Baumer MAGRES BMMS M75 User manual

Baumer Electric AG
Hummelstrasse 17
CH-8501 Frauenfeld
Phone [phone]
Fax [phone]
[e-mail] Subject to modification in technic and design.
www.baumer.com Errors and commissions excepted
Manual
Absolute encoder with cable-pull
Absolute encoder redundant with cable-pull
CANopen

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Contents
1Safety and operating instructions..............................................................................................................4
1.1 Supplementary information............................................................................................................................4
1.2 Intended purpose of the equipment...............................................................................................................4
1.3 Commissioning..............................................................................................................................................4
1.4 Safety remarks...............................................................................................................................................4
1.5 Transport and storage ...................................................................................................................................4
1.6 Assembly.......................................................................................................................................................4
1.7 Electrical commissioning ...............................................................................................................................4
2Product Assignment....................................................................................................................................5
2.1 Cable-pull System..........................................................................................................................................5
3System Overview.........................................................................................................................................6
3.1 General..........................................................................................................................................................6
3.2 Supported Profiles.........................................................................................................................................6
3.3 Supported CANopen Services.......................................................................................................................6
3.4 Function Principle..........................................................................................................................................6
3.4.1 Overview........................................................................................................................................................6
3.4.2 Scaling...........................................................................................................................................................6
3.4.3 Position Range ..............................................................................................................................................7
3.4.4 Speed range..................................................................................................................................................7
3.5 Difference between absolute encoder with cable-pull and absolute encoder redundant with cable-pull........8
4NMT Service.................................................................................................................................................8
4.1 Supported commands....................................................................................................................................8
4.2 Boot up message...........................................................................................................................................8
5SDO service..................................................................................................................................................9
5.1 General..........................................................................................................................................................9
5.2 Save/load parameters....................................................................................................................................9
5.2.1 Save ..............................................................................................................................................................9
5.2.2 Load...............................................................................................................................................................9
5.2.3 Safe non-volatile operation............................................................................................................................9
5.2.4 Side effect......................................................................................................................................................9
6PDO Service...............................................................................................................................................10
6.1 General........................................................................................................................................................10
6.2 PDO transmission types ..............................................................................................................................10
6.3 COB-ID........................................................................................................................................................10
6.4 PDO mapping..............................................................................................................................................10
6.4.1 Mappable objects.........................................................................................................................................10
6.4.2 Default mapping of absolute encoder with cable-pull...................................................................................11
6.4.3 Default mapping of absolute encoder redundant with cable-pull .................................................................11
6.5 Timing..........................................................................................................................................................11
6.6 Exceptions of accurate calculation of process data .....................................................................................11
7Emergency Service....................................................................................................................................12
7.1 General........................................................................................................................................................12
7.2 COB-ID........................................................................................................................................................12
7.3 Emergency message...................................................................................................................................12
7.4 Error register................................................................................................................................................12
7.4.1 Communication error...................................................................................................................................12
7.4.2 Generic error................................................................................................................................................12

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7.5 Error codes..................................................................................................................................................12
8Alarms, warnings, errors, emergency messages and error behavior...................................................13
8.1 Absolute encoder redundant with cable-pull System...................................................................................13
8.1.1 Difference monitoring...................................................................................................................................13
8.2 Absolute encoder with cable-pull system.....................................................................................................14
8.3 Error behavior..............................................................................................................................................14
9Heartbeat Service ......................................................................................................................................15
9.1 General........................................................................................................................................................15
9.2 COB-ID........................................................................................................................................................15
9.3 Timing..........................................................................................................................................................15
10 LSS slave....................................................................................................................................................16
10.1 General........................................................................................................................................................16
10.2 Supported commands..................................................................................................................................16
10.3 LSS address................................................................................................................................................16
11 Object directory.........................................................................................................................................17
11.1 Communication Profile Area........................................................................................................................17
11.2 Manufacturer Specific Profile Area ..............................................................................................................18
11.3 Standardized Device Profile Area................................................................................................................19
Appendix
A. Pin Assignments......................................................................................................................................20
A.1 Assignment cable (connection - 5).............................................................................................................20
A.2 Pin assignment connector 2 x M12 (connection –M)................................................................................20
A.3 Pin assignment connector 1 x M12 (connection –N).................................................................................20

