3 - Schneider Electric

Osicoder
CANopen Multi-Turn Absolute
Encoder
User’s Manual
1690023_02A55 02
1690023_02A55 02
03/2008
2
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
General Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring the Bus and the Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring the Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 3
17
18
21
22
23
24
Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Encoder Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Chapter 4
4.1
4.2
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder Configuration/EDS File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Data Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operational Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Network Parameters (SyCon) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integration and Use under PL7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Examples of SDO Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
29
30
30
31
32
35
37
37
38
45
50
3
Chapter 5
5.1
5.2
5.3
4
CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Communication Objects 1000h to 1FFFh (DS 301). . . . . . . . . . . . . . . . . . . . . . . 54
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Object 1000h: Device Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Object 1001h: Error Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Object 1002h: Manufacturer Status Register. . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Object 1003h: Pre-defined Error Field (PEF). . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Object 1005h: COB-ID SYNC Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Object 1008h: Manufacturer Device Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Objet 1009h: Manufacturer Hardware Device (MHV) . . . . . . . . . . . . . . . . . . . . . 60
Object 100Ah: Manufacturer Software Version (MSV) . . . . . . . . . . . . . . . . . . . . 61
Object 100Ch: Guard Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Object 100Dh: Life Time Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Object 1010h: Store Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Object 1011h: Restore Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Object 1014h: COB-ID Emergency (EMCY) message . . . . . . . . . . . . . . . . . . . . 64
Object 1015h: Inhibit Time EMCY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Object 1016h: Consumer Heartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Object 1017h: Producer Heartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Object 1018h: Identity Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Object 1200h: Server SDO Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Object 1800h: 1st Transmit PDO Communication Parameter . . . . . . . . . . . . . . . 69
Object 1801h: 2nd Transmit PDO Communication Parameter . . . . . . . . . . . . . . 71
Object 1A00h: 1st Transmit PDO Mapping Parameter . . . . . . . . . . . . . . . . . . . . 73
Object 1A01h: 2nd Transmit PDO Mapping Parameter. . . . . . . . . . . . . . . . . . . . 74
Manufacturer Specific Objects 2000h to 5FFFh . . . . . . . . . . . . . . . . . . . . . . . . . 75
Object 5FFFh: SED Data Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Encoder Specific Objects 6000h to 9FFFh (DS 406). . . . . . . . . . . . . . . . . . . . . . 76
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Object 6000h: Operating Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Object 6001h: Measuring Units per Revolution . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Object 6002h: Total Measuring Range in Measuring Units . . . . . . . . . . . . . . . . . 81
Object 6003h: Preset Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Object 6004h: Position Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Object 6200h: Cyclic Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Object 6500h: Operating Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Object 6501h: Singleturn Resolution (Rotary) . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Object 6502h: Number of Distinguishable Revolutions . . . . . . . . . . . . . . . . . . . . 90
Object 6503h: Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Object 6504h: Supported Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Object 6505h: Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Object 6506h: Supported Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Object 6507h: Profile and Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Object 6508h: Operating Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 6509h: Offset Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 650Ah: Module identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 650Bh: Serial Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6
95
95
96
96
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Status Indication Provided by the LEDs in the Connection Base . . . . . . . . . . . . 98
Appendices
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Appendix A
FAQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
FAQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Glossary
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
5
6
Safety Information
§
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special
messages may appear throughout this documentation or on the equipment to warn
of potential hazards or to call attention to information that clarifies or simplifies a
procedure.
The addition of this symbol to a Danger or Warning safety label indicates
that an electrical hazard exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal
injury hazards. Obey all safety messages that follow this symbol to avoid
possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided,
will result in death, serious injury, or equipment damage.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can
result in death, serious injury, or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can
result in injury or equipment damage.
1690023_02A55 02 03/2008
7
Safety Information
PLEASE NOTE
Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use
of this material. This document is not intended as an instruction manual for untrained
persons.
© 2008 Schneider Electric. All Rights Reserved.
8
1690023_02A55 02 03/2008
About the Book
At a Glance
Document Scope
Related
Documents
User Comments
1690023_02A55 02 03/2008
This manual explains how to install and configure the absolute rotary encoder with
CANopen interface connected on a bus.
Title of Documentation
Reference Number
Instruction sheet
W9 1690020
We welcome your comments about this document. You can reach us by e-mail at
techpub@schneider-electric.com
9
About the Book
10
1690023_02A55 02 03/2008
Introduction
1
Presentation
Overview
The purpose of this section is to provide general information about the encoder
described in this documentation.
What's in this
Chapter?
This chapter contains the following topics:
1690023_02A55 02 03/2008
Topic
Page
Introduction
12
General Presentation
15
11
Introduction
Introduction
Principle
This manual explains how to install and configure the absolute rotary encoder with
CANopen interface. The products are fully compliant with standard DS406 and are
CiA certified.
Multi-Turn
Absolute Rotary
Encoders
Absolute rotary encoders identify all the points of a movement by means of a single
digital signal. Due to their capacity to give a single, exact position value to all linear
and angular positions, absolute rotary encoders have become one of the most
important links between the mechanical system and the control system.
The basic principle behind a rotary encoder is the optical sampling of a transparent
code disk fixed on the rotating shaft.
Resolution:
Type
Value
No. of bits
Maximum no. of steps per revolution
8192
13
Maximum no. of detectable revolutions
4096
12
Maximum resolution (no. of steps)
33554432
25
The CANopen bus interface on absolute rotary encoders permits speeds up to 1
Mbaud (30 m cable for a maximum speed of 1Mbaud, 5000 m cable for a maximum
speed of 10 kbaud).
The encoder connection base provides access to three rotary switches for
configuring the address and transmission speed. It also incorporates two LEDs that
provide assistance with diagnostics. The encoder acts as a T-junction with two M12
connectors for the BUS IN and BUS OUT signals.
12
1690023_02A55 02 03/2008
Introduction
General
CANopen
Information
The CANopen system is used in industrial applications. It is a multiple access
system (maximum: 127 participants), which means that all devices can access the
bus. In simple terms, each user checks whether the bus is free, and if it is the user
can send messages. If two users try to access the bus at the same time, the user
with the higher priority level (lowest ID number) has permission to send its message.
Users with the lowest priority level must cancel their data transfer and wait before
re-trying to send their message.
Data communication is carried out via messages. These messages consist of 1
COB-ID followed by a maximum of 8 bytes of data. The COB-ID, which determines
the priority of the message, consists of a function code and a node number.
The node number corresponds to the network address of the device. It is unique on
a bus. The function code varies according to the type of message being sent:
Management messages (LMT, NMT)
Messaging and service (SDOs)
Data exchange (PDOs)
Predefined messages (synchronization, emergency messages)
The absolute rotary encoders support the following operating modes:
Pooled mode: The position value is only given on request.
Cyclic mode: The position value is sent cyclically (regular, adjustable interval) on
the bus.
SYNC mode: The position value is sent after a synchronization message (SYNC)
is received. The position value is sent every n SYNCs (n ≥ 1).
State change mode: The position value is transferred as soon as it changes.
Other functions (direction of rotation, resolution, etc) can be configured. The
absolute rotary encoder corresponds to the class 2 encoder profile (DS 406 in which
the characteristics of rotary encoders with CANopen interface are defined). The
node number and speed in bauds are determined via rotary switches. The
transmission speed can range from 10 kbauds up to 1 Mbaud. Various software
tools for configuration and parameter-setting are available from different suppliers.
It is easy to align and program the encoders using the EDS (electronic data sheet)
configuration file provided.
Note: As well as the manufacturer-specific functions, this encoder supports Class
2 configurations, in accordance with the Profile for absolute encoders (this profile
is available from CiA).
1690023_02A55 02 03/2008
13
Introduction
More extensive information on the CANopen technology (functionality,
manufacturer, products), encoder standards and profiles are available from the CiA:
CAN In Automation (CiA)
International Users and Manufacturers Group e.V.
Am Weichselgarten 26
D-91058 Erlangen Germany
www.can-cia.org
14
1690023_02A55 02 03/2008
Introduction
General Presentation
Description
The absolute rotary encoder with CANopen interface looks like this:
1
2
B
A
-
+
BUS
OUT
R
S PW
BU
IN
+
-
+
-
A
B
P WR
G
L
H
G
L
H
3
Encoder elements:
No.
Description
1
Encoder body
2
Connection base
3
Sealing plug
The encoder body connects to the base via a 15-pin SUB-D connector.
1690023_02A55 02 03/2008
15
Introduction
Networking
The absolute rotary encoder interface is based on the CANopen standard. The
CANopen master is generally a PLC, to which the encoders are attached via M12
connectors. The power to the encoders is supplied directly via the central PG9 of
each base:
PLC
+
CANopen master
Bus Architecture
11...30 V
11...30 V
11...30 V
The maximum number of stations on the bus is 127 with addresses from 1 to 99.
The available speeds are 10 - 20 - 50 - 125 - 250 - 500 - 800 - 1000 kBaud.
The cable length is limited by the transmission speed due to bit-by-bit arbitration:
Speed (kbaud)
1000
800
500
250
125
50
20
10
Max. length (m)
20
40
100
250
500
1000
2500
5000
You will often find 40 m given as the maximum length for 1Mbaud in documents
about CANopen. This length is calculated without electrical isolation as used in
Schneider Electric’s CANopen devices. The minimum calculated network length
with electrical isolation is 4 m for 1Mbaud. However, experience has shown that 20
m is the nominal length that could be shortened by connectors or other influences.
16
1690023_02A55 02 03/2008
Installation
2
Presentation
Overview
The absolute encoder is connected to a connection base by means of a 15-pin SUBD connector. The base can be removed from the encoder by undoing two screws
located on the side of the base. The bus and the power supply are routed into the
base via M12 connectors and a PG9 cable gland respectively and are connected to
the terminals.
What's in this
Chapter?
This chapter contains the following topics:
1690023_02A55 02 03/2008
Topic
Page
Connection Base
18
Wiring the Bus and the Power Supply
21
Wiring the Encoder
22
Accessories
23
Installation Precautions
24
17
Installation
Connection Base
Description
Unscrew the encoder base to access the encoder settings:
2
3
RT
On
IN
OUT
78
78
78
456
x10
901
4
23
23
456
Bd
901
23
901
-
456
+
x1
1
5
Male M12
connector
6
Female M12
connector
Elements that can be accessed in the base:
18
No.
Description
Application
1
Rotary switches
Transmission speed and node number
2
Switch
Enables the line terminator
3
15-pin female SUB-D
Base/encoder connection
4
Terminals
BUS IN, BUS OUT and power supply
5
2 x M12 A-coded connectors Cable/base connection (BUS IN, BUS OUT)
6
PG9 cable glands
Cable/base connection (for 24 VDC power supply
cable, ∅ 4...8 mm)
1690023_02A55 02 03/2008
Installation
The baud rate is set using the rotary switch on the base.
