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Related Manuals for Baumer EAM MT Series
Summary of Contents for Baumer EAM MT Series
- Page 1 Manual ® Absolute encoder with CANopen Baumer Electric AG Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 52 728 11 22 Fax +41 52 728 11 44 08.18 sales.ch@baumer.com Subject to modification in technic and design. www.baumer.com Errors and commissions excepted...
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Page 2: Table Of Contents
Emergency message ........................... 15 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 Baumer Electric AG 06.08.2018 2/28 Frauenfeld, Switzerland... - Page 3 Communication Profile Area ........................22 12.2 Manufacturer Specific Profile Area ......................23 12.3 Standardized Device Profile Area ........................ 25 Applications ............................... 26 Discrepancies to the CIA specifications ....................27 Appendix ..............................28 Pin Assignments ............................28 Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 3/28 Frauenfeld, Switzerland...
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Page 4: Version Overview
- fixed data flow of magnetic field strength and magnetic field sequence in Figure 6 - fixed wrong object number in table of chapter 7.4.1 - comment added electronic gear function for non- redundant encoders Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 4/28 Frauenfeld, Switzerland... -
Page 5: Safety And Operating Instructions
Ideally, aim at dual connection to protective earth (PE), i.e. housing by mechanical assembly and cable shield by the downstream devices. Supplementary information The present manual is intended as a supplement to already existing documentation (e.g. catalogues, data sheets or mounting instructions). Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 5/28 Frauenfeld, Switzerland... -
Page 6: Product Assignment
3 Product Assignment Absolute encoder Product Product-Code Device Name EDS-file Absolute encoder multiturn 0x0070 EAMxxx MT EAMxxx_0x0070.eds (single channel and redundant version) Absolute encoder singleturn 0x0071 EAMxxx ST EAMxxx_0x0071.eds Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 6/28 Frauenfeld, Switzerland... -
Page 7: System Overview
The scaling of speed and position objects can be adapted in the object 6001h or object 6002h. Relationship between object 6001h and 6002h: Total measuring range Measuring units per revolution Number of distinguishable revolutions (Value Object 6002h) (Value Object 6001h) (Value Object 6502h) Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 7/28 Frauenfeld, Switzerland... -
Page 8: Position Range
The range for object 2120h-1 Speed encoder A is -8000h…7FFF’h. If the scaled speed value exceeds this range, the output is -8000h or 7FFFh (Saturated Logic). Figure 3: Speed range 7FFFh 0000h FFFFh Speed 8000h Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 8/28 Frauenfeld, Switzerland... -
Page 9: Electronic Gear Function
The maximum encoder turns in unpowered operation must be smaller than 2 The electronic gear function is useful for multiturn encoders. In case of singleturn encoders, the position value gets lost after a power cycle. Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 9/28 Frauenfeld, Switzerland... -
Page 10: Encoder With Redundant Design
Save both node id’s according chapter 6.2.1 Encoder as standard component with embedded software used in safety functions If this standard encoder is used in safety functions, please request the according “Application Note MAGRES EAM” for further information. Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 10/28 Frauenfeld, Switzerland... -
Page 11: Nmt Service
(be aware that all unsaved configurations will be lost). Boot-up message After a power-on or NMT reset, the device will send a Boot-up message. COB ID Byte 0 700h + node ID Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 11/28 Frauenfeld, Switzerland... -
Page 12: Sdo Service
To ensure safe non-volatile operation, the user must ensure no power interruption immediately after sending of the save command to object 1010h-x (otherwise, the factory values are restored at the next power up). Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 12/28 Frauenfeld, Switzerland... -
Page 13: Pdo Service
To change PDO mapping, disabling the mapping by writing 0 to 0x1A0x-0 is required first. Write the desired mapping entry and enable the mapping again by writing the number of PDO contents to 0x1A0x-0. Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 13/28... -
Page 14: Default Mapping Of Absolute Encoder
The minimal cycle time for TPDOs is 1 ms. 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: Changing the scaling parameters Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 14/28 Frauenfeld, Switzerland... -