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1 Safety and operating instructions
1.1 Supplementary information
This manual is intended as a supplement to already existing documentation (catalogues, data sheets and
assembly instructions).
The manual must be read without fail before initial commissioning of the equipment.
1.2 Intended purpose of the equipment
The encoder is a precision measuring device. It is explicitly designed for registration of angular positions and
revolutions as well as evaluation and supply of measuring values as electric output signals for the subsequently
connected device. The encoder must not be used for any other purpose.
1.3 Commissioning
Installation and assembly of the encoder only by electrically skilled and qualified personnel.
Consider also the operation manual of the machine manufacturer..
1.4 Safety remarks
Prior to commissioning the equipment, check all electrical connections.
If installation, electrical connection or any other work performed at the encoder or at the equipment is not
correctly executed, this can result in a malfunction or failure of the encoder.
Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating equipment
as a result of encoder failure or malfunction by providing suitable safety precautions.
Encoders must not be operated outside the specified limited values (see detailed product documentation).
Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property.
1.5 Transport and storage
Only ever transport or store encoders in their original packaging.
Never drop encoders or expose them to major vibrations.
1.6 Assembly
Avoid impacts or shocks on the housing and shaft / hollow shaft.
Avoid any twist or torsion on the housing.
Do not open the encoder or make any mechanical changes to it.
The shaft, ball bearings, glass pane or electronic components can be damaged. In this case, safe and reliable operation
cannot be guaranteed.
1.7 Electrical commissioning
Do not modify the encoder electrically and remove power supply while connecting the encoder electrically.
The electrical connection must not be attached or removed under power supply.
Only use shielded cables. The cable shield must be attached over a large area with as less impedance as
possible. EMC-compatible connectors and cable bushings must be used for connecting the encoder to a control
system.
Ensure that the entire plant is installed in line with EMC requirements. The installation environment and wiring
affect the electromagnetic compatibility of the encoder. Install the encoder and supply cables separately or at a
long distance from cables with high interference emissions (frequency converters, contactors etc.)
Where working with consumers which have high interference emissions, make available a separate power
supply for the encoder.
The encoder housing must be grounded via the encoder flange, if the mechanical structure is electrically
isolated an additional grounding must be provided.
The protective earth (PE) should be attached to both sides, the mechanical structure and the control system in a
way to avoid impedance. In order to prevent currents in the cable shielding, a potential equalization should be
implemented.
When a potential ground loop can’t be avoided, only one side must be grounded.
Unused outputs must not be connected.
Failure to observe these instructions can result in malfunctions, material damage or personal injury.

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2 Product Assignment
2.1 Cable-pull System
Product
Product-Code
Device Name
EDS-file
Absolute encoder with cable-pull
0x40
BMMS
BMMS_0x0040.eds
Absolute encoder redundant with
cable-pull
0x60
BMMS Redundant
BMMS_0x0060.eds

