Baumer GCA5 C8 Посібник - Сторінка 11

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6.4

PDO mapping

The encoder supports dynamic mapping.

Mappable objects

6.4.1
The following objects are mappable:
Mapping content
Channel 1 length
Channel 1 length
Channel 2 length
Channel 1 speed
Channel 2 speed
Channel 1 raw length
Channel 2 raw length
Channel 1 length
Channel 2 length
Channel 1 length inverted
Channel 2 length inverted
Channel 1 length
Channel 2 length
Channel 1 length inverted
Channel 2 length inverted
Empty space
Empty space
Empty space
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.

Default mapping of absolute encoder redundant with cable-pull

6.4.2
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
ID
DLC
181h
8
Byte 0..1: length A (Object 2110h-1)
Byte 2..3: length B (Object 2110h-2)
Byte 4..7: Dummy Double word (Object 2197h-0)
6.5

Timing

The minimal cycle time for TPDOs is 1 ms.
6.6

Exceptions of accurate calculation of process data

The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and
alarms:
-
Non-volatile operations
-
Changing the scaling parameters
Baumer_GCA5_CANopen_MA_EN_V1_02.docx
28.09.2016
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
0x20000120
Object 2000h Subindex 01h, data length 32 Bit
0x20000220
Object 2000h Subindex 02h, data length 32 Bit
0x21100120
Object 2110h Subindex 01h, data length 32 Bit
0x21100220
Object 2110h Subindex 02h, data length 32 Bit
0x21100320
Object 2110h Subindex 03h, data length 32 Bit
0x21100420
Object 2110h Subindex 04h, data length 32 Bit
Object 2111h Subindex 01h, data length 16 Bit (Default
0x21110110
position encoder A in TPDO1, bytes D0-D1)
Object 2111h Subindex 02h, data length 16 Bit (Default
0x21110210
position encoder B in TPDO1, bytes D2-D3)
0x21110310
Object 2111h Subindex 03h, data length 16 Bit
0x21110410
Object 2111h Subindex 04h, data length 16 Bit
Object 2197h Subindex 00h, data length 32 Bit (Default
0x21970020
empty spaces in TPDO1, bytes D4-D7)
0x21980010
Object 2198h Subindex 00h, data length 16 Bit
0x21990008
Object 2199h Subindex 00h, data length 8 Bit
Byte 0
Byte 1
Byte 2
xx
xx
xx
Byte 3
Byte 4
xx
yy
11/16
Byte 5
Byte 6
Byte 7
yy
yy
yy
Baumer Electric AG
Frauenfeld, Switzerland