Baumer ATD - Manual (Page 3)

EtherCAT 3/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
Content
1 DOCUMENT DESCRIPTION ...........................................................................................................................7
2 DEVICE OPERATION BASICS .......................................................................................................................8
2.1 P OWER SUPPLY ............................................................................................................................................9
2.2 O PERATING T EMPERATURE R ANGE ..............................................................................................................9
2.3 ECAT C OMMUNICATION MODES ................................................................................................................. 10
2.3.1 ECAT State Machine........................................................................................................................ 10
2.3.2 Sync Manager................................................................................................................................... 11
2.3.2.1 Buffered Mode (3-Buffer Mode) ...................................................................................................................12
2.3.2.2 Mailbox Mode (1-Buffer Mode) ....................................................................................................................12
2.3.2.3 Slave Configuration (EEPROM) ..................................................................................................................12
2.4 C O E C OMMUNICATION ............................................................................................................................... 12
2.4.1 Object Dictionary .............................................................................................................................. 12
2.4.1.1 Object 0x1018 Identity..................................................................................................................................13
2.4.1.2 Product Code................................................................................................................................................14
2.4.1.3 Object 0x1C00 Sync Manager Communication Type ................................................................................14
2.4.1.4 Object 0x1C12 Sync Manager RxPDO Assign...........................................................................................14
2.4.1.5 Object 0x1C13 Sync Manager TxPDO Assign ...........................................................................................14
2.4.1.6 Object 0x1C33 Sync Manager 3 Parameter ...............................................................................................14
2.4.1.7 Object 0x6000 Operating parameters .........................................................................................................15
2.4.1.8 Object 0x6001 Units per Revolution............................................................................................................16
2.4.1.9 Object 0x6002 Total measuring range in measuring units.........................................................................16
2.4.1.10 Object 0x6003 Preset Value ....................................................................................................................16
2.4.1.11 Object 0x6004 Position Value..................................................................................................................17
2.4.1.12 Object 0x6500 Operating Status .............................................................................................................17
2.4.1.13 Object 0x6502 Number of distinguishable revolutions (Multi turn) ........................................................17
2.4.1.14 Object 0x6503 Alarms..............................................................................................................................17
2.4.1.15 Object 0x6504 Supported Alarms............................................................................................................17
2.4.1.16 Object 0x6505 Warnings..........................................................................................................................17
2.4.1.17 Object 0x6506 Supported Warnings .......................................................................................................17
2.4.1.18 Object 0x6508 Operating Time................................................................................................................18
2.4.1.19 Object 0x6509 Offset Value.....................................................................................................................18
3 ENCODER INITIALIZATION.......................................................................................................................... 19
3.1 E NCODER P ARAMETER C HANGES .............................................................................................................. 19
3.1.1 Encoder Resolution Change Examples (multi turn)....................................................................... 19
3.1.2 Scaling Function Control Usage...................................................................................................... 19
3.1.3 Device Description File (xml Format).............................................................................................. 19
3.2 E RROR HANDLING ....................................................................................................................................... 20
3.2.1 Encoder specific errors .................................................................................................................... 20
3.2.1.1 Device Watch Dog........................................................................................................................................20
3.2.1.2 Position Error ................................................................................................................................................20
3.2.1.3 Warnings .......................................................................................................................................................21
3.2.2 EtherCAT Specific Errors................................................................................................................. 21
3.2.2.1 Sync Manager Watch Dog ...........................................................................................................................21
3.2.2.2 EtherCAT State Machine Synchronization Errors ......................................................................................22
3.2.2.3 AL Status Errors ...........................................................................................................................................22
3.2.2.4 Error diagnostics (RED LED) .......................................................................................................................23
3.2.2.5 Working Counter...........................................................................................................................................23
4 ENCODER FAMILY OVERVIEW................................................................................................................... 24
4.1 D EVICE IDENTIFICATION FIELDS .................................................................................................................. 24
5 SYNC TO SM EVENT TIMING....................................................................................................................... 26
6 DC TIMING ...................................................................................................................................................... 28
6.1 C ONSECUTIVE SAMPLE POINT JITTER .......................................................................................................... 28
6.2 S HIFT T IME ................................................................................................................................................. 28
6.3 C ALC AND C OPY T IME ................................................................................................................................ 28