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3 System Overview
3.1 General
The encoder is a linear measuring system with a CANopen interface. It supports scaling and presetting.
In consideration of “CAN in Automation” (CiA) Profile 406 for Encoders, it’s an Absolute linear encoder - Class C2.
The encoders are galvanically isolated (non-isolated on request).
3.2 Supported Profiles
Following CANopen profiles are supported:
CiA 301 / Version 4.1 (Communication)
CiA 305 / Version 1.0 (LSS)
CiA 406 / Version 3.2 (Encoder Profile)
oAbsolute encoder with cable-pull: Absolute linear encoder
oAbsolute encoder redundant with cable-pull: Multi-sensor encoder interface / Absolute linear encoder
3.3 Supported CANopen Services
Following CANopen services are supported:
1 Network Management (according to CiA 301)
1 SDO Server (according to CiA 301)
2 TPDOs (according to CiA 301/CiA 406)
1 Emergency Producer (according to CiA 301/CiA 406)
1 Heartbeat Producer (according to CiA 301)
1 LSS Client (according to CiA 305)
3.4 Function Principle
3.4.1 Overview
Figure 1: Function principle overview
Direction
Correction User Zero Point (Offset)
Physical
Position
Speed
Calculating Scaling
Scaling[Inc] [Inc] [Inc]
[Inc]
[Inc/s]
[Steps]
[Steps/s]
3.4.2 Scaling
The step size for all speed and position objects can be adapted in the object 6005h.
Example 1: A position step setting of 1’000’000 nm/step means that the position output unit is 1mm.
Example 2: A speed step setting of 100’000 nm/s means that the speed output unit is 0.1mm/s

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3.4.3 Position Range
The range of the position is depending on the position step setting (Object 6005h-1). The range can be read from object
6002h-0. The range is -(Value Object 6002h)…(Value Object 6002h)-1
If the scaled position value exceeds this range, the output defined as in figure 2.
Figure 2: Position range depending on scaling
0000 0000h
FFFF FFFFh
Output
Position
8000 0000h
7FFF FFFFh
8000 0000h
7FFF FFFFh
0204 0000h
-0204 0000h
0mm
Example1: Scaling 1'000'000 nm/Step => Max Range: 0204'0000h
Example2: Scaling <15'748 nm/Step => Max Range: 8000'0000h
3.4.4 Speed range
The range for object 6030h-1 Speed encoder A and object 6030h-2 Speed encoder B is -8000’0000h…7FFF’FFFFh.
If the scaled speed value exceeds this range, the output is -8000’0000h or 7FFF’FFFFh (Saturated Logic).
Figure 3: Speed range
0000 0000h
FFFF FFFFh
Output
Speed
7FFF FFFFh
8000 0000h

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3.5 Difference between absolute encoder with cable-pull and absolute encoder redundant
with cable-pull
The absolute encoder with cable-pull system implements the functions for an absolute linear encoder system.
The absolute encoder redundant with cable-pull system extends these functions with a second position from a second
position acquisition. There is also the possibility to monitor the difference between these two positions.
The absolute encoder redundant with cable-pull pull is fully compatible to the absolute encoder with cable-pull.
4 NMT Service
4.1 Supported commands
Following NMT commands are supported:
NMT Start
NMT Preoperational
NMT Stop
NMT Reset
NMT Communication Reset
There is no difference between NMT Reset and NMT Communication Reset
4.2 Boot up message
After a power-on or NMT reset, the device will send a Boot up message.
COB ID
Byte 0
700h + node ID
00

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5 SDO service
5.1 General
The device supports 1 SDO server (Expedited read/write, segmented read)
5.2 Save/load parameters
The device supports saving parameters to a non-volatile memory.
5.2.1 Save
Writing “save” to 1010h-x saves the corresponding objects to the non-volatile memory. After a reset or power-on, the
parameters are loaded from the non-volatile memory.
The SDO request to 1010h-x is answered immediately. (Parameter saving is performed after answering the SDO
request.)
5.2.2 Load
Writing “load” to 1011h-x restores the corresponding objects. The parameters are restored after a reset or power-on.
5.2.3 Safe non-volatile operation
To ensure safe non-volatile operation, the time between access object 1010h-x or 1011h-x and a reset or power-on has
to be at least 1000ms.
5.2.4 Side effect
Save/Load operations interrupt the updating of position and speed.

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6 PDO Service
6.1 General
The device supports TPDO1 and TPDO2. PDOs are only transmitted in NMT operational mode.
6.2 PDO transmission types
The following transmission types are supported (object 180xh-2):
Synchronous transmission (1-240)
Asynchronous transmission (255)
Manufacturer transmission (254)
Both PDOs support all transmission types.
Transmission type 255 and 254: The PDO is transmitted timer driven. The time interval between 2 PDOs can be
adapted in the object 180xh-5
Transmission type 1-240: The PDO is transmitted after the n-th sync frame.
Transmission type 1: The PDO is transmitted after one sync frame.
Transmission type 2: The PDO is transmitted after two sync frames.
etc.
6.3 COB-ID
The COB-ID for both PDOs is changeable (in Object 180xh-1)
Default Values are:
TPDO1: 180h + node ID
TPDO2: 280h + node ID
Changes will be applied immediately.
The COB-ID is stored internally as a difference to the default COB-ID. Example:
Node ID: 1 COB-ID TPDO1: 181h (Default value)
COB-ID TPDO1: 187h (Changed by user)
Node ID: 9 COB-ID TPDO1: 189h (Adapted automatic)
6.4 PDO mapping
The encoder supports dynamic mapping.
6.4.1 Mappable objects
The following objects are mappable:
Mapping content
Mapping entry
Description
Position encoder A
0x60040020
Object 6004h Subindex 00h, data length 32 Bit
Position encoder A
0x60200120
Object 6020h Subindex 01h, data length 32 Bit
Position encoder B
0x60200220
Object 6020h Subindex 02h, data length 32 Bit
Speed encoder A
0x60300120
Object 6030h Subindex 01h, data length 32 Bit
Speed encoder B
0x60300220
Object 6030h Subindex 02h, data length 32 Bit
Alarms
0x65030010
Object 6503h Subindex 00h, data length 16 Bit
Warnings
0x65050010
Object 6505h Subindex 00h, data length 16 Bit
To change PDO mapping first disable the mapping by writing 0 to 0x1A0x-0. Write the desired mapping entry and enable
the mapping again by writing the number of PDO contents to 0x1A0x-0.

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6.4.2 Default mapping of absolute encoder with cable-pull
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
181h/281h
4
xx
xx
xx
xx
Byte 0..3: Position (Object 6004h)
6.4.3 Default mapping of absolute encoder redundant with cable-pull
The mappings for both PDOs are the same. The position will be transmitted in byte 0..3.
ID
DLC
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
181h/281h
8
xx
xx
xx
xx
yy
yy
yy
yy
Byte 0..3: Position A (Object 6020h-1)
Byte 4..7: Position B (Object 6020h-2)
6.5 Timing
The minimal cycle time for TPDOs is 1 ms.
6.6 Exceptions of accurate calculation of process data
The following operations could interrupt the accurate calculation of process data such as position, speed, warnings and
alarms:
- Non-volatile operations
- Changing the scaling parameters

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7 Emergency Service
7.1 General
If there is an error on the device, the device commits an emergency message and sets the corresponding bits in the error
register (Object 1001h).
Error codes are accessible by the error field (object 1003h-x). A history of maximal 8 error codes is stored in the error
field.
7.2 COB-ID
The COB-ID for the emergency message can be modified in object 1014h.
Default Value: 80h + node ID
Changes will be applied immediately.
The COB-ID is stored internally as a difference to the default COB-ID. Example:
Node ID: 1 COB-ID Emergency: 81h (Default value)
COB-ID Emergency: 87h (Changed by user)
Node ID: 9 COB-ID Emergency: 89h (Adapted automatic)
7.3 Emergency message
The format of the emergency messages is according to CiA 301. Additionally our encoder sends the warning and alarm
fields (object 6503h, 6505h).
The emergency message is transmitted if an error is indicated in the error register.
COB-ID
DLC
Byte0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
80h+node ID
8
Error code
Error register
(object 1001h)
Manufacturer specific
Alarms 6503h
Warning 6505h
Not used
7.4 Error register
Error register (object 1001h)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
-
-
-
Communication error
Generic error
7.4.1 Communication error
Communication errors are indicated if the internal CAN message buffers are overflowed or there are malformed CAN
frames on the bus. After a communication error the corresponding operation (described in object 1029h-1) is executed.
7.4.2 Generic error
A generic error is indicated for all other errors.
An encoder specific alarm or warning will also cause a generic error.
After a generic error the corresponding operation (described in object 1029h-2) is executed.
7.5 Error codes
The following error codes are generated by the device:
Error Code (hex)
Meaning
0000
Error reset or no error
5000
Hardware fault (position error)
6100
Software fault (watchdog)
8100
Communication error (bus warning)
8110
CAN RX overflow
8120
CAN in error passive mode

