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Encoder data

5.1

CoE (CANopen over EtherCAT)

Since there are many device and application profiles for a large variety of CANopen applications these may

also be applied at EtherCAT slaves.

The EtherCAT encoder is implementing a part of the DS406 encoder device profile.

Explanations and description of implemented Service Data Objects in chapter SDO.

5.2

PDO (Process Data Object)

With XML file BAUMER IVO GxxMW_H encoder.xml

The encoder will transmit following PDO (input data) as process data:

Value

Data Type

UDINT

Position value

UINT

Warnings

System Time

UDINT

Device identification in the TwinCAT system environment as „BAUMER IVO EtherCAT encoder".

Linking the position value with the high resolution system time enables the master to calculate for example

speed respectively acceleration. Thus any jitter occurring in the communication system will not have any

impact.

With XML file BAUMER IVO FAST GxxMW_H encoder.xml

PDO (Process Data Object)

The encoder will transmit following PDO (input data) as process data:

Value

Data type

Position Value

UDINT

Device identification in the TwinCAT system environment as „BAUMER IVO FAST EtherCAT encoder".

Shorter clock cycles (up to 125 µs) are possible.

Manual_EtherCAT_PoE_BIDE_EN.doc

11.11.10

Significance

Actual absolute encoder position value. For value range please refer to

chapter „Encoder operating parameters"

Warnings

Bit 2

= 1: Battery warning, Lithium cell voltage is not sufficient

Actual system time, resolution in ns

Significance

Actual absolute encoder position value. For value range please refer to

chapter „Encoder operating parameters"

7/19

Baumer IVO GmbH & Co. KG

Villingen-Schwenningen, Germany