Baumer MAGRES BMMS M75 Manuel - Sayfa 2

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Contents

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

Product Assignment .................................................................................................................................... 5

2.1

Cable-pull System .......................................................................................................................................... 5

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

NMT Service ................................................................................................................................................. 8

4.1

Supported commands .................................................................................................................................... 8

4.2

Boot up message ........................................................................................................................................... 8

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

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

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