Page 15: Emergency Service
A generic error is indicated for all other errors. An encoder specific alarm or error will also cause a generic error. After a generic error the corresponding operation (described in object 1029h-2) is executed. Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 15/28 Frauenfeld, Switzerland... -
Page 16: Alarms, Warnings, Errors, Emergency Messages And Error Behavior
Bit 13: Multiturn System Bit 5: Multiturn System Only at Runtime Bit 14: Singleturn System Bit 6: Singleturn System Singleturn Magnetic Field strength Bit 15: Multiturn Supervision Bit 7: Multiturn Supervision Singleturn/Multiturn Supervision Emergency Message Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 16/28 Frauenfeld, Switzerland... -
Page 17: Redundant Encoder
→ The device changes to Pre-Operational The device is forced to NMT state Operational with NMT command Start → The device changes again to Pre-Operational if the generic error bit is not cleared. Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 17/28 Frauenfeld, Switzerland... -
Page 18: Error Injection
An error injection code, written on this object simulates a diagnostic source according to chapter 9.5.and activates the corresponding signaling. For error injection codes please refer to chapter 9.5. 0x2116-2 Position Offset Injection The value written to this object is added to the encoder position value, for test purposes Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 18/28 Frauenfeld, Switzerland... -
Page 19: Encoder Diagnostic Sources
Manufacturer reserved error codes 0xFF16 0xFF17… 0xFFFF Remark: In case of any diagnostic source appeared, absolute position may be incorrect. : No reset of diagnostic source in case of encoder with redundant design Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 19/28 Frauenfeld, Switzerland... -
Page 20: Heartbeat Service
10.2 COB-ID The COB-ID for the heartbeat message is 700h + node ID. 10.3 Timing The minimal cycle time for heartbeat messages is 1 ms, which can be configured with object 1017h-0 Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 20/28 Frauenfeld, Switzerland... -
Page 21: Lss Slave
Inquire identity node ID 11.3 LSS address The needed values for LSS addressing as vendor ID, revision number, product code and serial number are printed on a label on the encoder housing. Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 21/28 Frauenfeld, Switzerland... -
Page 22: Object Directory
Error behaviour Largest Subindex Communication error 1h X 0h = Change to pre-operational mode 1h = No state change Generic error 1h X 2h = Change to stopped mode Temperature error 1h X Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 22/28 Frauenfeld, Switzerland... -
Page 23: Manufacturer Specific Profile Area
Bit14 = Position Data not valid Bit15 = Battery empty 2118h Speed [rpm] ro, m Speed value of Encoder in [rpm] 2120h Time stamp [us] ro, m Time stamp in [us] of current position acquisition Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 23/28 Frauenfeld, Switzerland... - Page 24 Customer EEPROM to save any data Largest Subindex CustomerEEPROM[0] CustomerEEPROM[1] CustomerEEPROM[2] CustomerEEPROM[3] 4001h Speed sampling interval in ms 50 X The speed sampling interval sets up the sampling interval of the speed calculation Range 1…500ms Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 24/28 Frauenfeld, Switzerland...
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Page 25: Standardized Device Profile Area
Offset encoder (Internally linked to object 650Ch-1) 650Ah Module identification Array Largest Subindex Manufacturer offset 650Bh Serial number Internally linked to object 1018h-4h 650Ch Offset values Array Largest subindex Offset encoder [step] 0h X Offset encoder A Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 25/28 Frauenfeld, Switzerland... -
Page 26: Applications
The baud rate now still has to be saved using object 1010-1. On next initialization, the encoder logs on to the new baud rate. However, before this the baud rate of the master should be changed. Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 26/28... -
Page 27: Discrepancies To The Cia Specifications
Default Value is 1 instead of 0 (Do not change NMT-State on Communication-Errors. 0x6030 Speed value Datatype is Signed32 instead of Signed16 to provide speed information up to 6000rpm with a 14-Bit ST-Resolution Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 27/28 Frauenfeld, Switzerland... -
Page 28: Appendix
CAN_L CAN_L pink blue Pin assignment connector 1 x M12 (connection – N) Cable signal color CANopen CANopen CANopen + Inc. Non-redundant redundant Non-redundant CAN_GND CAN_GND CAN_H CAN_H CAN_H CAN_L CAN_L CAN_L Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx Baumer Electric AG 06.08.2018 28/28 Frauenfeld, Switzerland...