steps second for encoder B 6200h Cyclic timer PDO1 ms U16 rw 100 internally linked to object 1800h 2 6500h Operating Status U16 ro 4h Bit2 0 Scaling function disabled 1 Scaling function enabled Bit 3 0 Direction forward 1 Direction backward 6501h Used linear step nm step U32 ro 1 000 000 6503h Alarms U16 rw 2 m 0h The following alarms are evaluated Bit0 Position error B...

Страница 20: ...hite 0 V 0 V supply voltage green CAN_H CAN bus Signal dominant HIGH brown Vs Supply voltage A 2 Pin assignment connector 2 x M12 connection M Pin no Signal Description View to encoder 1 CAN_GND CAN bus ground 2 Vs Supply voltage 3 0 V 0 V supply voltage 4 CAN_H CAN bus signal dominant High 5 CAN_L CAN bus signal dominant Low A 3 Pin assignment connector 1 x M12 connection N Pin no Signal Descript...

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