Baumer ATD - Manual (Page 12)

EtherCAT 12/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
ATD2 synchronous 0x0002 0002 1-Buffer Mode
Table 5 Sync Manager configuration
2.3.2.1 Buffered Mode (3-Buffer Mode)
In this mode both sides, ECAT master and ESC are able to access the buffer at the same time. The con-
sumer (master) gets always the latest consistent dataset from the producer (slave). In this mode consumer
and producer may access the buffer all the time without timing restrictions. This mode is used for the Free
Run mode because this is an unsynchronized mode.
2.3.2.2 Mailbox Mode (1-Buffer Mode)
In this mode the producer first writes to the buffer and after this is completely done the consumer may read
out data. During the time the producer writes the buffer the consumer is not able to read. This mode is used
for the DC and Sync to SM event modes.
2.3.2.3 Slave Configuration (EEPROM)
Slave communication configuration (Sync Manager Configuration, Addresses, etc) may be determined
through XML file or from the encoders EEPROM. For encoders with 128 bytes EEPROM the XML file is
needed for configuration, else the PREOP state will not be passed.
The user may diagnose if a small or large EEPROM is used by checking the Object 0x1009 (Hardware Ver-
sion):
Device Name Hardware Version SII EEPROM
ATD4B***Y*** < V02.00 128 Bytes
> V02.00 512 Bytes
ATD2B***Y*** < V02.00 128 Bytes
> V02.00 512 Bytes
Table 6 EEPROM Size on SII
2.4 CoE Communication
The object dictionary is based on the CiA Draft Standards. Some mandatory objects for Class 2 Encoders
(according LIT[03]) are not supported directly. But those object entries are reflected in other dictionary en-
tries. Back-up feature is automatically implemented for object 0x6000, 0x6001, 0x6002 and 0x6009. This
means changes made to those objects are automatically saved non volatile into devices EEPROM.
2.4.1 Object Dictionary
Even though the following entries are listed as mandatory objects, they are not supported by the encoder:
Object Description Reason
0x6005 Linear encoder measuring step set-
tings Not applicable for single sensor device
0x6010 Preset value for multi-sensor devices Not applicable for single sensor device
0x6020 Position value for multi-sensor devices Not applicable for single sensor device
0x6507 Profile and software version
Not supported, because same data as Object
0x100A
0x650A Module identification Not supported
0x650B Serial number Not supported, because same data as Object
0x1018:04
Table 7 Not supported CoE Object Dictionary entries.