Bonfiglioli Vectron EM-ENC-03 Second Encoder Interface and System Bus Expansion Guide

RxPDO1/2/3 Timeout 941/942/945: Monitoring each RxPDO data update timeout

Timeout will trigger faults: F2200 (SYNC timeout), F2201-F2203 (RxPDO timeout)

4.4 Virtual Link Mapping Mechanism

EM-ENC-03 uses the "Sources and Links" method to implement data mapping (Chapter 4.11.5), without the need for complex CANopen mapping parameters.

TxPDO packaging (sender):

The 8 bytes of each TxPDO can specify the data source through parameters:

Boolean variable: Source number 6/7 (True/False) or 70-72 (numeric input)

Word variables: source numbers 9063/9064 (reference percentage), etc

Long variables: source number 900 (output frequency) or 1-5 (fixed frequency), etc

RxPDO unpacking (recipient):

The receiver's RxPDO maps the data to available source numbers (700-729) and connects them to the local functional input through parameters. For example, source number 704 can be used as a control word input source.

Chapter 5: Channel Expansion of Frequency Reference Values

The second encoder of EM-ENC-03 can be used as a reference value source for the frequency converter (Chapter 5.2), and can be selected through Reference Frequency Source 475:

34 (Speed Sensor 2, absolute value): Use the frequency signal of the second encoder directly as a reference value.

35 (MFI1A+Speed Sensor 2): Overlay the multifunctional analog input with the second encoder signal.

134/135: Corresponding patterns with symbols.

This feature allows users to implement advanced applications such as "electronic gears" or "master-slave following".

Chapter 6: System Bus Capacity Planning

Before building a multi node system bus network, capacity calculation must be performed (Chapter 4.14.3). Each PDO frame is about 140 bits, and the bus load rate needs to be controlled within a safe range:

≤ 80%: Normal (OKAY)

80-90%: Critical

>90%: Not feasible, may result in message loss