9 01
23
78
Transmission
Speed
456
Bd
The following baud rates are possible:
Position of encoder rotary switch
10
0
20
1
50
2
125
3
250
4
500
5
800
6
1000
7
Reserved
8
Default (250)
9
The rotary switches located in the base are used to set the encoder network address
(node number):
78
78
456
x10
901
23
23
901
456
Node Address
Speed (kbaud)
x1
The switch marked (x1) is used to set the units and the switch marked (x10) is used
to set the tens. The possible addresses are between 1 and 99, and any one address
can only be used once in the network. Two LEDs at the rear of the base indicate the
encoder operating mode.
Note: Address 0 is reserved (NMT).
1690023_02A55 02 03/2008
19
Installation
Line Terminator
If the encoder is connected at one end of the bus line, the line terminator must be
enabled (set the switch to the "ON" position).
Encoder location on the bus
Switch position
Encoder in the middle of the bus
R
On
Encoder at the end of the bus
R
On
Note: If the terminator is set to "ON", the "BUS OUT" terminals (See Wiring the Bus
and the Power Supply, p. 21) are disconnected.
The base must be connected to the encoder for the bus to be wired correctly. If the
encoder has to be changed during operation, a separate line terminator must be
used.
20
1690023_02A55 02 03/2008
Installation
Wiring the Bus and the Power Supply
Description
Remove the base to access the encoder wiring:
RT
On
78
456
78
OUT
901
456
x10
23
Bd
901
23
23
901
-
78
+
IN
456
IN
3
3
5
1
-
OUT
x1
BUS IN
4
+
BUS OUT
4
5
2
2
1
Description of the terminals:
Terminals
Pin
Description
-
-
Supply voltage 0 V
+
+
Supply voltage 24 V
BUS IN
1
CAN_SHLD
2
(CAN_V+)
3
CAN_GND
4
CAN_H
5
CAN_L
BUS OUT
1690023_02A55 02 03/2008
1
CAN_SHLD
2
(CAN_V+)
3
CAN_GND
4
CAN_H
5
CAN_L
21
Installation
Wiring the Encoder
Connecting the
Power Supply to
the Connection
Base
To supply the encoder via the central PG9, connect the base using the following
procedure:
Step
Action
1
Remove the screw, the seal gasket and the cable gland collar.
2
Prepare the cable as shown in the diagram below.
3
Place the screw and the seal gasket on the cable.
4
Fit the collar under the shielding.
5
Insert the cable assembly in the cable gland and tighten the screw.
Wiring diagram:
55 mm (2.16 inch)
50 mm (1.96 inch)
5 mm (0.19 inch)
Connecting the
base to the bus
5 mm (0.19 inch)
To connect the encoder to the bus, simply connect the network cable to the female
M12 connector (see Connection Base, p. 18).
Note: Shielded cables should be used for data transmission to avoid problems with
electromagnetic interference. The shielding must be connected to ground at both
ends of the cable.
Note: The encoder must be connected to the bus before being powered on.
22
1690023_02A55 02 03/2008
Installation
Accessories
List of
accessories
The list of available accessories is as follows:
Description
Type
Bushing *
15 mm to 14 mm (0.59 in to 0.55 in)
XCC R358RDL14
Bushing *
15 mm to 12 mm (0.59 in to 0.47 in)
XCC R358RDL12
Bushing *
15 mm to 10 mm (0.59 in to 0.39 in)
XCC R358RDL10
Bushing *
15 mm to 8 mm (0.59 in to 0.31 in)
XCC R358RDL08
Bushing *
15 mm to 6 mm (0.59 in to 0.24 in)
XCC R358RDL06
* Only for hollow shafts
Assembly
instructions
Encoder with output shaft:
Connect the encoder shaft to the revolving shaft using an XCC RA coupling.
Encoder with hollow shaft:
Position the encoder, fix it on the revolving shaft using the loop clamp, with or
without the bushing. Then attach the flexible kit to a fixed support.
Do not tighten the fixing ring if the driving shaft and the bushing are missing from the
encoder.
1690023_02A55 02 03/2008
23
Installation
Installation Precautions
Precautions
The following points must be adhered to:
Do not drop the encoder and do not expose it to excessive vibration. The encoder
is a precision device.
Do not open the encoder casing (this does not mean that the connection base
cannot be removed).
The encoder shaft must be connected to the shaft to be measured by means of
an appropriate coupling. This coupling is used to dampen vibrations and
compensate for any imbalance at the encoder shaft, and also to prevent any
significant unauthorized force. Telemecanique offers appropriate couplings.
Telemecanique absolute encoders are robust, but when used in difficult
environmental conditions they must still be protected appropriately. The encoder
must not be used as a handle or a step.
Only qualified personnel can commission and operate these encoders. Such
personnel are authorized to commission, connect to ground and identify the
devices, systems and circuits in accordance with current safety standards.
No electrical modifications should be made to the encoder.
Route the connection cable from the bus to the encoder, ensuring it is a sufficient
distance or completely separate from the power supply cables and associated
electromagnetic interference. Use fully shielded cables to obtain reliable data
transfer and ensure correct grounding.
In environments subject to interference, it is advisable to connect the encoder to
ground.
WARNING
INCORRECT HANDLING
Only perform connection/disconnection operations when the devices are not
supplied with power.
Short-circuits, voltage peaks, etc. can be harmful to device operation and can
generate uncontrolled states.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
24
1690023_02A55 02 03/2008
Installation
WARNING
INCORRECT INSTALLATION
Before powering up the system, check all the electrical connections.
Incorrect connections can prevent the system from operating properly.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
1690023_02A55 02 03/2008
25
Installation
26
1690023_02A55 02 03/2008
Characteristics
3
Encoder Characteristics
Mechanical
characteristics
The mechanical characteristics are as follows:
Shaft type
∅ 10 h8 (0.39 in h8)
∅ 15 F7 (0.59 in F7)
Maximum rotation speed
6000 rpm
Moment of inertia
30 g.cm2
Torque
Maximum load
Electrical
characteristics
1690023_02A55 02 03/2008
0.3 N.cm
Radial
10 daN
The electrical characteristics are as follows:
Supply voltage
11...30 V. Max. ripple: 500 mV
No-load current consumption
100 mA
Output level
5 V max. for a max. current of 40 mA
Clock input
7 mA current loop for 5 V voltage
27
Characteristics
Environmental
characteristics
The environmental characteristics are as follows:
Conformity
Ambient air
temperature
Operation
-40...+85°C (-40...+185°F)
Storage
-40...+85°C (-40...+185°F)
Degree of protection
IP 64
Vibration resistance
100 g (f=10...500 Hz), acc. to IEC 60068-2-6
Shock resistance
100 g (6 ms, 1/2 sine wave) acc. to IEC 60068-2-27
10 g (16 ms, 1/2 sine wave) acc. to IEC 60068-2-29
Withstand to electromagnetic
disturbance
Electrostatic discharges, acc. to IEC 61000-4-2: level 2, >
4 kV.
Radiated electromagnetic fields (electromagnetic waves),
acc. to IEC 61000-4-3: level 3, 10 V/m.
Rapid transients (Start/Stop interference), acc. to IEC
61000-4-4: level 3, 2 kV (1 kV for the I/O).
Voltage wave impulse, acc. to 61000-4-5: level 1: 500 V.
Materials
28
CE
Base
Aluminum
Cover
Aluminum
Shaft
Stainless steel
Bearings
Steel balls 6000ZZ1 (solid shaft) - 6803ZZ (hollow shaft)
1690023_02A55 02 03/2008
Configuration
4
Presentation
Overview
The purpose of this chapter is to describe the configuration parameters of the
absolute encoder with a CANopen interface.
What's in this
Chapter?
This chapter contains the following sections:
1690023_02A55 02 03/2008
Section
Topic
Page
4.1
Configuration
30
4.2
Software tools
37
29
Configuration
4.1
Configuration
Introduction
Presentation
This subsection describes how to configure a CANopen absolute encoder.
What's in this
Section?
This section contains the following topics:
30
Topic
Page
Encoder Configuration/EDS File
31
CANopen Data Transmission
32
Operational Mode
35
1690023_02A55 02 03/2008
Configuration
Encoder Configuration/EDS File
General
The absolute encoder with CANopen interface can be configured to suit the user’s
requirements. The EDS file corresponding to the encoder must be loaded in the
software tool used for the configuration of the CANopen network. The user can then
access the parameters and functions of the encoder.
Configuration
principle
Download the EDS file and its 3 associated image files from the
"www.telemecanique.com" site:
TEXCC35CB_0100E.EDS
TEXCC35CB_0100E_R.dib
TEXCC35CB_0100E_S.dib
TEXCC35CB_0100E_D.dib
The system is configured as shown in the diagram below:
EDS file
Software tool
Database
PLC
Encoder
A- +
-+B
S R
BU
BUSAPW
RO
UT PW
LH
BIN
LHG
+- G
Parameter settings
1690023_02A55 02 03/2008
31
Configuration
CANopen Data Transmission
Data
Transmission
Data is transmitted in a CANopen network in the form of messages. These
messages consist of a COB-ID and 8 bytes of data, as shown in the following table:
COB-ID
Command
Index
11 Bits
Byte 0
Byte 1
Byte 2
Low
High
COB-ID
Sub-index Service data/Process data
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
LSB
->
->
MSB
The 11-bit COB-ID is made up as follows:
10
9
8
7
6
X
X
Function code
X
X
X
5
4
3
2
1
0
X
X
X
X
Node number
X
X
X Free choice
The COB-ID only determines the message object. It consists of a function code,
which identifies the message class, and the node number, which is the address of
the absolute encoder. The node number is set using the two rotary switches located
on the base (Node Address, p. 19).
The following function codes are available (rx and tx as viewed by the master):
Object
Function
code (binary)
COB-ID result
Hex.
Priority class*
80
0
NMT
0000
0
SYNC
0001
128
0
Emergency
0010
129 - 255
81 - FF
0, 1
PDO (tx)
0011
385 - 511
181 - 1FF
1, 2
PDO (rx)
0100
513 - 639
201 - 27F
2
PDO (tx)
0101
641 - 767
281 - 2FF
2, 3
PDO (rx)
0110
769 - 895
301 - 37F
3, 4
SDO (tx)
1011
1409 - 1535
581 - 5FF
6
SDO (rx)
1100
1537 - 1663
601 - 67F
6, 7
* Priority: 0 = maximum priority, 7 = minimum priority
32
1690023_02A55 02 03/2008
Configuration
Command Byte
The Command byte determines the type of message sent via the CAN network. A
byte includes three types of message:
Parameter settings: These are used to send parameter data to the encoder
(node) for its configuration.
Requests: These are used by the master to read the parameters recorded in a
node.
Warnings: These are sent to the master by the rotary encoder if a message that
has been sent cannot be processed correctly.
The description of the commands is as follows:
Command
Function
Message
Description
22h
Master -> Encoder
Request
Parameter to the encoder
60h
Master -> Encoder
Confirmation
Parameter received
40h
Encoder -> Master
Request
Request for parameter
43h, 4Bh, 4Fh (*)
Encoder -> Master
Response
Parameter to the master
80H
Warning
Response
Transmission error
(*) The value of this Command byte depends on the data length of the required
parameter:
1690023_02A55 02 03/2008
Command
Data length
Data length
43h
4 bytes
Unsigned 32
4Bh
2 bytes
Unsigned 16
4Fh
1 byte
Unsigned 8
33
Configuration
Index/Sub-Index
Data is transmitted solely using objects referenced by an index. The objects are
simple or compound type. In this case, the index associated with the object will have
several sub-indexes. The number of sub-indexes is specified in sub-index 0, and
can be from 1 to 254. Each object is described in a structure called the object
dictionary.
