Baumer BMSH 매뉴얼 - 페이지 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)

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