Baumer GB-GXxxx - Manual (Page 11)

Manual_EtherCAT_PoE_BIDE_EN.doc 11/19 Baumer IVO GmbH & Co. KG
11.11.10 Villingen-Schwenningen, Germany
Object 0x1A00 TxPDO1 Mapping
SubIndex 0
Data type
Unsigned 8
Access ReadOnly
Default
EEPROM No
Significance Maximum supported subindex
Values 3
SubIndex 1
Data type
Unsigned 32
Access ReadOnly
Default
EEPROM No
Significance Position
value
Values 0x6004
SubIndex 2
Data type
Unsigned 16
Access ReadOnly
Default
EEPROM No
Significance Warnings
Values 0x6505
SubIndex 3
Data type
Unsigned 32
Access ReadOnly
Default
EEPROM No
Significance System
time
Values 0x2000
Device-specific objects
Object 0x6000 Operating parameters
SubIndex 0
Data type
Unsigned 16
Access ReadWrite
Default
0 , scaling OFF, CW
EEPROM Yes
Significance Operating
parameters
Values
Bit 0: direction of rotation
0 CW
1 CCW
Entries ≠ default values are only effective with enabled scaling function (0x6000).
Bit 2: scaling function ON/OFF (firmware version V4.00 and up)
0 scaling disabled. Encoder provides raw data (less offset).
1 scaling enabled. Encoder provides position values under consideration of scaling factor
and offset ².
Example: Value 0x0004 -> scaling on, CW
² Firmware version (0x100A) V4.00 and up provide here an optional scaling function, otherwise customer-
specific parameterization as resolution, total measuring range, direction of rotation and preset are not
effective.
Above parameters are first saved volatile in the encoder RAM. If required, non-volatile saving in EEPROM is by
utilizing object SAVE Application parameter (0x1010).
Please note that with enabled scaling the input data (TxPDO) are generated considerably more slowly since the
encoder requires additional processing time for scaling calculations. In other words, the programmed PLC cycle times
for encoder readout have to be correspondingly prolonged.