The organization of a standard object dictionary is shown in the following table:
34
Index (hex)
Object
0000
Not used
0001-001F
Static data types
0020-003F
Complex data types
0040-005F
Manufacturer specific data types
0060-0FFF
Reserved
1000-1FFF
Communication area (see Communication Objects 1000h to 1FFFh (DS 301),
p. 54)
2000-5FFF
Manufacturer specific area (see Manufacturer Specific Objects 2000h to
5FFFh, p. 75)
6000-9FFF
Device profile specific area (see Encoder Specific Objects 6000h to 9FFFh
(DS 406), p. 76)
A000-FFFF
Reserved
1690023_02A55 02 03/2008
Configuration
Operational Mode
Principle
The absolute rotary encoder accesses the CAN network four seconds after powerup in pre-operational mode:
FC
NN
Command
1110
XXXXXXX
S/P data
Description
Bootup message
It is recommended that the parameters are entered when the encoder is in preoperational mode. Pre-operational mode entails reduced activity on the network,
which simplifies the checking of the accuracy of the sent/received SDOs. It is not
possible to send or receive PDOs in pre-operational mode.
Reinitialization
of the Absolute
Rotary Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization.
FC
NN
Command
S/P data
Description
0000 b
NN d
81 h
NMT-Reinitialization, NN
0000 b
0d
82 h
NMT-Reinitialization, all nodes
NN: node number
After reinitialization, the absolute rotary encoder accesses the bus in pre-operational
mode.
Mode: Preoperational
To set a node to pre-operational mode, the master must send the following
message:
FC
NN
Command
0000 b
NN d
80 h
S/P data
Description
NMT-Pre-operational, NN
NN: node number
Mode: Start
For 1 or all the nodes to switch to operational mode, the master sends the following
message:
FC
NN
Command
S/P data
Description
0000 b
0d
01 h
NMT-start, all nodes.
0000 b
NN d
01 h
NMT-start, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to operational
mode.
1690023_02A55 02 03/2008
35
Configuration
Mode: STOP
For 1 or all the nodes to exit operational mode, the master sends the following
message:
FC
NN
Command
S/P data
Description
0000 b
0d
02 h
NMT-start, all nodes.
0000 b
NN d
02 h
NMT-start, NN
NN: node number
Transmission of
the Current
Position
The process value is sent on the CAN network with the following message:
COB-ID
Process value
11 Bits
Byte 0
7
Byte 1
0
2 to 2
2
15
Byte 2
8
to 2
2
23
to 2
Byte 3
16
231 to 224
The COB-ID contains the node number and the corresponding PDO(tx). By default,
the process value that is sent uses function code PDO(tx)0011 and, in response to
the SYNC message, uses function code PDO(tx)0101.
36
1690023_02A55 02 03/2008
Configuration
4.2
Software tools
Introduction
Presentation
The encoders described in this document are CANopen certified with the DS 406
V3.1 profile. They are compatible with other CANopen certified products.
The encoders described in this chapter are configured using the following software:
Setting the network parameters
SyCon configuration tool version ≥ 2.9
PLC programming
PL7 Pro software workshop version ≥ 4.4
Please refer to the software documentation for the minimum PC configuration used.
What's in this
Section?
1690023_02A55 02 03/2008
This section contains the following topics:
Topic
Page
Setting the Network Parameters (SyCon)
38
Integration and Use under PL7
45
Examples of SDO Requests
50
37
Configuration
Setting the Network Parameters (SyCon)
Description of
SyCon
The configuration tool (SyCon) is used to draw a diagram of a network using a
graphic representation of the nodes on the network. SyCon is then used to generate
the complete configuration of the network that has been drawn.
It provides access to the various configuration parameters and the communication
parameters.
Method
Within the PL7 programming software, launch the SyCon network tool and follow the
steps below:
Steps
Actions
1
Open a CANopen type file.
2
Click on "File" and select "Copy EDS".
SyCon
File Edit View Insert Online Settings
New
Open...
Close
Save
Save As…
?
Ctrl+N
Ctrl+O
Ctrl+S
Export
Copy EDS
Print...
Print Preview
Print Setup...
Ctrl+P
1 D:\document\...\ftm_v0_04.co
2 D:\document\...\ana.co
3 D:\document\...\ana\4-20.co
4 D:\document\...\500k.pb
Exit
38
1690023_02A55 02 03/2008
Configuration
Steps
3
Actions
Select the file to be imported and click on "Open" :
SyCon
File Edit View Insert Online Settings Window Help
?
Copy EDS
?
Look in:
can config
TEXCC35CB_0100E.EDS
File name:
“TEXCC35CB_0100E.EDS”
File type:
4
EDS Files (*.eds)
Open
Cancel
Click on "Yes" to import the 3 associated image files.
Question
Do you want to import the corresponding bitmap files?
Yes
5
No
If the image files are in the same directory as the EDS file, they are found
automatically:
Note
Imported files:
EDS files 1
Bitmap files
3
OK
Click "OK".
1690023_02A55 02 03/2008
39
Configuration
Steps
6
Actions
Click on "Insert" and select "Node" or click on the associated button.
SyCon
File Edit
Insert
?
7
Online Settings
Window
Master...
Node...
Select the devices to be inserted in the network, enter the node address given
by the rotary switches (see Node Address, p. 19) and the node description, and
click OK :
SyCon
File Edit View Insert Online Settings Window Help
?
CIF
CANopen
Insert Node
--
Node filter
Vendor
Telemecanique
Profile
OK
Cancel
406
Available devices
Selected devices
Osicoder
Add >>
Osicoder
Add All >>
<< Remove
<< Remove All
40
Vendor name
Telemecanique
Node ID (address) 2
Product number
90157
Description
Product version
No entry
Product revision
No entry
File name
TEXCC35CB_0100E.EDS
EDS Revision
2
Node2
1690023_02A55 02 03/2008
Configuration
Setting the PDO
Parameters
Follow the steps below:
Step
Action
1
Double-click on the image of the encoder to be configured.
The configuration window appears.
2
Select a configured PDO and click on "PDO characteristics" :
SyCon
File Edit View Insert Online Settings Window Help
?
Node Configuration
CIF
CANopen
--
Master
Node
Osicoder
Description
Node
Node2
File name
TEXCC35CB_0100E.EDS
63
Configuration Error
TSX CPP 100 Control Protocol
Activate node in actual configuration
Automatic COB-ID allocation in accordance with Profile 301
Device Profile
406
OK
Node ID (address) 2
ID
Master
Node BootUp
Emergency COB-ID 130
1794
Nodeguard COB-
Absolute multi-turn angular encoder
Device type
Cancel
Predefined Process Data Objects (PDOs) from EDS file
Obj.Idx. PDO name
Enable
1800 TxPDO1 Communication parameter
1801 TxPDO2 Communication parameter
OPC Objects
Object
Configuration
Actual node
1 / Osicoder
PDO mapping method
DS301 V4
Add to configured PDOs
Configured PDOs
PDO name
TxPDO1
TxPDO2
Symbolic Name
COB-ID I Type Addr. I I len.
PDO_1800
PDO_1801
385
641
IB
IB
0
0
O Type Addr. O O len.
4
4
PDO Contents Mapping...
PDO Characteristics...
Define new Receive PDO...
Define new Transmit PDO...
Delete configured PDO
Symbolic Names
Press F1 for Help
1690023_02A55 02 03/2008
CANopen
Configuration
41
Configuration
Step
3
Action
Select the required transmission mode and click OK:
Node Receive PDO Characteristics, Master Output Process Data
Transmission Mode
OK
Node shall use a synchronization message as trigger to send the transmit PDO cyclically.
Node has to send the transmit PDO every
10
received synchronization message.
Node shall use a synchronization message as trigger to send the transmit PDO when
previously remote requested by the master.
Node shall send the transmit PDO when remote requested
Transmission event of transmit PDO full node manufacturer specific.
Transmission event of transmit PDO defined in the device profile of the node.
Resulting CANopen specific transmission type
254
Communication Timer Node
Event timer
10
ms
Inhibit time
10
ms
Master Remote Request Condition CANopen
Every
4
0
. Master cycle interval (Request slow down).
If you want to define the addresses of the activated PDOs manually:
Select the master
Click on "Settings" and select "Global settings"
Deselect "Enabled" in the "Process Data Auto Addressing" area
Click OK.
Illustration
Settings
Process Data Auto Addressing
Enabled
OK
Cancel
COB-ID Allocation during PDO insertion
Automatic Allocation in accordance with Profile 401
Manual Allocation in range 0-2047
Otherwise, go directly to step 6.
42
1690023_02A55 02 03/2008
Configuration
Step
5
Action
Enter the required values in the "I Addr" boxes opposite the activated PDO.
Node Configuration
Node
Osicoder
Description
Node2
File name
TEXCC35CB_0100E.EDS
OK
Node ID (address) 2
Cancel
Configuration Error
Control Protocol
Node BootUp
Emergency COB-ID
130
OPC Objects
Automatic COB-ID allocation in accordance with Profile 301Nodeguard COB-ID
1794
Object
Configuration
Activate node in actual configuration
Device Profile 406
Device type
Absolute multi-turn angular encoder
Predefined Process Data Objects (PDOs) from EDS file
Obj.Idx. PDO name
Enable
1800 TxPDO1 Communication parameter
1801 TxPDO2 Communication parameter
Actual node
1 / Osicoder
PDO mapping method
DS301 V4
Add to configured PDOs
Configured PDOs
PDO name
TxPDO1
TxPDO2
Symbolic Name COB-ID I Type Addr. I I len.
PDO_1800
385
IB
0
4
PDO_1801
641
IB
2
4
O Type Addr. O O len.
PDO Contents Mapping...
PDO Characteristics...
Define new Receive PDO...
Define new Transmit PDO...
