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Manual
Absolute encoder with cable-pull
Absolute encoder redundant with cable-pull
CANopen
Baumer Electric AG
Hummelstrasse 17
CH-8501 Frauenfeld
Phone +41 52 728 11 22
Fax +41 52 728 11 44
05.13
sales.ch@baumer.com
Subject to modification in technic and design.
www.baumer.com
Errors and commissions excepted
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Table of Contents
Related Manuals for Baumer MAGRES BMMS M75
Summary of Contents for Baumer MAGRES BMMS M75
- Page 1 Manual Absolute encoder with cable-pull Absolute encoder redundant with cable-pull CANopen Baumer Electric AG Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 52 728 11 22 Fax +41 52 728 11 44 05.13 sales.ch@baumer.com Subject to modification in technic and design. www.baumer.com...
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Page 2: Table Of Contents
Exceptions of accurate calculation of process data ..................11 Emergency Service ............................ 12 General ................................ 12 COB-ID ................................ 12 Emergency message ........................... 12 Error register ..............................12 7.4.1 Communication error ........................... 12 7.4.2 Generic error..............................12 Manual_BMMS_CANopen_BECH_EN_rev05.docx 2/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... - Page 3 Pin Assignments ............................20 Assignment cable (connection - 5) ......................20 Pin assignment connector 2 x M12 (connection – M) ................20 Pin assignment connector 1 x M12 (connection – N) ................. 20 Manual_BMMS_CANopen_BECH_EN_rev05.docx 3/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland...
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Page 4: Safety And Operating Instructions
When a potential ground loop can’t be avoided, only one side must be grounded. Unused outputs must not be connected. Failure to observe these instructions can result in malfunctions, material damage or personal injury. Manual_BMMS_CANopen_BECH_EN_rev05.docx 4/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 5: Product Assignment
2 Product Assignment Cable-pull System Product Product-Code Device Name EDS-file Absolute encoder with cable-pull 0x40 BMMS BMMS_0x0040.eds Absolute encoder redundant with 0x60 BMMS Redundant BMMS_0x0060.eds cable-pull Manual_BMMS_CANopen_BECH_EN_rev05.docx 5/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 6: System Overview
Example 1: A position step setting of 1’000’000 nm/step means that the position output unit is 1mm. Example 2: A speed step setting of 100’000 nm/s means that the speed output unit is 0.1mm/s Manual_BMMS_CANopen_BECH_EN_rev05.docx 6/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 7: Position Range
The range for object 6030h-1 Speed encoder A and object 6030h-2 Speed encoder B is -8000’0000h…7FFF’FFFFh. If the scaled speed value exceeds this range, the output is -8000’0000h or 7FFF’FFFFh (Saturated Logic). Figure 3: Speed range 7FFF FFFFh 0000 0000h FFFF FFFFh Speed 8000 0000h Manual_BMMS_CANopen_BECH_EN_rev05.docx 7/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 8: Difference Between Absolute Encoder With Cable-Pull And Absolute Encoder Redundant With Cable-Pull
There is no difference between NMT Reset and NMT Communication Reset 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 Manual_BMMS_CANopen_BECH_EN_rev05.docx 8/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 9: Sdo Service
To ensure safe non-volatile operation, the time between access object 1010h-x or 1011h-x and a reset or power-on has to be at least 1000ms. 5.2.4 Side effect Save/Load operations interrupt the updating of position and speed. Manual_BMMS_CANopen_BECH_EN_rev05.docx 9/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 10: Pdo Service
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 10/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 11: Default Mapping Of Absolute Encoder With Cable-Pull
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: Non-volatile operations Changing the scaling parameters Manual_BMMS_CANopen_BECH_EN_rev05.docx 11/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 12: Emergency Service
Error Code (hex) Meaning 0000 Error reset or no error 5000 Hardware fault (position error) 6100 Software fault (watchdog) 8100 Communication error (bus warning) 8110 CAN RX overflow 8120 CAN in error passive mode Manual_BMMS_CANopen_BECH_EN_rev05.docx 12/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 13: Alarms, Warnings, Errors, Emergency Messages And Error Behavior
Figure 5: Block diagram difference monitoring Physical Direction [Inc] [Inc] Position A Correction Difference Monitoring Difference Monitoring Error Error When ABS(Pos A – Pos B) > (Value Object 4000h) Physical Direction [Inc] [Inc] Position B Correction Manual_BMMS_CANopen_BECH_EN_rev05.docx 13/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 14: Absolute Encoder With Cable-Pull System
→ 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. Manual_BMMS_CANopen_BECH_EN_rev05.docx 14/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 15: Heartbeat Service
The device supports a heartbeat producer according CiA 301. COB-ID The COB-ID for the heartbeat message is 700h + node ID. Timing The minimal cycle time for heartbeat messages is 1 ms. Manual_BMMS_CANopen_BECH_EN_rev05.docx 15/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 16: Lss Slave
Inquire identity node ID 10.3 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. Manual_BMMS_CANopen_BECH_EN_rev05.docx 16/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 17: Object Directory
Serial No. 1029h Error behavior 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 Manual_BMMS_CANopen_BECH_EN_rev05.docx 17/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 18: Manufacturer Specific Profile Area
0. 4001h Speed sampling interval in ms 10 x The speed sampling interval sets up the sampling interval of the speed calculation. Values higher than 4’000 are not allowed Manual_BMMS_CANopen_BECH_EN_rev05.docx 18/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 19: Standardized Device Profile Area
0h X Offset encoder A Offset encoder B [step] 0h X Offset encoder B Object 6002h according to profile 406 V3.02 is read/write Object 6503h according to profile 406 V3.02 is read only Manual_BMMS_CANopen_BECH_EN_rev05.docx 19/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland... -
Page 20: Appendix
Pin assignment connector 1 x M12 (connection – N) Pin no. Signal Description CAN_GND CAN bus ground Supply voltage 0 V supply voltage CAN_H CAN bus signal (dominant High) CAN_L CAN bus signal (dominant Low) View to encoder Manual_BMMS_CANopen_BECH_EN_rev05.docx 20/20 Baumer Electric AG 18.06.2013 Frauenfeld, Switzerland...