Baumer GCAMW Manual - Página 11

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Baumer GCAMW Manual
Object 0x1A00 TxPDO1 Mapping
SubIndex
Data type
Access
Default
EEPROM
Significance
Values
SubIndex
Data type
Access
Default
EEPROM
Significance
Values
SubIndex
Data type
Access
Default
EEPROM
Significance
Values
SubIndex
Data type
Access
Default
EEPROM
Significance
Values
Device-specific objects
Object 0x6000
Operating parameters
SubIndex
Data type
Access
Default
EEPROM
Significance
Values
² Firmware version (0x100A) V4.00 and up provide here an optional scaling function, otherwise customer-
specific parameterization as resolution, total measuring range, direction of rotation and preset are not
effective.
Above parameters are first saved volatile in the encoder RAM. If required, non-volatile saving in EEPROM is by
utilizing object SAVE Application parameter (0x1010).
Please note that with enabled scaling the input data (TxPDO) are generated considerably more slowly since the
encoder requires additional processing time for scaling calculations. In other words, the programmed PLC cycle times
for encoder readout have to be correspondingly prolonged.
Manual_EtherCAT_PoE_BIDE_EN.doc
11.11.10
0
Unsigned 8
ReadOnly
No
Maximum supported subindex
3
1
Unsigned 32
ReadOnly
No
Position value
0x6004
2
Unsigned 16
ReadOnly
No
Warnings
0x6505
3
Unsigned 32
ReadOnly
No
System time
0x2000
0
Unsigned 16
ReadWrite
0 , scaling OFF, CW
Yes
Operating parameters
Bit 0: direction of rotation
0 CW
1 CCW
Entries ≠ default values are only effective with enabled scaling function (0x6000).
Bit 2: scaling function ON/OFF
0 scaling disabled. Encoder provides raw data (less offset).
1 scaling enabled. Encoder provides position values under consideration of scaling factor
and offset ².
Example: Value 0x0004 -> scaling on, CW
(firmware version V4.00 and up)
11/19
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany