Baumer EAM ST Series Podręcznik - Strona 2
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1
Version overview ......................................................................................................................................... 4
2
Safety and operating instructions .............................................................................................................. 5
3
Product Assignment .................................................................................................................................... 6
3.1
Absolute encoder ........................................................................................................................................... 6
4
System Overview ......................................................................................................................................... 7
4.1
General .......................................................................................................................................................... 7
4.2
Supported Profiles ......................................................................................................................................... 7
4.3
Supported CANopen Services ....................................................................................................................... 7
4.4
Function Principle .......................................................................................................................................... 7
4.4.1
Overview ........................................................................................................................................................ 7
4.4.2
Scaling ........................................................................................................................................................... 7
4.4.3
Position Range .............................................................................................................................................. 8
4.4.4
Speed range .................................................................................................................................................. 8
4.4.5
Electronic gear function ................................................................................................................................. 9
4.5
Encoder with redundant design ................................................................................................................... 10
4.5.1
Baudrate ...................................................................................................................................................... 10
4.5.2
Node Id ........................................................................................................................................................ 10
4.6
Encoder as standard component with embedded software used in safety functions ................................... 10
5
NMT Service ............................................................................................................................................... 11
5.1
Supported commands .................................................................................................................................. 11
5.1.1
NMT Reset................................................................................................................................................... 11
5.1.2
NMT Communication Reset ......................................................................................................................... 11
5.2
Boot-up message ......................................................................................................................................... 11
6
SDO service................................................................................................................................................ 12
6.1
General ........................................................................................................................................................ 12
6.2
Save/load parameters .................................................................................................................................. 12
6.2.1
Save ............................................................................................................................................................ 12
6.2.2
Load ............................................................................................................................................................. 12
6.2.3
Safe non-volatile operation .......................................................................................................................... 12
7
PDO Service ............................................................................................................................................... 13
7.1
General ........................................................................................................................................................ 13
7.2
PDO transmission types .............................................................................................................................. 13
7.3
COB-ID ........................................................................................................................................................ 13
7.4
PDO mapping .............................................................................................................................................. 13
7.4.1
Mappable objects ......................................................................................................................................... 13
7.4.2
Default mapping of absolute encoder .......................................................................................................... 14
7.5
Timing .......................................................................................................................................................... 14
7.6
Exceptions of accurate calculation of process data ..................................................................................... 14
8
Emergency Service .................................................................................................................................... 15
8.1
General ........................................................................................................................................................ 15
8.2
COB-ID ........................................................................................................................................................ 15
8.3
Emergency message ................................................................................................................................... 15
8.4
Error register ................................................................................................................................................ 15
8.4.1
Communication error ................................................................................................................................... 15
8.4.2
Temperature error ........................................................................................................................................ 15
8.4.3
Generic error................................................................................................................................................ 15
9
Alarms, warnings, errors, emergency messages and error behavior ................................................... 16
Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx
06.08.2018
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Baumer Electric AG
Frauenfeld, Switzerland