Baumer EAM MT Series Manual - Halaman 13
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Halaman Cetak7 PDO Service
7.1
General
The device supports TPDO1 and TPDO2. PDOs are only transmitted in NMT operational mode.
7.2
PDO transmission types
The following transmission types are supported (object 180xh-2):
Synchronous transmission (1-240)
Asynchronous transmission (255)
Manufacturer transmission (254)
RTR-only transmission, event-driven (253)
Both PDOs support all transmission types.
Transmission type 253:
Transmission type 255 and 254: The PDO is transmitted timer driven. The time interval between 2 PDOs can be
Transmission type 1-240:
Transmission type 1:
Transmission type 2:
etc.
7.3
COB-ID
The COB-ID for both PDOs is changeable (in Object 180xh-1)
Default Values are:
TPDO1: 180h + node ID
TPDO2: 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
Node ID: 9
7.4
PDO mapping
The encoder supports dynamic mapping.
Mappable objects
7.4.1
The following objects are mappable:
Mapping content
Position encoder
Speed encoder
Alarms
Warnings
Diagnostic
Speed [rpm]
Time Stamp
To change PDO mapping, disabling the mapping by writing 0 to 0x1A0x-0 is required first. Write the desired mapping
entry and enable the mapping again by writing the number of PDO contents to 0x1A0x-0.
Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx
06.08.2018
The PDO is only transmitted on request (remote transmission request).
adapted in the object 180xh-5
The PDO is transmitted after the n-th sync frame.
The PDO is transmitted after one sync frame.
The PDO is transmitted after two sync frames.
COB-ID TPDO1: 181h
COB-ID TPDO1: 187h
COB-ID TPDO1: 189h
Mapping entry
Description
0x60040020
Object 6004h Subindex 00h, data length 32 Bit
0x60300120
Object 6030h Subindex 01h, data length 32 Bit
0x65030010
Object 6503h Subindex 00h, data length 16 Bit
0x65050010
Object 6505h Subindex 00h, data length 16 Bit
0x21170010
Object 2117h Subindex 00h, data length 16 Bit
0x21180010
Object 2118h Subindex 00h, data length 16 Bit
0x21200010
Object 2120h Subindex 00h, data length 16 Bit
(Default value)
(Changed by user)
(Adapted automatic)
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Baumer Electric AG
Frauenfeld, Switzerland