Delete configured PDO
Symbolic Names
1690023_02A55 02 03/2008
43
Configuration
Step
6
Action
Click on "Object Configuration":
Node Configuration
Node
Osicoder
Description
Node2
File name
TEXCC35CB_0100E.EDS
OK
Node ID (address) 2
Cancel
Configuration Error
Control Protocol
Node BootUp
Activate node in actual configuration
Emergency COB-ID 130
OPC Objects
Automatic COB-ID allocation in accordance with Profile 301
Nodeguard COB-ID 1794
Object
Configuration
Device Profile
401
Device type
Absolute multi-turn angular encoder
Object Configuration
Predefined Process Data Objects
from EDS file
Actual
node
Node (PDOs)Osicoder
Addr. Node
2
Obj.Idx. PDO name
Description Node2
3 / FTM
1800
TxPDO1 Communication parameter
1801
TxPDO2 Communication
parameter
Predefined
supported Objects in the EDS file PDO mapping
Configured PDOs
PDO name
TxPDO1
TxPDO2
Default value
20196
(no default value)
1002
1003
0
Manufacturer Status Register
pre-defined error field
(no default value)
Read only
Read only
Read only
0
Number of actual errors
0
Read/Write
Obj.Idx. Sub.Idx. Settings
1
1800
COB-ID
1800
2
Transmission type
1800
3
Inhibit Time
1800
5
Event timer
CurrentDefine
Value PDO
Dialog
new
182
X
FE
X
0
X
0
X
1801
1801
282
1
1
2
COB-ID
Transmission type
Access Filter
All
Decimal
Add to
ICOB-IDI SYNCO O O 80 PDO Contents
Read/Write
515
QB 0 0
PDO
771
387
Configured
Objects automatically written while NodeDefine
startup sequence
new
Symbolic Name
CO 0 I
1005
PDO_1800
PDO_1801
DS301 V4Access
Obj.Idx. Sub.Idx. Settings
1000
0
DeviceType
1001
0
ErrorRegister
OK
Cancel
Add to Configured Objects
Delete
Symbolic
X
X
Delete Configured Object
This window is used to configure the default values of the configured objects that
will be sent to the encoder the next time the node is powered up.
For further information on the various objects seeCANopen Object Dictionary,
p. 53
44
7
Select the objects to be sent to the device, click on "Add to Configured Objects"
then click OK.
8
Select File/Save: A *.CO configuration file is created, which contains the complete
network architecture and the initial configuration of each node. This file is used by
PLC programming software (eg: PL7, etc).
1690023_02A55 02 03/2008
Configuration
Integration and Use under PL7
Configuration
Follow the steps below:
Steps
1
Actions
In the master configuration window, select the network configuration file
generated with SyCon:
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL 1
TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen
MAST
Bus startup
Inputs
Outputs
Reset
Maintain
Automatic
No. of words (%MW) 500
No. of words (%MW) 500
Semi-Automatic (bus only)
Index of 1st %MW
By program
1000
Index of 1st %MW
Configuration loading mode
1000
Watchdog
Select Database
D:\document\QSF\CanOpen\FTM\work\pro
Enabled
Configuration size
PL7
Transmission Speed
COB-ID SYNC Message
SYNC Message Period
Auto-Clear
5223 words
Open
Look
in:
1 MBit/s
Disabled
SyCon
conf can
ana
128
speeds
ftm_I
1000
ms
0 ana.co
?
SyCon Tool
island_v0_01.co
Busisland_v0_03.co
configuration
island_v0_04.co
1690023_02A55 02 03/2008
File name:
island_v0_04.co
File type
CANopen FILE (*.co)
Open
Cancel
45
Configuration
Steps
2
Actions
Complete the fields in the "Input" (input data exchange area) and "Output"
(output data exchange area) boxes:
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL 1
TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen
MAST
Bus startup
Inputs
Outputs
Reset
Maintain
Automatic
No. of words (%MW)
500
Semi-Automatic (bus only)
Index of 1st %MW
By program
No. of words (%MW)
0
Index of 1st %MW
1500
1000
Configuration loading mode
Watchdog
Select Database
D:\document\QSF\CanOpen\FTM\work\pro
Enabled
Configuration size
5223 words
Disabled
PL7
SyCon
Transmission Speed
1 MBit/s
COB-ID SYNC Message
128
SYNC Message Period
1000 ms
Auto-Clear
0
SyCon Tool
Bus configuration
46
1690023_02A55 02 03/2008
Configuration
Steps
3
Actions
Click on the "Bus Configuration" button:
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL 1
TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen
Bus startup
Automatic
Semi-Automatic (bus only)
By program
MAST
Inputs
Outputs
Reset
Maintain
No. of words
50 bus configuration
CANopen
No. of
Index of 1st CANopen
10 slaves
Index of
50
10
Add
Device Name
Act. Life T.
000
APP-1CCO2
1
400
Configuration loading mode
Watchdog
000
FTM 1CN10
0
400
Select Database
D:\document\QSF\CanOpen\FTM\work\pr
000
FTM 1CN10
0
400
000
OTB
0 Enable
400
Configuration size
5223 wor001
FTB 1CN16EP0
1
400
Disable
002 FTB 1CN12E04SP0 1
400
PL7
SyCon
003 FTB 1CN08E08SP0 1
400
Transmission Speed
1 MBit/s
004
FTB 1CN16CP0
1
400
SyCon
009
FTM
1CN10
1
400
COB-ID SYNC Message
128
010
OSICODER
1
400
SYNC Message Period
1000 ms
Auto-Clear
0
Inputs
Parameter
%MW1300
%MW1301
Symbol
Outputs
Parameter
Symbol
CANopen Device Details
Device Name : OSICODER
Bus configuration
Vendor Name: Telemecanique
Total
No. of slaves
0010
No. Input %MW
83
No. Output %MW
Description:
OSICODER
COB-ID:
EMCY= 224, TxPDO= 768
113
Close
The bus configuration window is used to display the exact address of the data
associated with the devices.
The start address of each PDO is defined by the start address of the exchange
area configured using PL7, to which the PDO offset defined using SyCon is
added.
4
1690023_02A55 02 03/2008
Execute the required SDO requests (either from the debug screen, or via the
program).
47
Configuration
SDO Request
from the Debug
Screen
Follow the steps below:
Step
1
Action
Click on the "Enter request" button at the bottom right of the debug screen:
TSX 57353 [RACK 0 POSITION 1]
Debugging
Designation: TSX P 57353 PROCESSOR Version: 5.0
DIAG…
CHANNEL 1:
CHANNEL 1
TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen
MAST
CANopen slave status
DIAG…
Slave data
Life T.
Inputs
Addr.
Device Name
Act.
0001
APP-1CCO2
1
400
Parameter
0006
FTM 1CN10
0
400
%MW1300
0
0007
FTM 1CN10
0
400
%MW1301
0
0008
FTM 1CN10
0
400
0010
OSICODER
1
400
0020
FTB 1CN12E04SP0
1
400
0030
FTB 1CN08E08SP0
1
400
0040
FTB 1CN16CP0
1
400
0096
FTM 1CN10
1
400
0097
FTM 1CN10
1
400
0098
FTM 1CN10
0
400
Symbol
Value
Base
Output value
OK
Bin
Dec
Hex
Outputs
Parameter
Symbol
Value
Slave information
Node 10: Status=08h, AddInfo=0001h, Profile=406, NodeStat
Total
No. of slaves
0011
48
No. Input %MW
83
No. Output %MW
113
Request to be sent
Received response
Enter
1690023_02A55 02 03/2008
Configuration
Step
2
Action
Complete the fields:
Request: "Write SDO" or "Read SDO"
Node: Address of the device on the CANopen network
Index: Index of the object to be read or written
Subindex: Sub-index of the object to be read or written
Value: Entry area for the data to be sent, for write only
Click on "Send".
For further details on the various objects, see CANopen Object Dictionary,
p. 53.
The example below shows setting the number of points per revolution to 4096:
Enter CANopen Request
Request:
Write SDO
Node:
10
Index:
16# 6001
Subindex:
16# 0
Value:
(120 bytes max.)
16# 00 10 00 00
Send
Cancel
The value "00 10 00 00" corresponds to the number 1000 in hexadecimal
format, and thus to 4096 in decimal format.
3
After a "Read SDO" request, the value obtained can be read in the "Received
response" area at the bottom right of the debug screen:
Slave information
Node 10: Status=08h, AddInfo=0001h, Profile=406, NodeStat
Total
No. of slaves
0011
1690023_02A55 02 03/2008
No. Input %MW
83
No. Output %MW
113
Request to be sent
Enter request
Received response
49
Configuration
Examples of SDO Requests
Programmed
SDO Request:
Example 1
This example gives the program for reading object 1000h. After a request is made,
the data obtained is read in table Diag0:4 (defined below).
Variables used and parameters of the function
Variable
Type
Description
Read_sdo
Boolean
Request launch bit.
Index
Word
Index of the object to poll (LSB of the double word
"Index_dw").
Sub-index
Word
Sub-index of the object to poll (LSB of the double
word "Index_dw").
Slave_add
Word
Address of the slave to poll.
Diag0:4
Word table
Data exchange area.
Status0:4
Word table
Exchange control and status words.
ADR#y.SYS
Immediate value
Master board address.
‘SDO’
Character string
Type of SDO object (SDO always in upper case).
Index_dw
Double word
Most significant word = sub-index.
Least significant word = index.
Node_Id
Word
Word or value identifying the destination device
on the CANopen bus.
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1000; (*index 1000h*)
Sub_index:=0; (*sub-index 0*)
IF Read_sdo THEN
(*initialize command*)
Read_sdo:=FALSE;
(*Parameter update*)
Node_Id:=Slave_add; (*Slave address*)
Diag0:4:=16#FFFF; (*Initialize diagnostics receive table*)
Status2:=0; (*Initialize exchange report*)
Status3:=6; (*Time-out*)
(*request*)
50
1690023_02A55 02 03/2008
Configuration
READ_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:4,Status1:4);
END_IF;
1690023_02A55 02 03/2008
51
Configuration
Programmed
SDO Request:
Example 2
This example shows the program for saving parameters with object 1010h. The data
to be sent is contained in table Diag0:4 (defined below).
Variables used and parameters of the function
Variable
Type
Description
Write_sdo
Boolean
Request launch bit.
Index
Word
Index of the object to poll.
Sub-index
Word
Sub-index of the object to poll.
Slave_add
Word
Address of the slave to poll.
Diag0:4
Word table
Data exchange area.
Status0:4
Word table
Exchange control and status words.
ADR#y.SYS
Immediate value
Master board address.
‘SDO’
Character string
Type of SDO object (SDO always in upper case).
Index_dw
Double word
Most significant word = sub-index, Least
significant word = index.
Node_Id
Word
Word or value identifying the destination device
on the CANopen bus.
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1010; (*index 1010h*)
Sub_index:=1; (*sub-index 1*)
Diag0:=16#6173; (*'as'*)
Diag0[1]:=16#6576; (*'ev'*)
IF write_sdo THEN
(*initialize command*)
write_sdo:=FALSE;
(*Parameter update*)
Node_Id:=Slave_add; (*Slave address*)
Status2:=0; (*Initialize exchange report*)
Status3:=6; (*Time-out*)
(*request*)
WRITE_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:4,Status1:4);
END_IF;
52
1690023_02A55 02 03/2008
CANopen Object Dictionary
5
Presentation
Introduction
This section describes each CANopen network interface module dictionary object.
What's in this
Chapter?
This chapter contains the following sections:
1690023_02A55 02 03/2008
Section
Topic
Page
5.1
Communication Objects 1000h to 1FFFh (DS 301)
54
5.2
Manufacturer Specific Objects 2000h to 5FFFh
75
5.3
Encoder Specific Objects 6000h to 9FFFh (DS 406)
76
53
CANopen Object Dictionary
5.1
Communication Objects 1000h to 1FFFh (DS 301)
Presentation
Introduction
This section lists the objects relating to communication. Each object, with all its
technical characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
Object
Description
Data type
Attribute
Default value
1000h
Device Type
Unsigned 32
RO
0x02196
1001h
Error Register
Unsigned 8
RO
56
1002h
Manufacturer Status Register
Unsigned 32
RO
57
1003h
Pre-defined Error Field
Unsigned 32
RO
1005h
COD-ID SYNC
Unsigned 32
ROMAP
1008h
Manufacturer Device Name
Visible string
Constant
Osicoder
60
1009h
Manufacturer hardware Version Visible string
Constant
HVC2.B1
60
100Ah
Manufacturer Software Version
Visible string
Constant
SV03.01.02.01
61
100Ch
Guard Time
Unsigned 16
RW
0
61
100Dh
Life Time Factor
Unsigned 8
RW
0
61
1010h
Store Parameters
Unsigned 32
RW
1011h
Restore Default Parameters
Unsigned 32
RW
1014h
COB-ID EMCY
Unsigned 32
RW
0x80 + Node ID
64
1015h
Inhibit Time EMCY
Unsigned 16
RW
0
64
1016h
Consumer heartbeat Time
Unsigned 32
RW
0
65
1017h
Producer heartbeat Time
Unsigned 16
RW
0
1018h
Identity Project
1200h
1st Server SDO Parameter
RO
68
1800h
1st Transmit PDO Parameter
RW
69
1801h
2nd Transmit PDO Parameter
RW
71
1A00h
1st transmit PDO Mapping
RW
73
1A01h
2nd Transmit PDO Mapping
RW
74
54
RO
Page
55
58
0x080
60
62
63
66
67
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1000h: Device Type
Description
This object indicates the device type and its functionalities. It consists of a 16-bit field
indicating the profile used (406 for DS406: encoder profile) and a second 16-bit field
giving information on the type of encoder.
Representation of the object:
31
16
15
Encoder type
Profile used
MSB
LSB
0
Encoder type:
Characteristics
Value
Description
0001h
Single-turn absolute rotary encoder
0002h
Multi-turn absolute rotary encoder
0003h
Single-turn absolute rotary encoder with electronic revolution counter
0004h
Incremental rotary encoder
0005h
Incremental rotary encoder with electronic counting
0006h
Incremental linear encoder
0007h
Incremental linear encoder with electronic counting
0008h
Absolute linear encoder
0009h
Absolute linear encoder with cyclic coding
000Ah
Multi-sensor encoder interface
000Bh ...FFFFh
Reserved
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping Backed up
0
-
UNSIGNED32
N/A
ro
no
1690023_02A55 02 03/2008
no
55
CANopen Object Dictionary
Object 1001h: Error Register
Description
This object can store internal faults. It is mandatory for all devices, and is used with
the EMCY object, which indicates errors.
The following fault can be displayed:
Bit
Meaning
0
Generic error
These bits represent the Boolean "OR" for the faults present on the node.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access PDO Mapping
Backed up
0
-
UNSIGNED8
-
ro
no
56
no
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1002h: Manufacturer Status Register
Description
Diagnostics data is saved in this double word. This object is used with the EMCY
message.
Representation of the object:
31
16
15
Additional information
Error code
MSB
LSB
0
Bit Assignment
Registers
Description
Bits 0 ... 15
Bits [0...8]: not used
Bit [9]: communication fault or external fault
Bits [10...15]: not used
Bits 16 ... 31
Bits [16... 31]: not used
Note:
Bit values:
0 : no fault
1 : fault
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
0
-
UNSIGNED32
-
ro
no
no
1690023_02A55 02 03/2008
57
CANopen Object Dictionary
Object 1003h: Pre-defined Error Field (PEF)
Description
This object is a double word used to store the device faults indicated by the EMCY
object. This object is used to keep an error log.
Sub-index 0 contains the number of errors recorded. A 0 value means that there
is no error recorded (for example, after reinitialization of the PEF object).
The least significant word contains the error code.
The most significant word stores the additional information specific to the error
indicated on the encoger.
Representation of the object:
31
Characteristics
16
15
0
Additional information
Error code
Most significant word
Least significant word
The characteristics of this object are outlined in the following table:
Sub-index
Description
0
Data type
Default value Access
PDO
Mapping
Backed up
Number of sub- UNSIGNED8
indexes =
Number of
errors recorded
0
rw
no
no
1
Most recent
error
UNSIGNED32
-
ro
no
no
2
Second to last
error
UNSIGNED32
-
ro
no
no
...
FE
Appearance of a
New Fault
58
When a new fault appears, the codes that are already present are moved up to the
next level sub-index: the fault in sub-index 1 is moved to sub-index 2, the fault in subindex 2 is moved to sub-index 3, etc.
1690023_02A55 02 03/2008
CANopen Object Dictionary
Reset
The fault code log can only be cleared by writing the value 0 in sub-index 0 of object
1003h.
Note: Eliminating the cause of a fault does not delete the error code from the PEF.
List of error
codes
1690023_02A55 02 03/2008
Error code
(Hex)
Diagnostics
Cause
0000
ERROR_RESET_OR_NO_ERROR
An error has been rectified
1000
GENERIC_ERROR
Internal communication error
6101
SOFTWARE_RX_QUEUE_OVERRUN Overrun of the receive memory
6102
SOFTWARE_TX_QUEUE_OVERRUN Overrun of the transmit memory
8100
COMMUNICATION
8120
CAN_IN_ERROR_PASSIVE_MODE
Interruption of the CAN controller
8130
LIFE_GUARD_ERROR
Node-Guarding Error
8140
BUS_OFF
Transmission counter buffer overrun
Transmission/reception counter
synchronization error (EMCY
transmit message if the counter
value is > 96)
59
CANopen Object Dictionary
Object 1005h: COB-ID SYNC Message
Description
This object contains the synchronization message identifier.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
-
UNSIGNED32
80H
ROMAP
no
yes
Object 1008h: Manufacturer Device Name
Description
This object contains the device name.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO
Mapping
Backed up
0
-
STRING
-
ro
no
no
Objet 1009h: Manufacturer Hardware Device (MHV)
Description
This object contains the hardware version of the device.
Characteristics
The characteristics of this object are outlined in the following table:
60
Sub-index
Description Data type
Default
value
Access PDO
Mappin
g
Backed up
0
-
-
ro
no
STRING
no
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 100Ah: Manufacturer Software Version (MSV)
Description
This object contains details of the device software version, in the form 'SWxx.yy'.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
0
-
STRING
-
ro
no
no
Object 100Ch: Guard Time
Description
Object 100Ch contains the ''Guard-Time'' parameter expressed in milliseconds. This
is the time between two pollings of the node by the master (presence of the node).
''Guard-Time' is zero if the protocol is not used.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
0
-
UNSIGNED16
0
rw
no
yes
Object 100Dh: Life Time Factor
Description
Object 100Dh contains the "Life-Time-Factor" parameter which, multiplied by the
value of the 100Ch ''Guard-Time'' object, is the time allowed by the master before
stopping the node when the node does not respond to the master.
"Life-Time-Factor" is zero if the protocol is not used.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
0
-
UNSIGNED8
0
rw
no
yes
1690023_02A55 02 03/2008
61
CANopen Object Dictionary
Object 1010h: Store Parameters
Description
This object supports the saving of the parameters to the non-volatile memory. To
save the parameters, the "save" character string (6576 6173h) must be written in the
sub-index, which prevents unintended saving.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value Access PDO Mapping Backed up
0
Number of sub-indexes
UNSIGNED8
1
ro
no
no
1
Store all parameters
UNSIGNED32
-
rw
no
no
Operation
To save the parameters, the "save" character string (6576 6173h) must be written
in the corresponding index:
Most significant word
Least significant word
ISO 8859 (ASCII) signature
e
v
a
s
Hex value
65h
76h
61h
73h
Information on storage functionality is read from a sub-index. The result obtained,
0000 0001h, indicates that the module saves parameters only when it receives the
command to do so.
62
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1011h: Restore Default Parameters
Description
This object restores the device’s default parameters. To restore the parameters, the
"load" character string (6461 6F6Ch) must be written in the relevant sub-index,
which prevents unintended restoring.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access PDO Mapping Backed up
0
Number of sub-indexes
UNSIGNED8
1
ro
no
no
1
Restore all default
parameters.
UNSIGNED32
-
rw
no
no
Note: The restoration of parameters will only be taken into account after a power
up.
Operation
To restore the parameters, the "load" (6461 6F6Ch) character string must be written
in the corresponding index:
Most significant word Least significant word
ISO 8859 (ASCII) signature
d
a
o
l
Hex value
64h
61h
6Fh
6Ch
Information on whether it is possible to restore the module's factory parameters is
read from a sub-index. The result obtained, 00000001h, indicates that the factory
parameters can only be restored when the module receives the command to do so.
1690023_02A55 02 03/2008
63
CANopen Object Dictionary
Object 1014h: COB-ID Emergency (EMCY) message
Description
This object contains the EMCY emergency message identifier.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
0
-
UNSIGNED32
80h + NODE-ID
rw
no
yes
Object 1015h: Inhibit Time EMCY
Description
This object contains the EMCY emergency message inhibit time. This time must be
a multiple of 100 μs.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value Access
PDO Mapping
Backed up
0
-
UNSIGNED16
0
no
yes
64
rw
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1016h: Consumer Heartbeat Time
Description
This object is used to configure the period required by the consumer (the encoder)
for receiving the Heartbeat message from the bus master.
The value of this object must be greater than the value of object 1017h.
The time must be a multiple of 1 ms.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
0
1
Default
value
Access
PDO
Mapping
Backed up
Number of sub- UNSIGNED8
indexes
1
ro
no
yes
Consumer
heartbeat time
0
rw
no
yes
Content of the
Variable
Data type
UNSIGNED32
The content of sub-index 1 is as follows:
Bit
31 to 24
23 to 16
Value
0h (Reserved) Encoder address
15 to 0
Monitoring time in ms
If the value of the object is 0, no encoder is monitored.
1690023_02A55 02 03/2008
65
CANopen Object Dictionary
Object 1017h: Producer Heartbeat Time
Description
This object is used to configure the cycle time of the Hearbeat transmission
message.
The time must be a multiple of 1 ms.
If the value of the object is 0, the object is not used.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO
Mapping
Backed up
0
-
UNSIGNED16
0
rw
no
yes
If the Heartbeat error monitoring protocol is selected, the producer transmits a
Heartbeat message periodically, depending on the "Producer Heartbeat Time"
parameter. The nodes responsible for monitoring this message (Heartbeat
Consumer) generate a Heartbeat event if the message is not received within the
configured time (Consumer Heartbeat Time).
66
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1018h: Identity Object
Description
This object contains general information about the device.
The Vendor ID is the manufacturer’s identifier (sub-index 1h).
The Product code gives the specific version of the encoder (sous-index 2h).
The Revision number, which is specific to the manufacturer, consists of a major
revision number and a minor revision number (sub-index 3h).
The major revision number indicates the changes to CANopen functionalities. The
minor revision number indicates the changes to functionalities specific to the device:
31
16
15
0
Major revision number
Minor revision number
MSB
LSB
The Serial number identifies the device (sub-index 4h).
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO
Mapping
Backed up
0
Number of
inputs
UNSIGNED8
4h
ro
no
no
1
Vendor ID
UNSIGNED32
0700005Ah
ro
no
no
2
Product code
UNSIGNED32
1602Dh
ro
no
no
3
Revision
number
UNSIGNED32
10000h
ro
no
no
4
Serial number
UNSIGNED32
FFFFFFFFh
ro
no
no
1690023_02A55 02 03/2008
67
CANopen Object Dictionary
Object 1200h: Server SDO Parameter
Description
This object contains the message identifiers for SDO communication.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
0
Number of
sub-indexes
UNSIGNED8
2h
ro
no
no
1
Client to
Server
UNSIGNED32
600h + Node ID
ro
no
no
2
Server to
Client
UNSIGNED32
580h + Node ID
ro
no
no
68
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1800h: 1st Transmit PDO Communication Parameter
Description
This object contains the communication parameters for the Transmit PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index Description
Data type
Default value
0
Number of sub-indexes UNSIGNED8
1
COB-ID
5
UNSIGNED32 180h + Node ID
Backed up
ro
no
possible
rw
no
possible
2
Transmission mode
UNSIGNED8
rw
no
possible
3
Inhibit time
UNSIGNED32 0
rw
no
possible
4
Not available
5
Event timer
UNSIGNED32 0
rw
no
possible
Transmission
Mode
Transfer
code
The PDO transmission mode can be configured as described in the table below.
Transmission mode
Cyclic
0
1 to 240
FEh
Access PDO Mapping
Acyclic Synchronous Asynchronous RTR only
x
x
Notes
x
Send PDO on first Sync message
following an event
x
Send PDO every n (n = 0...240)
Sync messages
241 to 251 Reserved
252
x
x
Update data immediately after the
Remote Request and send PDO at
the next SYNC
x
Update data and send PDO on
Remote Request
253
x
254
x
Send PDO on specific
manufacturer event
255
x
Send PDO on specific encoder
event
1690023_02A55 02 03/2008
69
CANopen Object Dictionary
COB-ID
Structure
The structure of a COB-ID for CAN2.0 is shown in the following table:
Bit No.
Value
31 (MSB)
0
The PDO object exists
1
The PDO object does not exist
0
RTR mechanism authorized
1
RTR mechanism unauthorized
29
0
11-Bit ID (CAN 2.0A)
28 - 11
0
if bit 29 = 0
10 - 0 (LSB)
X
Bit 10 - 0 of the identifier
30
Inhibit Time
(Sub-index 3)
Meaning
For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this
16 bit field. If data is changed, the PDO sender checks whether an "inhibit time" has
expired since the last transmission. A new PDO transmission can only take place if
the "inhibit time" has expired. The "inhibit time" is useful for asynchronous
transmission (transmission mode 254, 255), to avoid overloads on the CAN bus. The
"inhibit time" is a multiple of 100 μs of object 1800 sub-index 03/1801 sub-index 03.
The following table shows some examples of values.
Event Timer
(Sub-index 5)
70
Value
Time in ms
0000h
0
64h
10
3E8h
100
1388h
500
2710h
1000
FFFFh
6553
The "event timer" only operates in asynchronous transmission mode (transmission
mode 254, 255). If the data changes before the "event timer" expires, a temporary
telegram is sent. If a value > 0 is written in this 16-bit field, the TPDO is always sent
after the "event timer" expires. The value written in 1800 sub-index 05/1801 subindex 05 corresponds to the "event timer" in ms. The data transfer also takes place
with no change to data.
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1801h: 2nd Transmit PDO Communication Parameter
Description
This object contains the communication parameters for the second Transmit PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping Backed up
0
Number of
sub-indexes
UNSIGNED8
5
ro
no
1
COB-ID
UNSIGNED32
280h + Node ID
rw
no
yes
2
Transmission
mode
UNSIGNED8
1h
rw
no
yes
3
Inhibit time
UNSIGNED16
0
rw
no
yes
4
Not available
5
Event timer
UNSIGNED16
0
rw
no
yes
Transmission
Mode
Transfer
code
0
1 to 240
The PDO transmission mode can be configured as described in the table below.
Transmission mode
Cyclic
Notes
Acyclic
Synchronous Asynchronous
x
x
Send PDO on first Sync message
following an event
x
Send PDO every n (n = 0...240)
Sync messages
x
RTR only
241 to 251 Reserved
252
yes
x
253
x
Update data immediately after the
Remote Request and send the
PDO at the next SYNC
x
Update data and send PDO on
Remote Request
254
x
Send PDO on specific
manufacturer event
255
x
Send PDO on specific encoder
event
1690023_02A55 02 03/2008
71
CANopen Object Dictionary
Inhibit Time
(Sub-index 3)
For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this
16 bit field. If data is changed, the PDO sender checks whether an "inhibit time" has
expired since the last transmission. A new PDO transmission can only take place if
the "inhibit time" has expired. The "inhibit time" is useful for asynchronous
transmission (transmission mode 254, 255), to avoid overloads on the CAN bus. The
"inhibit time" is a multiple of 100 μs of object 1800 sub-index 03/1801 sub-index 03.
The following table shows some examples of values.
Event Timer
(Sub-index 5)
72
Value
Time in ms
0000h
0
64h
10
3E8h
100
1388h
500
2710h
1000
FFFFh
6553
The "event timer" only operates in asynchronous transmission mode (transmission
mode 254, 255). If the data changes before the "event timer" expires, a temporary
telegram is sent. If a value > 0 is written in this 16-bit field, the TPDO is always sent
after the "event timer" expires. The value written in 1800 sub-index 05/1801 subindex 05 corresponds to the "event timer" in ms. The data transfer also takes place
with no change to data.
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 1A00h: 1st Transmit PDO Mapping Parameter
Description
This object is used to describe the objects that will be transported by the PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
0
Number of sub-indexes UNSIGNED8
1
rw
no
yes
1
1st object in PDO
60040020h-
rw
no
yes
Data Field
Structure
Data type
UNSIGNED32
Default value Access
PDO Mapping
Backed up
Each data object to be transported is represented in the following way:
Bits
31 to 16
15 to 8
Data
Index number of the
object to be transported
Sub-index number of the Length of the object to
object to be transported be transported
7 to 0
Example
6004h
00h
20h
Note: The maximum total length of data transported by the PDO is 8 bytes.
1690023_02A55 02 03/2008
73
CANopen Object Dictionary
Object 1A01h: 2nd Transmit PDO Mapping Parameter
Description
This object is used to describe the objects that will be transported by the PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
0
Number of sub-indexes UNSIGNED8
1
rw
no
yes
1
1st object in PDO
60040020h
rw
no
yes
Data Field
Structure
Data type
UNSIGNED32
Default value
Access
PDO Mapping
Backed up
Each data object to be transported is represented in the following way:
Bits
31 to 16
15 to 8
Data
Index number of the
object to be transported
Sub-index number of the Length of the object to
object to be transported be transported
7 to 0
Example
6004h
00h
20h
Note: The maximum total length of data transported by the PDO is 8 bytes.
74
1690023_02A55 02 03/2008
CANopen Object Dictionary
5.2
Manufacturer Specific Objects 2000h to 5FFFh
Object 5FFFh: SED Data Object
Description
This object contains the manufacturer’s name and the conformity class for
Transparent Ready.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Default value
Access
PDO Mapping Backed up
0
Number of inputs
2
ro
No
1
Manufacturer
Telemecanique
Constant
No
2
Conformity class
S10
Constant
No
1690023_02A55 02 03/2008
Data type
75
CANopen Object Dictionary
5.3
Encoder Specific Objects 6000h to 9FFFh (DS 406)
Presentation
Introduction
This section lists the encoder specific objects. Each object, with all its technical
characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
76
Object
Description
Data type
6000h
Operating Parameters
Unsigned 16 RW
Attribute
77
Page
6001h
Measuring Units per revolution
Unsigned 32 RW
79
6002h
Total measuring range in measuring units
Unsigned 32 RW
81
6003h
Preset Value
Unsigned 32 RW
83
6004h
Position Value
Unsigned 32 ROMAP
85
6200h
Cyclic Timer
Unsigned 16 RO
86
6500h
Operating Status
Unsigned 16 RO
89
6501h
Singleturn Resolution
Unsigned 32 RO
90
6502h
Number of distinguishable Revolutions
Unsigned 16 RO
90
6503h
Alarms
Unsigned 16 RO
91
6504h
Supported Alarms
Unsigned 16 RO
92
6505h
Warnings
Unsigned 16 RO
93
6506h
Supported Warnings
Unsigned 16 RO
94
6507h
Profile and Software Version
Unsigned 32 RO
95
6508h
Operating Time
Unsigned 32 RO
95
6509h
Offset Value
Unsigned 32 RO
95
650Ah
Module identification
Unsigned 32 RO
96
650Bh
Serial Number
Unsigned 32 RO
96
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6000h: Operating Parameters
Presentation
The code sequence (Complement) can be selected as the operating parameter.
CMS
Index
Default value
Value range
Data length
SDO
6000h
4h
0h - 5h
Unsigned 16
Bit
Function
Bit = 0
Bit = 1
Service
0
Angular measurement direction
Clockwise
Counter-clockwise
Available
1
Diagnostic control
Inhibited
Enabled
Not available
2*
Scaling function
Inhibited
Enabled
Available
3
Linear measurement direction
Front
Rear
N/A
4...11
Reserved
12
Manufacturer-specific function
-
-
N/A
13
Manufacturer-specific function
-
-
N/A
14
Manufacturer-specific function
-
-
N/A
15
Manufacturer-specific function
-
-
N/A
N/A
* If bit 2 = 0, objects 6001h and 6002h are not operational.
General
description of
the parameters
FC
NN
SDO (rx)
1100 b
1-90 d
Master to absolute rotary encoder: (parameter implemented)
Command
Index
Load
6000h
22
60
Sub-index Service data/Process data
00
00
Byte 4
Byte 5
X
00
X Required direction
The code sequence (Complement) determines the counting direction in which the
output process value increases or decreases. The code sequence is determined by
Bit 0 in index 6000h:
1690023_02A55 02 03/2008
Bit 0
Code sequence
Code
0
Clockwise
Increasing CW
1
Counter-clockwise
Decreasing CCW
77
CANopen Object Dictionary
When transmission has been successful, the encoder responds with a confirmation
message :
FC
NN
Command
Index
Load
6000h
1-90 d
60
60
SDO (tx)
1011 b
Example
Sub-index Service data/Process data
00
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
Aim: Absolute rotary encoder in CCW direction, decreasing.
