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6
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Electrical installation
6.1
EtherCAT
INFO
Use only supply cables and connectors compliant to the EtherCAT guideline.
6.1.1
EtherCAT features
INFO
Detailed instructions for the EtherCAT interface as well as the XML file can be found on the
Baumer website www.baumer.com.
Fieldbus protocol
Device profile
Operating modes
Features
Process data
Cycle times
Synchronisation
6.1.2
Pin assignment EtherCAT
Ill. 9: Terminals PMG10 EtherCAT
1
Male connector (4-pin, A-encoding)
3
Bus terminal box
20
EtherCAT
Device Profile for Encoders V 1.0
CoE (CANopen over EtherCAT) DSP406
100 MBaud Ethernet
Automated address allocation
Distributed clock for precise synchronization
Optional device configuration to act as "reference clock"
Factory setting 10 byte PDO, configurable
4 byte PDO / 2 byte PDO for shorter cycle times
Position value, warnings, system time
Depending on encoder type, enabled scaling function and PDO length.
Minimum cycle time: 62.5 µs
0x00 Free Run, not synchronized
0x03 Distributed clocks DS, synchronized with SYNCO/SYNC1 Event
1 2 2
Operating Manual
3
2
Mating connector (4-contact, D-encoding)
PMG10 & PMG10P EtherCAT | V1
Baumer Hübner