Baumer MAGRES BMMS M75, Руководство пользователя

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Manual_BMMS_CANopen_BECH_EN_rev05.docx 19/20 Baumer Electric AG
18.06.2013 Frauenfeld, Switzerland
11.3 Standardized Device Profile Area
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Beschreibung
6000h Operating parameter U16 rw 4h X Bit2 = 0 Scaling function disabled
1 Scaling function enabled
Bit 3 = 0 Direction forward
1 Direction backward
6002h Total measuring range [Step] U32 ro
1
Measuring range (This value is calculated by the position
step setting)
6003h Preset value encoder A [Step] U32 rw 0h Preset in steps for encoder A

Offset
(Internally linked to object 6020h-1)
6004h Position encoder A [Step] U32 ro
m Position in steps for encoder A (Internally linked to object
6020h-1)
6005h Linear encoder measuring step Array
00h Largest Subindex U08 ro 2
01h Position step setting [nm/Step] U32 rw 1
’000’000 X
Position step setting in nm
02h Speed step setting [nm/s/Step] U32 rw 1
’000’000 X
Speed step setting in nm/s
6010h Preset Value Array
00h Largest Subindex U08 ro 1 / 2
01h Preset for encoder A [Step] U32 rw 0 Preset in steps for encoder A
02h Preset for encoder B [Step] U32 rw 0 Preset in steps for encoder B
6020h Position Values Array
00h Largest Subindex U08 ro
1 / 2
01h Position encoder A [Step] U32 ro,m Position in steps for encoder A
02h Position encoder B [Step] U32 ro,m Position in steps for encoder B
6030h Speed Values Array
00h Largest Subindex U08 ro 1 / 2
01h Speed encoder A [Step/s] U32 ro,m Speed in steps/second for encoder A
02h Speed encoder 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
Bit12 = Data valid encoder A
Bit13 = Data valid encoder B
Bit14 = Difference monitoring
6504h Supported alarms U16 ro
Standard:
1001h
Redundant:
7001h
The following alarms are supported:
Bit0 = Position error
Bit12 = Data valid encoder A
Bit13 = Data valid encoder B
Bit14 = Difference monitoring
6505h Warnings U16 ro,m 0h The following warnings are evaluated:
Bit2 = CPU watchdog status reset generated
Bit4 = Battery charge too low
6506h Supported warnings U16 ro 14h The following warnings are supported:
Bit2 = CPU Watchdog Status
Bit4 = Battery Charge
6507h Profile & software version U32 ro Byte 0..1: Profile-Version =3.02 = 0302h
Byte 2:
Software minor version
Byte 3: Software major version
6508h Operating time U32 ro 0h
Always FFFF’FFFFh
6509h Offset encoder A [step] I32 ro 0h Offset encoder A (Internally linked to object 650Ch-1)
650Ah Module identification Array
00h Largest Subindex U08 ro 1
01h Manufacturer offset I32 ro 0
650Bh Serial number U32 ro Internally linked to object 1018h-4h
650Ch Offset values Array
00h Largest Subindex U08 ro 1 / 2
01h Offset encoder A [step] I32 ro 0h X Offset encoder A
02h Offset encoder B [step] I32 ro 0h X Offset encoder B
1
Object 6002h according to profile 406 V3.02 is read/write
2
Object 6503h according to profile 406 V3.02 is read only