Baumer EAM MT Series Manual - Page 23

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1800h
Transmit PDO1 parameter
00h
Largest Subindex
01h
COB ID
02h
PDO type
05h
Event timer
1801h
Transmit PDO2 parameter
00h
Largest Subindex
01h
COB ID
02h
PDO type
05h
Event timer
1A00h
Transmit PDO1 mapping
00h
Largest Subindex
01h
1st mapping parameter
1A01h
Transmit PDO2 mapping
00h
Largest Subindex
01h
1st mapping parameter
1F80h
NMTStartup

12.2 Manufacturer Specific Profile Area

2001h
Electronic Gear
00h
Largest Subindex
01h
Enable
02h
Gear Value1
03h
Gear Value2
2100h
Baudrate
2101h
Node ID
2110h
Feature control
2114h
Manufacturer Reserved
2116h
Error Injection
00h
Largest Subindex
01h
Diagnostic Injection
02h
Position Offset Injection
2117h
Encoder diagnostic
2118h
Speed [rpm]
2120h
Time stamp [us]
Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx
06.08.2018
REC
U8
ro
U32
rw
U8
rw
U16
rw
REC
U8
ro
U32
rw
U8
rw
U16
rw
ARR
U8
rw
U32
rw
ARR
U8
rw
U32
rw
U32
rw
Name
ARR
U8
ro
U16
rw
U16
rw
U16
rw
U8
rw
U8
rw
U16
rw
U32
rw
ARR
U8
ro
U32
rw
U32
rw
U16
ro, m
S16
ro, m
U16
ro, m
X
5h X
180h+ID X
COB ID for TPDO 1
FEh X
Transmission type
0 X
Cycle time in ms
X
5h X
280h+ID X
COB ID for TPDO 2
1h X
Transmission type
0 X
Cycle time in ms
X
1 X
Maximum value is 8
6004'0020h X
Position encoder
X
1 X
Maximum Value is 8
6004'0020h X
Position encoder
0 X
0h = NMT slave needs to be started by NMT master
8h = NMT slave enters the NMT state Operational
autonomously (self starting)
Default
Configuration of electronic gear function (for non-
redundant encoders)
3
1 X
1 = electronic gear function disabled
2 = electronic gear function enabled
Numerator of the gear factor, Range 1...32767
1 X
Denominator of the gear factor, Range 1...32767
1 X
2h X
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
The baudrate is activated after a reset or power-on (if
parameter is saved to non volatile memory)
1h X
Node number 1...127 possible
The new node ID is activated after a reset or power-on (if
parameter is saved to non volatile memory)
0008h X
Bit 3: CAN Bus Off behavior
1 = Automatic CANopen restarting
0 = Encoder behaves according obj. 1029h
0
Simulation of encoder errors for test purposes
2
0
An error injection code, written on this object simulates a
diagnostic source and activates the corresponding
signaling according to chapter 9.5.
0
A temporary position offset could be injected to test a
position cross-check in a PLC for example.
Encoder diagnostic bits
Bit0 = Frequency exceeded
Bit1 = CPU watchdog
Bit2 = Operating time limit
Bit3 = Battery charge low
Bit4 = Mounting Error
Bit5 = Multiturn System
Bit6 = Singleturn System
Bit7 = Multiturn Supervision
Bit10= Generic Position Alarm
Bit11= Commissioning diagnostic
Bit12= Communication Error
Bit13 = Temperature
Bit14 = Position Data not valid
Bit15 = Battery empty
Speed value of Encoder in [rpm]
Time stamp in [us] of current position acquisition
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Description
Baumer Electric AG
Frauenfeld, Switzerland