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8 Alarms, warnings, errors, emergency messages and error behavior
Figures 4, 5 and 6 show the surveillance mechanisms. If one of them fails, an alarm or warning will be indicated. The
behavior upon an error can be defined. It is described in chapter 8.3.
8.1 Absolute encoder redundant with cable-pull System
Figure 4: Block diagram redundant encoder
Position Monitoring Encoder A Error
Position Monitoring Encoder B Error
Difference Monitoring Error
Battery Monitoring Error
Reset
Generic Position Alarm (Bit 0)
Position Alarm A (Bit 12)
Position Alarm B (Bit 13)
Difference Alarm (Bit 14)
Battery Warning (Bit 4)
Generic Error (Bit 4)
Communication Error (Bit 0)D
R
SOR
OR
D
R
S
D
R
S
OR
CAN-Controller
Bus Passiv
Bus Off
Bus Warning
Bus Active
RX Buffer Overflow Error Behaviour
1029h-2h
Error Behaviour
1029h-1h
8100h
8120h
8110h
5000h
5000h
5000h
5000h
Emergency Message
OR
OR
Write xx0x xxxx xxxx xxxx to Alarms (6503h)
Write xxx0 xxxx xxxx xxxx to Alarms (6503h)
Alarms 6503h
Error Register 1001h
Warnings 6505h
Emergency Error Codes
D
R
S
OR
Write xx0x xxxx xxxx xxxx to Alarms (6503h)
Reset Reason Watchdog Watchdog Warning (Bit 2)
6100h
8.1.1 Difference monitoring
Figure 5: Block diagram difference monitoring
Difference Monitoring
Error When ABS(Pos A –Pos B) >
(Value Object 4000h)
Physical
Position A [Inc]
Physical
Position B [Inc]
Difference Monitoring Error
Direction
Correction [Inc]
Direction
Correction [Inc]

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8.2 Absolute encoder with cable-pull system
Figure 6: Block diagram encoder
Position Monitoring Encoder A Error
Battery Monitoring Error
Reset
Generic Position Alarm (Bit 0)
Position Alarm A (Bit 12)
Battery Warning (Bit 4)
Generic Error (Bit 4)
Communication Error (Bit 0)D
R
SOR
OR
D
R
S
CAN-Controller
Bus Passiv
Bus Off
Bus Warning
Bus Active
RX Buffer Overflow Error Behaviour
1029h-2h
Error Behaviour
1029h-1h
8100h
8120h
8110h
5000h
5000h
Emergency Message
OR
Write xxx0 xxxx xxxx xxxx to Alarms (6503h)
Alarms 6503h
Error Register 1001h
Warnings 6505h
Emergency Error Codes
Reset Reason Watchdog Watchdog Warning (Bit 2)
6100h
8.3 Error behavior
The error behaviors are executed when the corresponding bit in object 1001 Error register is set and the device is in the
NMT-State Operational.
Example:
The error behavior 1029h-2 is set to “Change to Pre-Operational” (0). The device is in NMT state Operational
1. Generic error bit is set.
→The device changes to Pre-Operational
2. The device is forced to NMT state Operational with NMT command Start
→The device changes again to Pre-Operational if the generic error bit is not cleared.

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9 Heartbeat Service
9.1 General
The device supports a heartbeat producer according CiA 301.
9.2 COB-ID
The COB-ID for the heartbeat message is 700h + node ID.
9.3 Timing
The minimal cycle time for heartbeat messages is 1 ms.

