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5
Encoder data
5.1
CoE (CANopen over EtherCAT)
Since there are many device and application profiles for a large variety of CANopen applications these may
also be applied at EtherCAT slaves.
The EtherCAT encoder is implementing a part of the DS406 encoder device profile.
Explanations and description of implemented Service Data Objects in chapter SDO.
5.2
PDO (Process Data Object)
With XML file BAUMER IVO GxxMW_H encoder.xml
The encoder will transmit following PDO (input data) as process data:
Value
Data Type
UDINT
Position value
UINT
Warnings
System Time
UDINT
Device identification in the TwinCAT system environment as „BAUMER IVO EtherCAT encoder".
Linking the position value with the high resolution system time enables the master to calculate for example
speed respectively acceleration. Thus any jitter occurring in the communication system will not have any
impact.
With XML file BAUMER IVO FAST GxxMW_H encoder.xml
PDO (Process Data Object)
The encoder will transmit following PDO (input data) as process data:
Value
Data type
Position Value
UDINT
Device identification in the TwinCAT system environment as „BAUMER IVO FAST EtherCAT encoder".
Shorter clock cycles (up to 125 µs) are possible.
Manual_EtherCAT_PoE_BIDE_EN.doc
11.11.10
Significance
Actual absolute encoder position value. For value range please refer to
chapter „Encoder operating parameters"
Warnings
2
Bit 2
= 1: Battery warning, Lithium cell voltage is not sufficient
Actual system time, resolution in ns
Significance
Actual absolute encoder position value. For value range please refer to
chapter „Encoder operating parameters"
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Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany