Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version ,5.0 - Manual (Page 8)

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30.09.14
Encoder data 5.
5.1 PDO (Process Data Object)
Depending on the configuration, the encoder will provide the following process data (input data):
XML file PDO Mapping Product code Applied in version
BAUMER Group absolute
EtherCAT encoders.xml 10Byte PDO: (default)
4 Byte Position value
2 Byte Warnings
4 Byte System Time/Speed value
or
4Byte PDO: (configurable)
4 Byte Position value
2Byte PDO: (configurable)
2 Byte Position value
20
25
30 V5.00 and up
10Byte PDO (Default)
Value Data type Explanation
Position value UDINT Current absolute encoder position value. For range-related information
refer to „Encoder operating parameters“
Warnings UINT Warnings
Bit 2: 1  Lithium battery power low
Bit 4: 1  Excess shaft turns during power-off
Bit 5: 1  Incorrect encoder configuration
System Time UDINT Present system time, resolution in ns, alternative Speed Value DINT
4Byte PDO
Value Data type Explanation
Position value UDINT Current absolute encoder position value. For range-related information
refer to „Encoder operating parameters“
2Byte PDO
Value Data type Explanation
Position value UINT Current absolute encoder position value. For range-related information
refer to „Encoder operating parameters“
The configuration 4Byte PDO / 2Byte PDO allows for shorter cycle times.
Cycle times are configuration-related, see chapter cycle times