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10 LSS slave
10.1 General
The baud rate and node ID can be configured by LSS (according to CiA 305). Another possibility to change the baud rate
and node ID is to access to the objects 2100h and 2101h (see object directory).
The LSS service is only available in NMT Stopped Mode.
10.2 Supported commands
Switch state global
Switch state selective
Configure node ID protocol
Configure bit timing parameters
Store configuration
Inquire identity vendor-ID
Inquire identity product code
Inquire identity revision number
Inquire identity serial number
Inquire identity node ID
10.3 LSS address
The needed values for LSS addressing as vendor ID, revision number, product code and serial number are printed on a
label on the encoder housing.

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11 Object directory
The following tables provide a summary of all SDO objects supported by the encoder.
Object Object number in Hex
Name Object name
Format U/I = Unsigned/Integer , No. = no of bits, ARR = Array, REC = Record, STR = String
Access ro = read only, wo = write only, rw = read write, m = mappable
Default Default value on first init
Save X = can be stored in the EEPROM
Description Additional information
Objects extensions for Absolute encoder redundant with cable-pull only are marked with grey background.
11.1 Communication Profile Area
Object
Sub-Index
Name
Format
Access
Default
Save
Description
1000h
Device Type
U32
ro
Cable Pull: 0008’0196h
Redundant Devices: 000A’0196h
1001h
Error Register
U8
ro
0h
Bit0 = Generic error
Bit4 = Communication error
1003h
PreDefined ErrorField
ARR
00h
Largest Subindex
U8
rw
0h
Number of stored messages (0 - 8)
01h
Last Entry
U32
ro
Newest Error Code
..
..
..
..
..
…
08h
Oldest Entry
U32
ro
Oldest Error Code
1005h
Sync COB-ID
U32
rw
80h
X
COB ID of the sync object
1008h
DeviceName
STR
ro
Devicename =
"BMMS“
"BMMS Redundant“
1009h
Hardware Version
STR
ro
Hardware version in ASCII
100Ah
Software Version
STR
ro
Software version in ASCII
1010h
Store parameters
ARR
00h
Largest Subindex
U8
ro
4h
No. of save possibilities 4
01h
Save all parameters
U32
rw
=“evas “ (0x65766173) to save
02h
Communication parameters
U32
rw
=“evas “ (0x65766173) to save
03h
Application parameters
U32
rw
=“evas “ (0x65766173) to save
04h
Manuf. specific parameters
U32
rw
=“evas “ (0x65766173) to save
1011h
Restore default parameters
ARR
00h
Largest Subindex
U8
ro
4h
No. of reset possibilities = 4
01h
All parameters
U32
rw
=“daol“ (0x64616F6C) to load
02h
Communication parameters
U32
rw
=“daol“ (0x64616F6C) to load
03h
Application parameters
U32
rw
=“daol“ (0x64616F6C) to load
04h
Manufacturer specific parameters
U32
rw
=“daol“ (0x64616F6C) to load
1014h
Emergency COB-ID
U32
rw
80h + Node-ID
X
COB ID of the emergency object
1017h
Producer heartbeat time
U16
rw
0h
X
Producer heartbeat time in ms
1018h
Identity object
REC
ro
00h
Largest Subindex
U8
ro
4h
01h
Vendor ID
U32
ro
5Fh
Vendor ID
02h
Product code
U32
ro
Product code:
40h = MAGRES Absolute encoder redundant with cable-
pull
60h = MAGRES Absolute encoder with cable-pull
03h
Revision number
U32
ro
Product revision No.
04h
Serial number
U32
ro
Serial No.
1029h
Error behavior
ARR
00h
Largest Subindex
U8
ro
2h
01h
Communication error
U8
rw
1h
X
0h = Change to pre-operational mode
1h = No state change
2h = Change to stopped mode
02h
Generic error
U8
rw
1h
X

