Baumer GBAMW Manual - Página 8
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5 Technical specifications
5.1 Powerlink specifications
The bus cover complies with following specifications:
Powerlink version
CANopen profile
Minimum cycle time:
5.2 Ethernet specifications
MTU
Delay internal Hub (Daisy Chain)
Max. Response Time
Transmission rate
Ethernet outputs
5.3 Timing behavior
The following table describes the delay and jitter between the Start of Cycle (SoC) and acquisition of a new
position value.
Product
Delay typical
BMSx (ST):
11,34µs
BMMx (MT):
13,84µs
GXAMx (ST):
5,00µs
GXMMx (MT):
5,00µs
GBAMx (ST):
7,20µs
GBMMx (MT):
7,20µs
5.4 Physical resolution for each product
The following table describes the non-scaled physical resolution dependent on the used basic encoder.
Encoder
Product Name
BMS ST
BMSx
BMM MT
BMMx
GXAM ST
GXAMx
GXMM MT
GXMMx
GBAM ST
GBAMx
GBMM MT
GBMMx
Baumer_PowerlinkV1-01_MA_EN.docx
19.07.2013
2.0
CiA 406 (encoders)
250µs
300 Bytes
400ns/Node
2 µs (incl. hub delay)
100 MBit/s semi-duplex
2 outputs: M12 D-coded (Auto-Negation)
Jitter
+- 7,6µs
(=7,5µs
+- 10,1µs
(= 10µs
+- 0,6µs
(= 0,54µs
+- 0,6µs
(= 0,54µs
+-1,3µs
(= 1,2µs
+-1,3µs
(= 1,2µs
ST Resolution
MT Resolution
4000h
14 Bit
4000h
14 Bit
4 0000h
2000h
13 Bit
2000h
13 Bit
1 0000h
4 0000h
18 Bit
4 0000h
18 Bit
4000h
8/19
+/- 68ns)
+/- 68ns)
+/- 68ns)
+/- 68ns)
+/- 68ns)
+/- 68ns)
Total Resolution
-
4000h
18Bit
1 0000 0000h
-
2000h
16Bit
2000 0000h
-
4 0000h
14Bit
1 0000 0000h
14 Bit
32 Bit
13 Bit
29 Bit
18 Bit
32 Bit
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