Baumer BMMV - 6 Process Data; General; PDO Validity

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19.07.2013
6 Process data
6.1 General
The bus cover supports PDO-static mapping only. PDO data are identical to the position in Object 6004h.
Firmware version 1.5.0 or higher:
In addition to the position value the speed value in counts / second is transmitted within the PDO (object
6030h)
6.2 PDO validity
The PDO’s position data is ever the value picked up by the SoC in the last cycle.
Delay time and Jitter between SoC and position acquisition are specified in section 5.3.
SoC
PReq
Presp
SoA
SoC
PReq
Presp
SoA
Positionsaufnahme Positionsaufnahme