Baumer EAM ST Series Manuel - Sayfa 2

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Contents

Version overview ......................................................................................................................................... 4

Safety and operating instructions .............................................................................................................. 5

Product Assignment .................................................................................................................................... 6

3.1

Absolute encoder ........................................................................................................................................... 6

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

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

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

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

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

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