Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version ,5.0 - Manual (Page 2)

Baumer_EtherCAT_PoE_5-00_MA_EN.docx 2/30 www.baumer.com
30.09.14
Content Page
Introduction 4 1.
1.1 Scope of delivery 4
1.2 Product classification 4
Safety and operating instructions 5 2.
Bus cover – functional principle 6 3.
Encoder operating parameters 7 4.
Encoder data 8 5.
5.1 PDO (Process Data Object) 8
5.2 SDO (Service Data Objects) 9
5.3 Parameterization 17
5.4 Free Run Mode (default) 18
5.5 Distributed Clocks Mode 19
5.5.1 Activation Distributed Clocks under TwinCAT 19
5.6 Network management 21
Terminal assignment and commissioning 23 6.
6.1 Mechanical mounting 23
6.2 Electrical connection 23
6.2.1 Initialising under TwinCAT system manager 24
6.2.2 Terminal assignment 25
6.3 Display elements 26
6.3.1 State indicator 26
6.3.2 Link/Activity indicator 26
6.4 Bus cover Power over EtherCAT (PoE) 27
6.5 Cycle times 28
6.6 Configuration 10 Byte PDO / 4 Byte PDO / 2 Byte PDO by TwinCAT 29
6.7 Speed Value as an alternative to System Time 30
**TwinCAT is a trademark of the company BECKHOFF Industrie Elektronik