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Contents
7.9 Object 1100h: EtherCAT address ........................................................................................... 98
7.10 Structure of the mapping parameter ..................................................................................... 99
7.10.1 Object 1601h: 2
7.10.2 Object 1A00h: 1
7.11 Object 1C00h: Sync Manager Communication Type ........................................................... 101
7.12 Object 1C12h: Sync Manager Channel 2 (process data output) .......................................... 102
7.13 Object 1C13h: Sync Manager Channel 3 (process data input) ............................................ 103
7.14 Object 1C32h: Sync Manager 2, Parameter ......................................................................... 104
7.15 Object 1C33h: Sync Manager 3, Parameter ......................................................................... 107
8 Manufacturer and Profile Specific Objects (CiA DS-406) ............................................................ 111
8.1 Object 2000h: Mode selection TR / CiA DS-406 .................................................................... 112
8.2 TR - Mode ............................................................................................................................... 113
8.2.1 Object 2001h: TR-Operating parameters, code sequence ..................................... 113
8.2.2 Scaling parameter ................................................................................................... 113
8.2.2.1 Object 2002h: TR-Total measuring range ................................................................................. 114
8.2.2.2 Object 2003h - 2004h: TR-Number of revolutions numerator / denominator ............................ 114
8.2.3 Object 2005h: TR-Speed unit ................................................................................. 117
8.2.4 Object 2006h: TR-Speed integration time .............................................................. 117
8.2.5 Object 2007h: TR-Speed factor .............................................................................. 118
8.3 Object 3101h: Positions and Time stamp ............................................................................... 118
8.4 Adjustment on the fly .............................................................................................................. 120
8.4.1 Object 5004h: Adjustment position ......................................................................... 120
8.4.2 Object 5005h: Adjustment control ........................................................................... 120
8.4.3 Object 5006h: Adjustment status ............................................................................ 120
8.5 CiA DS-406 - Mode ................................................................................................................. 121
8.5.1 Object 6000h: Operating parameters, code sequence ........................................... 121
8.5.2 Scaling parameter ................................................................................................... 121
8.5.2.1 Object 6001h: Single measuring range ..................................................................................... 122
8.5.2.2 Object 6002h: Total measuring range ....................................................................................... 122
8.6 Object 6003h: Preset value .................................................................................................... 124
8.7 Object 6004h: Position value .................................................................................................. 125
8.8 Object 6030h: Speed .............................................................................................................. 125
8.9 Object 6400h: Area state register ........................................................................................... 126
8.10 Measuring system – Work area ............................................................................................ 127
8.10.1 Object 6401h: Work area low limit ........................................................................ 127
8.10.2 Object 6402h: Work area high limit ....................................................................... 128
8.11 Measuring system diagnostics .............................................................................................. 129
8.11.1 Object 6500h: Operating status ............................................................................ 129
8.11.2 Object 6501h: Single-Turn resolution ................................................................... 129
8.11.3 Object 6502h: Number of revolutions ................................................................... 130
8.11.4 Object 6503h: Alarms ........................................................................................... 130
8.11.5 Object 6504h: Supported alarms .......................................................................... 131
8.11.6 Object 6505h: Warnings ....................................................................................... 131
8.11.7 Object 6506h: Supported warnings ...................................................................... 132
8.11.8 Object 6507h: Profile and software version .......................................................... 133
8.11.9 Object 6508h: Operating time ............................................................................... 133
TR-Electronic GmbH 2016, All Rights Reserved
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Receive PDO Mapping ............................................................ 99
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Transmit PDO Mapping ............................................................ 100
TR - ECE - BA - DGB - 0127 - 04
Printed in the Federal Republic of Germany
06/20/2017
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