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Object
Sub-Index
Name
Format
Access
Default
Save
Description
1800h
Transmit PDO1 parameter
REC
X
00h
Largest Subindex
U8
ro
5h
X
01h
COB ID
U32
rw
180h+ID
X
COB ID for TPDO 1
02h
PDO type
U8
rw
FFh
X
Transmission type
05h
Event timer
U16
rw
100
X
Cycle time in ms
1801h
Transmit PDO2 parameter
REC
X
00h
Largest Subindex
U8
ro
5h
X
01h
COB ID
U32
rw
280h+ID
X
COB ID for TPDO 2
02h
PDO type
U8
rw
1h
X
Transmission type
05h
Event timer
U16
rw
0
X
Cycle time in ms
1A00h
Transmit PDO1 mapping
ARR
X
00h
Largest Subindex
U8
rw
1/ 2
X
Maximum value is 8
01h
1st mapping parameter
U32
rw
6004’0020h
6020’0120h
X
Position encoder A
02h
2nd mapping parameter
U32
rw
6020’0220h
X
Position encoder B
1A01h
Transmit PDO2 mapping
ARR
X
00h
Largest Subindex
U8
rw
1 / 2
X
Maximum Value is 8
01h
1st mapping parameter
U32
rw
6004’0020h
6020’0120h
X
Position encoder A
02h
2nd mapping parameter
U32
rw
6020’0220h
X
Position encoder B
11.2 Manufacturer Specific Profile Area
Object
Sub-Index
Name
Format
Access
Default
Save
Description
2100h
Baud rate
U8
rw
2h
X
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
The baudrate is activated after a reset or power-on (if
parameter is saved to non volatile memory)
2101h
Node ID
U8
rw
1h
X
Node number 1...127 possible
The new node ID is activated after a reset or power-on (if
parameter is saved to non volatile memory)
2110h
Feature control
U16
rw
0008h
X
Bit 3: 1 = Encoder reset on CAN Bus Off
0 = No encoder reset on CAN Bus Off
4000h
Max Increment Difference [Inc]
U32
rw
100h
X
Max allowed difference between encoder 1 and encoder
2 in encoder increments. If the difference reaches this
level the alarm bit 14 in the object 6504h will be set to 1.
To deactivate the monitoring of the increment difference,
this value has to be 0.
4001h
Speed sampling interval in ms
U16
rw
10
x
The speed sampling interval sets up the sampling interval
of the speed calculation.
Values higher than 4’000 are not allowed

