Baumer MAGRES BMMS M75 Manuel - Sayfa 10

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Baumer MAGRES BMMS M75 Manuel

6 PDO Service

6.1

General

The device supports TPDO1 and TPDO2. PDOs are only transmitted in NMT operational mode.
6.2

PDO transmission types

The following transmission types are supported (object 180xh-2):
Synchronous transmission (1-240)
Asynchronous transmission (255)
Manufacturer transmission (254)
Both PDOs support all transmission types.
Transmission type 255 and 254: The PDO is transmitted timer driven. The time interval between 2 PDOs can be
Transmission type 1-240:
Transmission type 1:
Transmission type 2:
etc.
6.3

COB-ID

The COB-ID for both PDOs is changeable (in Object 180xh-1)
Default Values are:
TPDO1: 180h + node ID
TPDO2: 280h + node ID
Changes will be applied immediately.
The COB-ID is stored internally as a difference to the default COB-ID. Example:
Node ID: 1
Node ID: 9
6.4

PDO mapping

The encoder supports dynamic mapping.
6.4.1

Mappable objects

The following objects are mappable:
Mapping content
Position encoder A
Position encoder A
Position encoder B
Speed encoder A
Speed encoder B
Alarms
Warnings
To change PDO mapping first disable the mapping by writing 0 to 0x1A0x-0. Write the desired mapping entry and enable
the mapping again by writing the number of PDO contents to 0x1A0x-0.
Manual_BMMS_CANopen_BECH_EN_rev05.docx
18.06.2013
adapted in the object 180xh-5
The PDO is transmitted after the n-th sync frame.
The PDO is transmitted after one sync frame.
The PDO is transmitted after two sync frames.
COB-ID TPDO1: 181h
COB-ID TPDO1: 187h
COB-ID TPDO1: 189h
Mapping entry
Description
0x60040020
Object 6004h Subindex 00h, data length 32 Bit
0x60200120
Object 6020h Subindex 01h, data length 32 Bit
0x60200220
Object 6020h Subindex 02h, data length 32 Bit
0x60300120
Object 6030h Subindex 01h, data length 32 Bit
0x60300220
Object 6030h Subindex 02h, data length 32 Bit
0x65030010
Object 6503h Subindex 00h, data length 16 Bit
0x65050010
Object 6505h Subindex 00h, data length 16 Bit
(Default value)
(Changed by user)
(Adapted automatic)
10/20
Baumer Electric AG
Frauenfeld, Switzerland