Bit matrix:
Bit 0 = 1 (Decreasing (CCW))
Result bit matrix X = 01h
Node number NN = 01
Master to absolute rotary encoder: (parameter implemented)
COB-ID
601
Command
Index
Load
6000h
22
60
Sub-index
00
00
Service data/Process data
Byte 4
Byte 5
01
00
Absolute rotary encoder to master: (Confirmation)
COB-ID
581
78
Command
Index
Load
6000h
60
60
Sub-index
00
00
Service data/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6001h: Measuring Units per Revolution
Presentation
General
Description of
the Parameters
FC
CMS
Index
Default value
Value range
Data length
SDO
6001h
-
0h - 2000h
Unsigned 32
Master to absolute rotary encoder: (parameter implemented)
NN
Command
Load
6001
1-90 d
22
60
SDO (rx)
1100 b
The Measuring Units per Revolution parameter is used to program the required
number of steps per revolution. Choose a value between 1 and 8192:
Index
Sub-index Service data/Process data
01
00
Byte 4
Byte 5
Byte 6
Byte 7
X
X
00
00
X: Required measuring units per revolution (< 13 bits)
If the required value exceeds that of the encoder resolution, the code will not be
transmitted step-by-step. It is therefore important that the parameter is within the
range of possible values.
When transmission has been successful, the encoder responds with a confirmation
message:
FC
NN
SDO (tx)
1011 b
1-90 d
1690023_02A55 02 03/2008
Command
Index
Load
6001h
60
60
Sub-index Service data/Process data
01
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
79
CANopen Object Dictionary
Programming
Example
Programming example: Measuring units per revolution
Aim: Absolute rotary encoder with 4096 steps per revolution.
Steps per revolution: 4096 steps = 1000 h
Node number NN = 01
Master to absolute rotary encoder: (parameter implemented)
COB-ID
601
Command
Index
Load
6001h
22
60
Sub-index
01
00
Service data/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
10X
00
00
Absolute rotary encoder to master: (Confirmation)
COB-ID
601
80
Command
Index
Load
6001h
60
60
Sub-index
01
00
Service data/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6002h: Total Measuring Range in Measuring Units
Presentation
This parameter is used to program the required number of measuring units from the
global measuring range. This value must not exceed that of the total resolution of
the absolute rotary encoder, printed on the encoder nameplate:
CMS
Index
Default value
Value range
Data length
SDO
6002h
2.000.000h
0h - 2.000.000h
Unsigned 32
Caution:
The following combinations of letters will be used
PGA: Total physical resolution of the encoder
PAU: Physical resolution per revolution
GA: Total resolution (client parameter)
AU: Measuring units per revolution (client parameter)
If the required measuring units per revolution is lower than the actual physical
resolution per revolution of the encoder, then the total resolution must be written as
follows:
Total resolution: GA = (PGA*AU)/PAU, with AU ≤ PAU
If the total resolution of the encoder is lower than the total physical resolution, the
resolution in the parameters must be a multiple of the total physical resolution:
k = PGA/GA, with k being a whole number
1690023_02A55 02 03/2008
81
CANopen Object Dictionary
General
Description of
the Parameters
FC
Master to absolute rotary encoder: (parameter implemented)
NN
SDO (rx)
1100 b
1-90 d
Command
Index
Load
6002h
22
60
Sub-index Service data/Process data
02
00
Byte 4
Byte 5
Byte 6
Byte 7
X
X
X
X
X: Required measuring units per revolution (> 15 bits)
When transmission has been successful, the encoder responds with a confirmation
message:
FC
NN
Command
Index
Load
6002h
1-90 d
60
60
SDO (tx)
1011 b
Programming
Example
Sub-index Service data/Process data
02
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
Aim: Absolute rotary encoder with a total resolution of 24 bits.
A total resolution of 24 bits is the equivalent of 1000000 h
Node number NN = 1
Master to absolute rotary encoder: (parameter implemented)
COB-ID
601
Command
Index
Load
6002h
22
60
Sub-index Service data/Process data
02
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
01
Absolute rotary encoder to master: (Confirmation)
COB-ID
601
82
Command
Index
Load
6002h
60
60
Sub-index Service data/Process data
02
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6003h: Preset Value
Presentation
The preset value is the required position value to be reached at a certain physical
location of the axis. The position value is fixed as being the process value required
by the presetting of the parameters.
To avoid execution time errors, the preset value must not exceed the total resolution
of the parameters.
General
description of
the parameters
FC
Index
Default value
Value range
Data length
SDO
6003h
0h
0h - total resolution
Unsigned 32
Master to absolute rotary encoder: (parameter implemented)
NN
Command
Load
6003h
1-90 d
22
60
SDO (rx)
1100 b
CMS
Index
Sub-index Service data/Process data
03
00
Byte 4
Byte 5
Byte 6
Byte 7
X
X
X
X
X: Required preset value
When transmission has been successful, the encoder responds with a confirmation
message like the following:
FC
NN
SDO (tx)
1011 b
1-90 d
1690023_02A55 02 03/2008
Command
Index
Load
6003h
60
60
Sub-index Service data/Process data
03
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
83
CANopen Object Dictionary
Programming
example
Aim: Absolute rotary encoder with a preset value at 0
The preset value at 0 is equivalent to X = 0h
Node number NN = 1
Master to absolute rotary encoder: (parameter implemented)
COB-ID
601
Command
Index
Load
6003h
22
60
Sub-index Service data/Process data
03
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
Absolute rotary encoder to master: (Confirmation)
COB-ID
601
84
Command
Index
Load
6003
60
60
Sub-index
03
00
Service data/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6004h: Position Value
Description
This object is used to define the position of the encoder.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
0
1690023_02A55 02 03/2008
Data type
Unsigned 32
Default value
Access
PDO Mapping Backed up
ROMAP
Optional
No
85
CANopen Object Dictionary
Object 6200h: Cyclic Timer
Cyclic mode
The absolute rotary encoder transmits the current process value cyclically - without
being polled by the host. The cycle time can be programmed in milliseconds for
values between 1 ms and 65535 ms. (For example: 64h = 100 ms).
CMS
Index
Default value
Value range
Data length
SDO
6200h
0h
0h - 10000h
Unsigned 16
General description of the parameters:
Master to absolute rotary encoder: (parameter implemented)
FC
NN
SDO (rx)
1100 b
1-90 d
Command
Index
Load
6200h
22
62
Sub-index
00
00
Service data/Process data
Byte 4
Byte 5
Byte 6
Byte 7
X
X
00
00
X: Required cycle time
Absolute rotary encoder to master: (Confirmation)
FC
NN
SDO (tx)
1011 b
1-90 d
Disabling cyclic
mode
Command
Index
Load
6200h
60
62
Sub-index Service data/Process data
00
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
To disable absolute rotary encoder cyclic mode, send the following message
(disabling of cyclic mode):
Master to absolute rotary encoder: (parameter implemented)
COB-ID
601
Command
Index
Load
6200
22
62
Sub-index
00
00
Service data/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
Absolute rotary encoder to master: (Confirmation)
COB-ID
601
86
Command
Index
Load
6200
60
62
Sub-index
00
00
Service data/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
1690023_02A55 02 03/2008
CANopen Object Dictionary
SYNC mode
When it has received the SYNC telegram sent by the host, the absolute rotary
encoder sends the current position value. If several nodes are programmed in SYNC
mode, they respond according to their COB-ID. Programming an offset time is not
applicable.
It is also possible to program a number of ignored SYNC messages:
CMS
Index
Sub-Index
Default value
Value range
Data length
SDO
1801
2h
1h
1h - 100h
Unsigned 8
General description of the parameters:
Master to absolute rotary encoder: (parameter implemented)
FC
NN
SDO (rx)
1100 b
1-90 d
Command
Index
Sub-index
Service data/Process data
Load
1801h
2h
Byte 4
Byte 5
Byte 6
Byte 7
22
18
02
X
00
00
00
01
X: Number of SYNC messages after which the encoder sends the process value.
Absolute rotary encoder to master: (Confirmation)
FC
NN
SDO (tx)
1011 b
1-90 d
Command
Index
Sub-index Service data/Process data
Load
1801h
2h
Byte 4
Byte 5
Byte 6
Byte 7
60
18
02
00
00
00
00
01
As with cyclic mode, SYNC mode can also be disabled, using the same procedure.
To disable it, PDO 2 must be addressed with index 1802h.
Example: Number of SYNC messages
Aim: Absolute rotary encoder with 3 SYNC messages
Number of SYNC messages: X = 03h
Node number: NN = 01 d
1690023_02A55 02 03/2008
87
CANopen Object Dictionary
Master to absolute rotary encoder: (parameter implemented)
COB-ID
601
Command
Index
Load
1801h
22
18
01
Sub-index
Service data/Process data
2h
Byte 4
Byte 5
Byte 6
Byte 7
02
03
00
00
00
Absolute rotary encoder to master: (Confirmation)
COB-ID
601
Pulled mode
Command
Index
Load
1801h
60
18
01
Sub-index
Service data/Process data
2h
Byte 4
Byte 5
Byte 6
Byte 7
02
00
00
00
00
The connected host requests the current process value using a remote transmission
request message. The absolute rotary encoder reads the current position value,
optionally calculates the adjustment parameters and, using the same COB-ID,
sends the process value that is obtained. The PDO (rx) with function code 001 is
used by the encoder to transmit the position value.
This type of transmission mode must only be used in operational mode.
88
CMS
Bit remote transmission request (RTR)
Data length
PDO
1
0
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6500h: Operating Status
Description
This object contains the operating status of the encoder. It provides information on
the encoder internal parameters.
Values
The values of this object are outlined in the following table:
Bit
Function
Value = 0
Value = 1
C1
C2
0
Code sequence
CW
CCW
Mandatory
Mandatory
1
Commissioning Diagnostic Control
Not supported
Supported
Optional
Optional
2
Scaling function control
Disabled
Enabled
Optional
Mandatory
3
Measuring direction
CW
CCW
Optional
Optional
4...11
Reserved
12
Manufacturer-specific function
Disabled
Enabled
Optional
Optional
13
Manufacturer-specific function
Disabled
Enabled
Optional
Optional
14
Manufacturer-specific function
Disabled
Enabled
Optional
Optional
15
Manufacturer-specific function
Disabled
Enabled
Optional
Optional
Characteristics
Sub-index
The characteristics of this object are outlined in the following table:
Description
0
1690023_02A55 02 03/2008
Data type
Unsigned 16
Default value
Access PDO Mapping Backed up
ro
No
No
89
CANopen Object Dictionary
Object 6501h: Singleturn Resolution (Rotary)
Description
This object indicates the number of steps per revolution according to the position of
the encoder. The maximum encoder resolution is 213.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
0
Data type
Default value
Unsigned 32
Access PDO Mapping Backed up
ro
No
No
Object 6502h: Number of Distinguishable Revolutions
Description
This object indicates the number of revolutions that the encoder can execute. The
maximum number of encoder revolutions is 212
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index Description
Data type
0
Unsigned 16
90
Default value
Access PDO Mapping Backed up
ro
No
No
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6503h: Alarms
Description
This object contains the various alarm messages. An alarm will be displayed if an
encoder malfunction causes a position error. The alarm bit remains enabled until the
alarm is cleared and the encoder is able to provide a correct position value.