Manual_BMMS_CANopen_BECH_EN_rev05.docx 19/20 Baumer Electric AG
18.06.2013 Frauenfeld, Switzerland
11.3 Standardized Device Profile Area
Object
Sub-Index
Name
Format
Access
Default
Save
Beschreibung
6000h
Operating parameter
U16
rw
4h
X
Bit2 = 0 Scaling function disabled
1 Scaling function enabled
Bit 3 = 0 Direction forward
1 Direction backward
6002h
Total measuring range [Step]
U32
ro1
Measuring range (This value is calculated by the position
step setting)
6003h
Preset value encoder A [Step]
U32
rw
0h
Preset in steps for encoder A Offset
(Internally linked to object 6020h-1)
6004h
Position encoder A [Step]
U32
ro
m
Position in steps for encoder A (Internally linked to object
6020h-1)
6005h
Linear encoder measuring step
Array
00h
Largest Subindex
U08
ro
2
01h
Position step setting [nm/Step]
U32
rw
1’000’000
X
Position step setting in nm
02h
Speed step setting [nm/s/Step]
U32
rw
1’000’000
X
Speed step setting in nm/s
6010h
Preset Value
Array
00h
Largest Subindex
U08
ro
1 / 2
01h
Preset for encoder A [Step]
U32
rw
0
Preset in steps for encoder A
02h
Preset for encoder B [Step]
U32
rw
0
Preset in steps for encoder B
6020h
Position Values
Array
00h
Largest Subindex
U08
ro
1 / 2
01h
Position encoder A [Step]
U32
ro,m
Position in steps for encoder A
02h
Position encoder B [Step]
U32
ro,m
Position in steps for encoder B
6030h
Speed Values
Array
00h
Largest Subindex
U08
ro
1 / 2
01h
Speed encoder A [Step/s]
U32
ro,m
Speed in steps/second for encoder A
02h
Speed encoder B [Step/s]
U32
ro,m
Speed in steps/second for encoder B
6200h
Cyclic timer PDO1 [ms]
U16
rw
100
internally linked to object 1800h-2
6500h
Operating Status
U16
ro
4h
Bit2 = 0 Scaling function disabled
1 Scaling function enabled
Bit 3 = 0 Direction forward
1 Direction backward
6501h
Used linear step [nm/step]
U32
ro
1’000’000
6503h
Alarms
U16
rw2,m
0h
The following alarms are evaluated:
Bit0 = Position error
Bit12 = Data valid encoder A
Bit13 = Data valid encoder B
Bit14 = Difference monitoring
6504h
Supported alarms
U16
ro
Standard:
1001h
Redundant:
7001h
The following alarms are supported:
Bit0 = Position error
Bit12 = Data valid encoder A
Bit13 = Data valid encoder B
Bit14 = Difference monitoring
6505h
Warnings
U16
ro,m
0h
The following warnings are evaluated:
Bit2 = CPU watchdog status reset generated
Bit4 = Battery charge too low
6506h
Supported warnings
U16
ro
14h
The following warnings are supported:
Bit2 = CPU Watchdog Status
Bit4 = Battery Charge
6507h
Profile & software version
U32
ro
Byte 0..1: Profile-Version =3.02 = 0302h
Byte 2: Software minor version
Byte 3: Software major version
6508h
Operating time
U32
ro
0h
Always FFFF’FFFFh
6509h
Offset encoder A [step]
I32
ro
0h
Offset encoder A (Internally linked to object 650Ch-1)
650Ah
Module identification
Array
00h
Largest Subindex
U08
ro
1
01h
Manufacturer offset
I32
ro
0
650Bh
Serial number
U32
ro
Internally linked to object 1018h-4h
650Ch
Offset values
Array
00h
Largest Subindex
U08
ro
1 / 2
01h
Offset encoder A [step]
I32
ro
0h
X
Offset encoder A
02h
Offset encoder B [step]
I32
ro
0h
X
Offset encoder B
1
Object 6002h according to profile 406 V3.02 is read/write
2
Object 6503h according to profile 406 V3.02 is read only

Manual_BMMS_CANopen_BECH_EN_rev05.docx 20/20 Baumer Electric AG
18.06.2013 Frauenfeld, Switzerland
Appendix
A. Pin Assignments
Default Pin Assignments for galvanically isolated encoders are listed below (non-isolated on request).
A.1 Assignment cable (connection - 5)
Cable
color
signal
description
yellow
CAN_L
CAN bus signal (dominant LOW)
gray
CAN_GND
CAN bus ground
white
0 V
0 V supply voltage
green
CAN_H
CAN bus Signal (dominant HIGH)
brown
+Vs
Supply voltage
A.2 Pin assignment connector 2 x M12 (connection –M)
Pin no.
Signal
Description
View to encoder
1
CAN_GND
CAN bus ground
2
+Vs
Supply voltage
3
0 V
0 V supply voltage
4
CAN_H
CAN bus signal (dominant High)
5
CAN_L
CAN bus signal (dominant Low)
A.3 Pin assignment connector 1 x M12 (connection –N)
Pin no.
Signal
Description
View to encoder
1
CAN_GND
CAN bus ground
2
+Vs
Supply voltage
3
0 V
0 V supply voltage
4
CAN_H
CAN bus signal (dominant High)
5
CAN_L
CAN bus signal (dominant Low)