Baumer GB-GXxxx - Manual (Page 7)

Manual_EtherCAT_PoE_BIDE_EN.doc 7/19 Baumer IVO GmbH & Co. KG
11.11.10 Villingen-Schwenningen, Germany
5 Encoder data
5.1 CoE (CANopen over EtherCAT)
Since there are many device and application profiles for a large variety of CANopen applications these may
also be applied at EtherCAT slaves.
The EtherCAT encoder is implementing a part of the DS406 encoder device profile.
Explanations and description of implemented Service Data Objects in chapter SDO.
5.2 PDO (Process Data Object)
With XML file BAUMER IVO GxxMW_H encoder.xml
The encoder will transmit following PDO (input data) as process data:
Value Data Type Significance
Position value UDINT Actual absolute encoder position value. For value range please refer to
chapter „Encoder operating parameters“
Warnings UINT Warnings
Bit 2 2 = 1: Battery warning, Lithium cell voltage is not sufficient
System Time UDINT Actual system time, resolution in ns
Device identification in the TwinCAT system environment as „BAUMER IVO EtherCAT encoder“.
Linking the position value with the high resolution system time enables the master to calculate for example
speed respectively acceleration. Thus any jitter occurring in the communication system will not have any
impact.
With XML file BAUMER IVO FAST GxxMW_H encoder.xml
PDO (Process Data Object)
The encoder will transmit following PDO (input data) as process data:
Value Data type Significance
Position Value UDINT Actual absolute encoder position value. For value range please refer to
chapter „Encoder operating parameters“
Device identification in the TwinCAT system environment as „BAUMER IVO FAST EtherCAT encoder“.
Shorter clock cycles (up to 125 µs) are possible.