Baumer ATD - Manual (Page 17)

EtherCAT 17/42 Baumer Thalheim GmbH & Co. KG
2011-10-04/rnik Eschwege, Germany
2.4.1.11 Object 0x6004 Position Value
This object gives the Encoder Position Value and reflects the process data:
31 30 16 15 0
0 2
16
Multi turn position value 2
15
Single turn position value
Table 17 Position Value data alignment example (15/16 Bit)
2.4.1.12 Object 0x6500 Operating Status
This object provides the operating status of the encoder. It gives information on the encoder internal pro-
grammed parameters. It reflects the object 0x6000
2.4.1.13 Object 0x6502 Number of distinguishable revolutions (Multi turn)
According to LIT[03] this object provides the number of distinguishable revolutions of the encoder. For a
multi-turn encoder the number of distinguishable revolutions and the single-turn resolution gives the measur-
ing range. For a ST device this object is 0x0000.
This value plus the Single Turn Resolution gives the Total Measuring Range of the encoder.
2.4.1.14 Object 0x6503 Alarms
This register shows error information, according to the object 0x6504.
2.4.1.15 Object 0x6504 Supported Alarms
The 0x6503 object supports the following alarm information:
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
- - - - - - - - - - - - - - - pe
Table 18 Supported Alarms
pe = 1 : Position Error detected
0 : No Position Error detected
2.4.1.16 Object 0x6505 Warnings
This register shows error information, according to the object 0x6506.
2.4.1.17 Object 0x6506 Supported Warnings
The 0x6505 object supports the following warnings:
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
msw msw msw msw - - - - - - - bc
7
- - - -
Table 19 Supported Warnings
bc = 1 : Low Battery Charge
0 : Battery Charge OK
msw = Manufacturer Specific Warnings (according to Table 20 Manufacturer specific warnings):
MSW Nibble Description
0x0 No warning
0x1 Light source error
7
For multi turn devices only