Baumer ATD - Manual (Page 5)

EtherCAT 5/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
Tables
T ABLE 1 ECAT CONNECTOR PIN OUT DESCRIPTION .....................................................................................................8
T ABLE 2 P OWER SUPPLY CONNECTOR PINNING ...........................................................................................................8
T ABLE 3 O PERATING /S TORAGE T EMPERATURE R ANGE ............................................................................................. 10
T ABLE 4 R UN S TATE S TATUS .................................................................................................................................... 11
T ABLE 5 S YNC M ANAGER CONFIGURATION ................................................................................................................ 12
T ABLE 6 EEPROM S IZE ON SII................................................................................................................................. 12
T ABLE 7 N OT SUPPORTED C O E O BJECT D ICTIONARY ENTRIES . ................................................................................ 12
T ABLE 8 O BJECT D ICTIONARY ................................................................................................................................... 13
T ABLE 9 I DENTITY ...................................................................................................................................................... 14
T ABLE 10 P RODUCT C ODE CODIFICATION .................................................................................................................. 14
T ABLE 11 S YNC M ANAGER C OMMUNICATION T YPE ................................................................................................... 14
T ABLE 12 S YNC M ANAGER R X PDO A SSIGN ............................................................................................................. 14
T ABLE 13 S YNC M ANAGER T X PDO A SSIGN .............................................................................................................. 14
T ABLE 14 S YNC M ANAGER 3 P ARAMETER L IST ......................................................................................................... 15
T ABLE 15 O PERATING PARAMETERS .......................................................................................................................... 15
T ABLE 16 P RODUCT SPECIFIC MAXIMA U NITS PER R EVOLUTION VALUE ..................................................................... 16
T ABLE 17 P OSITION V ALUE DATA ALIGNMENT EXAMPLE (15/16 B IT ) .......................................................................... 17
T ABLE 18 S UPPORTED A LARMS ................................................................................................................................. 17
T ABLE 19 S UPPORTED W ARNINGS ............................................................................................................................ 17
T ABLE 20 M ANUFACTURER SPECIFIC WARNINGS ....................................................................................................... 18
T ABLE 21 E NCODER HARDWARE EMERGENCY ........................................................................................................... 21
T ABLE 22 H ARDWARE EMERGENCY CODE DESCRIPTION ............................................................................................ 21
T ABLE 23 S YNC M ANAGER W ATCHDOG I NIT .............................................................................................................. 22
T ABLE 24 C ODIFICATION OF SM S YNCHRONIZATION ERRORS .................................................................................... 22
T ABLE 25 S UPPORTED AL S TATUS CODES ................................................................................................................ 22
T ABLE 26 E RROR S TATE S TATUS .............................................................................................................................. 23
T ABLE 27 ATD4 ENCODER FAMILY OVERVIEW ........................................................................................................... 24
T ABLE 28 ATD2 ENCODER FAMILY OVERVIEW ........................................................................................................... 24
T ABLE 29 F REE R UN TIMING SPECIFICATION FOR ST AND MT DEVICES ..................................................................... 25
T ABLE 30 S YNC TO SM EVENT TIMING SPECIFICATION ............................................................................................... 27
T ABLE 31 C ALC AND C OPY T IME ............................................................................................................................... 28
T ABLE 32 DC CYCLE TIME SPECIFICATION ................................................................................................................. 29
Pictures
P ICTURE 1 L INE BUS TOPOLOGY EXAMPLE ...................................................................................................................8
P ICTURE 2 I/O CONNECTORS .......................................................................................................................................8
P ICTURE 3 E NCODER SW LAYER DIAGRAM ..................................................................................................................9
P ICTURE 4 T YPICAL ELECTRICAL POWER DISSIPATION AS FUNCTION OF INPUT VOLTAGE ..............................................9
P ICTURE 5 LED ARRANGEMENT (ATD4 EXEMPLARY ) ................................................................................................ 11
P ICTURE 6 E NCODER SPECIFIC ERROR HANDLING ..................................................................................................... 20
P ICTURE 7 E NCODER SPECIFIC ERROR CLASSIFICATION ............................................................................................ 20
P ICTURE 8 ATD F AMILIES COMPARISON .................................................................................................................... 24
P ICTURE 9 N ON SYNC (F REE R UN ) TIMING DIAGRAM FOR A MULTI TURN ENCODER .................................................... 25
P ICTURE 10 S YNC TO SM EVENT SAMPLING DIAGRAM ............................................................................................... 26
P ICTURE 11 S AMPLE JITTER FOR A S YNC TO SM EVENT OPERATING MULTI TURN ENCODER . ..................................... 26
P ICTURE 12 T IMING D IAGRAM FOR DC OR S YNC C OMMUNICATION TYPE .................................................................. 29
P ICTURE 13 S AMPLE POINT ( N ) TO CONSECUTIVE SAMPLE ( N +1) POINT JITTER ( CH1: SYNC, CH2: SAMPLE) FOR A
MULTI TURN DEVICE ............................................................................................................................................ 30
P ICTURE 14 E THER CAT C ONFORMANCE T EST (B ETA R ELEASE ) RESULT . ................................................................ 42