Baumer MAGRES BMMS M75 Handbuch - Seite 6
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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
Physical
[Inc]
Position
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 setting of 1'000'000 nm/step means that the position output unit is 1mm.
Example 2: A speed step setting of 100'000 nm/s means that the speed output unit is 0.1mm/s
Manual_BMMS_CANopen_BECH_EN_rev05.docx
18.06.2013
Direction
User Zero Point
[Inc]
Correction
[Inc]
[Inc]
(Offset)
Speed
[Inc/s]
Calculating
6/20
Scaling
[Steps]
Scaling
[Steps/s]
Baumer Electric AG
Frauenfeld, Switzerland