Values
The values of this object are outlined in the following table:
Bit
Function
Value = 0
Value = 1
C1
C2
0
Position error
No
Yes
Optional
Optional
1
Commissioning diagnostics
Not supported
Supported
2...11
Reserved
12
Manufacturer-specific alarm
Disabled
Enabled
Optional
Optional
13
Manufacturer-specific alarm
Disabled
Enabled
Optional
Optional
14
Manufacturer-specific alarm
Disabled
Enabled
Optional
Optional
15
Manufacturer-specific alarm
Disabled
Enabled
Optional
Optional
Characteristics
Subindex
The characteristics of this object are outlined in the following table:
Description
0
1690023_02A55 02 03/2008
Data type
Unsigned 16
Default value
Access PDO Mapping Backed up
ro
No
No
91
CANopen Object Dictionary
Object 6504h: Supported Alarms
Description
This object indicates the alarms supported by the encoder.
Values
The values of this object are outlined in the following table:
Characteristics
Subindex
0
92
Bit
Function
Value = 0
Value = 1
0
Position error
No
Yes
1
Commissioning diagnostics
No
Yes
2...11
Reserved
12
Manufacturer-specific alarm
No
Yes
13
Manufacturer-specific alarm
No
Yes
14
Manufacturer-specific alarm
No
Yes
15
Manufacturer-specific alarm
No
Yes
The characteristics of this object are outlined in the following table:
Description
Data type
Unsigned 16
Default value
Access PDO Mapping Backed up
ro
No
No
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6505h: Warnings
Description
This object indicates if the tolerances of certain encoder internal parameters have
been exceeded
Values
The values of this object are outlined in the following table:
Bit
Function
Value = 0
Value = 1
C1
C2
0
Position error
No
Yes
Optional
Optional
1
Light control reserve
Not reached
Error
Optional
Optional
2
CPU watchdog status
OK
Reset
Optional
Optional
3
Operating time limit warning
No
Yes
Optional
Optional
4
Battery charge
OK
Too slow
Optional
Optional
5
Reference point
Reached
Not reached
Optional
Optional
6...11
Reserved
12
Manufacturer-specific warning
N/A
N/A
Optional
Optional
13
Manufacturer-specific warning
N/A
N/A
Optional
Optional
14
Manufacturer-specific warning
N/A
N/A
Optional
Optional
15
Manufacturer-specific warning
N/A
N/A
Optional
Optional
Characteristics
Subindex
The characteristics of this object are outlined in the following table:
Description
0
1690023_02A55 02 03/2008
Data type
Unsigned 16
Default value
Access PDO Mapping Backed up
ro
No
No
93
CANopen Object Dictionary
Object 6506h: Supported Warnings
Description
This object indicates the warnings supported by the encoder.
Values
The values of this object are outlined in the following table:
Characteristics
Subindex
0
94
Bit
Function
Value = 0
Value = 1
0
Frequency exceeded
Not supported
Supported
1
Light control reserve
Not supported
Supported
2
CPU watchdog status
Not supported
Supported
3
Operating time limit warning
Not supported
Supported
4
Battery charge
Not supported
Supported
5
Reference point
Not supported
Supported
6...11
Reserved
12
Manufacturer-specific warning
Not supported
Supported
13
Manufacturer-specific warning
Not supported
Supported
14
Manufacturer-specific warning
Not supported
Supported
15
Manufacturer-specific warning
Not supported
Supported
The characteristics of this object are outlined in the following table:
Description
Data type
Unsigned 16
Default value
Access PDO Mapping Backed up
ro
No
No
1690023_02A55 02 03/2008
CANopen Object Dictionary
Object 6507h: Profile and Software Version
Description
This object indicates the encoder hardware profile version and software version.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
0
Data type
Default value
Unsigned 32
Access PDO Mapping Backed up
ro
No
No
Object 6508h: Operating Time
Description
This object indicates the encoder operating time. The operating time is recorded in
the EEPROM memory as long as the encoder is powered up.
This function is not available for this encoder. The value given is FFFFFFFFh.
Characteristics
Subindex
The characteristics of this object are outlined in the following table:
Description
0
Data type
Default value
Access PDO Mapping Backed up
Unsigned 32
FFFFFFFh
ro
No
Yes
Object 6509h: Offset Value
Description
This object indicates the offset value. The offset value is calculated by the Preset
value function (see Object 6003h: Preset Value, p. 83). It is then used by the
encoder to offset the position value.
The offset value is recorded and can be read in the encoder.
Characteristics
Subindex
The characteristics of this object are outlined in the following table:
Description
0
1690023_02A55 02 03/2008
Data type
Unsigned 32
Default value
Access PDO Mapping Backed up
ro
No
No
95
CANopen Object Dictionary
Object 650Ah: Module identification
Description
This object indicates the manufacturer-specific offset value, as well as the minimum
and maximum position values.
The offset value is stored in sub-index 1.
The minimum and maximum position values are stored in sub-indices 2 and 3
respectively.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
0
Number of inputs
Unsigned 32
1
Manufacturer offset value Unsigned 32
2
Manufacturer minimum
position value
Unsigned 32
3
Manufacturer maximum
position value
Unsigned 32
Default value
0h
Access PDO Mapping Backed up
ro
No
No
ro
No
No
ro
No
No
ro
No
No
Object 650Bh: Serial Number
Description
This object indicates the encoder serial number.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
0
96
Description
Data type
Default value
Access PDO Mapping Backed up
Unsigned 32
0
ro
No
No
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Diagnostics
6
Presentation
Overview
This section describes the various diagnostic messages that can be generated by
the encoder.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Status Indication Provided by the LEDs in the Connection Base
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Page
98
97
Diagnostics
Status Indication Provided by the LEDs in the Connection Base
Principle
Two LEDs are located on the base. They indicate the status of the encoder in the
CANopen network.
The red CAN ERR LED indicates errors. The green CAN RUN LED indicates the
encoder status.
Description
LEDs on the connection base:
1
98
No.
Description
1
RED LED
2
GREEN LED
2
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Diagnostics
LED status table for diagnostics conforming to DR 303-3 V1.2:
No. LED
Type of
flashing
Status/Possible cause
1
Off
No error
1 flash
The internal error counter has reached or exceeded the
maximum level.
3
2 flashes
Detection of a guard event or a heartbeat event.
4
3 flashes
Synchronization error: message not received within the
defined period.
5
Flashing
Error in the bus address or speed.
On
Bus off.
1 flash
Module in Stopped mode.
Flashing
Module in pre-operational mode.
On
Module in operational mode.
2
CAN ERR
(red)
6
7
8
9
CAN RUN
(green)
When both LEDs are off, the encoder is not supplied with power.
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Diagnostics
100
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Appendices
At a Glance
Introduction
This appendix provides additional informations.
What’s in this
Appendix?
The appendix contains the following chapters:
Chapter
A
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Chapter Name
FAQ
Page
103
101
Appendices
102
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FAQ
A
FAQ
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Problem
Possible cause
The encoder does
not respond after
power-up.
The bus is active but the
installed encoder is not
responding to the bootup
message from the master.
Possible solution
There is a position
value error during
transmission.
Malfunctions may occur
during transmission of the
position value. The CAN bus
may also be temporarily in
off mode. The messages
transmitted are therefore
incorrect.
Too many ERROR
frames
The bus is overloaded by too Check that all the nodes are configured
many ERROR frames.
at the same speed. If one of the nodes is
at a different speed, correct this speed
(see Transmission Speed, p. 19). If a
node is incorrectly configured, it
automatically generates error frames.
Turn off the PLC
Turn off the encoder power supply.
Remove the encoder base.
Check the baud rate using the two
rotary switches.
Refit the base.
Turn the encoder power supply back
on.
Turn the PLC back on.
Check that each end of the bus is fitted
with a line terminator (see Line
Terminator, p. 20). If the last node of the
bus is an encoder, the line terminator is
placed in the base and activated by a
switch.
103
FAQ
104
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Glossary
A
Address
Number, assigned to each node, irrespective of whether it is a master or slave. The
encoder address (non-volatile) is configured in the base with rotary switches.
APV
Absolute Position Value.
B
Baud rate
Transmission speed formulated in number of bits per second.
Bus node
Device that can send and/or receive or amplify data by means of the bus.
Byte
8-bit unit of data = 1 byte.
C
CAL
CAN application layer.
CAN
Controller Area Network or CAN multiplexing network.
CANopen
Application layer of an industrial network based on the CAN bus.
CCW
Counter-clockwise
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105
Glossary
CiA
CAN In Automation, organization of manufacturers and users of devices that
operate on the CAN bus.
COB
Elementary communication object on the CAN network. All data is transferred using
a COB.
COB-ID
COB-Identifier. Identifies an object in a network. The ID determines the transmission
priority of this object. The COB-ID consists of a function code and a node number.
CW
Clockwise
E
EDS file
Standardized file containing the description of the parameters and the
communication methods of the associated device.
F
FAQ
Frequently Asked Questions
FC
Function code. Determines the type of message sent via the CAN network.
L
Line terminator
Resistor terminating the main segments of the bus.
LMT
Network management object.
This is used to configure the parameters of each layer in the CAN.
106
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Glossary
M
Master
"Active" device within the network, that can send data without having received a
request. It controls data exchange and communication management.
N
NMT
Network management object.
This is responsible for managing the execution, configuration and errors in a CAN
network.
NN
Node number
P
PCV
Process Value
PDO
Communication object, with a high priority for sending process data.
PV
Preset Value: Configuration value
R
RO
Read Only: Parameter that is only accessible in read mode.
ROMAP
Read Only MAPable: Parameter that can be polled by the PDO.
RW
Read/Write: Parameter that can be accessed in read or write mode.
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107
Glossary
S
SDO
Communication object, with a low priority for messaging (configuration, error
handling, diagnostics).
Slave
Bus node that sends data at the request of the master. Absolute rotary encoders are
always slaves.
SyCon
Dedicated software tool with a uniform interface under Windows for configuring
industrial networks and setting device parameters. This tool uses the description
files (GSD, EDS, etc).
W
WO
108
Write Only: Parameter that is only accessible in write mode.
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B
AC
Index
A
I
Accessoires, 23
Assembly instructions, 23
Index/Sub-Index, 34
C
CANopen Data Transmission, 32
COB-ID, 32
Command Byte, 33
Connecting the base to the bus, 22
Connecting the Power Supply to the
Connection Base, 22
Connection Base, 18
Cyclic mode, 86
D
Description, 18
Disabling cyclic mode, 86
E
EDS File, 31
Electrical characteristics, 27
Encoder Configuration, 31
Environmental characteristics, 28
L
Life Time Factor, 61
Line Terminator, 20
List of accessories, 23
M
Measuring Units per Revolution, 79
Mechanical characteristics, 27
Mode
Pre-operational, 35
Start, 35
STOP, 36
N
Node Address, 19
O
Operating parameters, 77
Operational Mode, 35
G
P
Guard time, 61
Preset Value, 83
Pulled mode, 88
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109
Index
R
Reinitialization of the Absolute Rotary
Encoder, 35
S
SYNC mode, 87
T
Total Measuring Range in Measuring Units,
81
Transmission Mode, 86
Transmission of the Current Position, 36
Transmission Speed, 19
W
Wiring the Bus and the Power Supply, 21
Wiring the Encoder, 22
110
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