Baumer MAGRES BMMS M75 Manual - Page 2
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Contents
1
Safety and operating instructions .............................................................................................................. 4
1.1
Supplementary information ............................................................................................................................ 4
1.2
Intended purpose of the equipment ............................................................................................................... 4
1.3
Commissioning .............................................................................................................................................. 4
1.4
Safety remarks ............................................................................................................................................... 4
1.5
Transport and storage ................................................................................................................................... 4
1.6
Assembly ....................................................................................................................................................... 4
1.7
Electrical commissioning ............................................................................................................................... 4
2
Product Assignment .................................................................................................................................... 5
2.1
Cable-pull System .......................................................................................................................................... 5
3
System Overview ......................................................................................................................................... 6
3.1
General .......................................................................................................................................................... 6
3.2
Supported Profiles ......................................................................................................................................... 6
3.3
Supported CANopen Services ....................................................................................................................... 6
3.4
Function Principle .......................................................................................................................................... 6
3.4.1
Overview ........................................................................................................................................................ 6
3.4.2
Scaling ........................................................................................................................................................... 6
3.4.3
Position Range .............................................................................................................................................. 7
3.4.4
Speed range .................................................................................................................................................. 7
3.5
Difference between absolute encoder with cable-pull and absolute encoder redundant with cable-pull ........ 8
4
NMT Service ................................................................................................................................................. 8
4.1
Supported commands .................................................................................................................................... 8
4.2
Boot up message ........................................................................................................................................... 8
5
SDO service.................................................................................................................................................. 9
5.1
General .......................................................................................................................................................... 9
5.2
Save/load parameters .................................................................................................................................... 9
5.2.1
Save .............................................................................................................................................................. 9
5.2.2
Load ............................................................................................................................................................... 9
5.2.3
Safe non-volatile operation ............................................................................................................................ 9
5.2.4
Side effect ...................................................................................................................................................... 9
6
PDO Service ............................................................................................................................................... 10
6.1
General ........................................................................................................................................................ 10
6.2
PDO transmission types .............................................................................................................................. 10
6.3
COB-ID ........................................................................................................................................................ 10
6.4
PDO mapping .............................................................................................................................................. 10
6.4.1
Mappable objects ......................................................................................................................................... 10
6.4.2
Default mapping of absolute encoder with cable-pull ................................................................................... 11
6.4.3
Default mapping of absolute encoder redundant with cable-pull ................................................................. 11
6.5
Timing .......................................................................................................................................................... 11
6.6
Exceptions of accurate calculation of process data ..................................................................................... 11
7
Emergency Service .................................................................................................................................... 12
7.1
General ........................................................................................................................................................ 12
7.2
COB-ID ........................................................................................................................................................ 12
7.3
Emergency message ................................................................................................................................... 12
7.4
Error register ................................................................................................................................................ 12
7.4.1
Communication error ................................................................................................................................... 12
7.4.2
Generic error................................................................................................................................................ 12
Manual_BMMS_CANopen_BECH_EN_rev05.docx
18.06.2013
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Baumer Electric AG
Frauenfeld, Switzerland