Device manual Absolute magnetic encoder with CANopen interface

Device manual Absolute magnetic encoder with CANopen interface
Device manual
Absolute magnetic encoder
with CANopen interface
704820/0204/2017
RM8xxx
RM9xxx
UK
CANopen encoder
Contents
1 Preliminary note��������������������������������������������������������������������������������������������������� 4
1.1 Symbols used��������������������������������������������������������������������������������������������� 4
1.2 Warning signs used������������������������������������������������������������������������������������� 4
2 Safety instructions����������������������������������������������������������������������������������������������� 4
3 General information��������������������������������������������������������������������������������������������� 5
3.1 CANopen technology ��������������������������������������������������������������������������������� 5
3.1.1 Supported operating modes��������������������������������������������������������������� 5
3.2 References ������������������������������������������������������������������������������������������������� 5
4 Functions and features ��������������������������������������������������������������������������������������� 6
5 Installation of the encoder����������������������������������������������������������������������������������� 6
5.1 Settings of the encoder������������������������������������������������������������������������������� 6
5.2 Signal assignment��������������������������������������������������������������������������������������� 6
5.3 Setting of the node number������������������������������������������������������������������������� 7
5.3.1 Setting of the node number via SDO objects������������������������������������� 7
5.3.2 Setting of the baud rate via SDO objects.������������������������������������������� 7
5.3.3 Setting the node number and the baud rate via LSS ������������������������� 7
5.3.4 Bus termination����������������������������������������������������������������������������������� 7
5.4 LED indications������������������������������������������������������������������������������������������� 7
6 Configuration������������������������������������������������������������������������������������������������������� 8
6.1 Operating modes����������������������������������������������������������������������������������������� 8
6.1.1 General information ��������������������������������������������������������������������������� 8
6.1.2 Preoperational mode��������������������������������������������������������������������������� 8
6.1.3 Start-operational mode����������������������������������������������������������������������� 8
6.1.4 Start/stop mode����������������������������������������������������������������������������������� 9
6.1.5 Reinitialisation of the encoder������������������������������������������������������������� 9
6.2 Standard operation (CAN transmission modes)����������������������������������������� 9
6.3 Storing parameters������������������������������������������������������������������������������������� 9
6.3.1 Object directory����������������������������������������������������������������������������������� 9
6.3.2 Saving process��������������������������������������������������������������������������������� 10
6.3.3 Storing without reset������������������������������������������������������������������������� 10
6.3.4 Storing with reset ����������������������������������������������������������������������������� 10
6.3.5 Restoring the parameters������������������������������������������������������������������11
6.3.6 Layer Setting Service (LSS)��������������������������������������������������������������11
7 Programmable parameters ��������������������������������������������������������������������������������11
7.1 Object directory������������������������������������������������������������������������������������������11
7.2 Programming example: preset value��������������������������������������������������������� 12
7.2.1 Set preset value (master to encoder with node number 1)��������������� 12
7.3 Communication-specific objects of the DS301 from 1000h to 1FFFh
(communication profile DS301 V4.02)������������������������������������������������������������� 13
7.4 Manufacturer-specific objects from 2000h to 5FFFh��������������������������������� 19
7.5 Device-profile-specific objects from 6000h to 9FFFF������������������������������� 23
2
CANopen encoder
8 Terms and abbreviations����������������������������������������������������������������������������������� 30
UK
Licences and trademarks
Microsoft®, Windows®, Windows XP® and Windows Vista® are registered trademarks of Microsoft Corporation.
Adobe® and Acrobat® are registered trademarks of Adobe Systems Inc.
All trademarks and company names are subject to the copyright of the respective companies.
3
CANopen encoder
1 Preliminary note
1.1 Symbols used
►
>
[…]
→
Instruction
Reaction, result
Designation of pushbuttons, buttons or indications
Cross-reference
Important note
Non-compliance can result in malfunction or interference.
Information
Supplementary note
1.2 Warning signs used
NOTE
Warning of damage to property.
2 Safety instructions
These instructions are part of the device. They contain information and illustrations
about the correct handling of the device and must be read before installation or
use.
Observe the operating instructions.
Non-observance of the instructions, operation which is not in accordance with use
as prescribed below, wrong installation or incorrect handling can affect the safety
of operators and machinery.
The installation and connection must comply with the applicable national and
international standards. Responsibility lies with the person installing the unit.
Only the signals indicated in the technical data or on the device label may be
supplied to the connections or wires.
4
CANopen encoder
3 General information
3.1 CANopen technology
The CANopen communication profile is based on the CAN Application Layer (CAL)
specification of the CiA organisation. CANopen is considered as a robust fieldbus
with highly flexible configuration options. It is used in many various applications
which are based on different application profiles. CANopen comprises a concept to
configure and communicate real-time data using synchronous and asynchronous
messages. Four message types (objects) are distinguished.
1. Administration messages (layer management, network management and
identifier distribution)
2. Service Data Objects (SDO)
3. Process Data Objects (PDO)
4. Predefined Objects (synchronisation, time stamp, emergency)
For further information please refer to the CiA-CAN specification (CiA 406 encoders, CiA 301 - CANopen).
3.1.1 Supported operating modes
Encoders with CANopen interface support the following operating modes:
●● RTR (request)
The position value is only given to the bus on request.
●● EVENT time
The position value is given to the bus cyclically (interval can be set).
●● Cyclical-synchronous
When the sync telegram has been received by the host, the absolute encoder
transmits the current process value. A sync counter can be programmed so that
the encoder does not send before a defined number of sync telegrams.
In addition other functions can be configured (direction of rotation, resolution etc.).
3.2 References
http://www.can-cia.org
CAN Application Layer, DS 201 …207
CiA
LSS profileDS305 CiA
CAL-based communication profile, DS 301 CiA
Device profile for encoders DS 406 CiA
CAN specification version 2.0 A
Robert Bosch GmbH
CANary CAN controllerAtmel
5
UK
CANopen encoder
4 Functions and features
●● There are 1 SDO server and 2 default value PDOs according to CiA DS 301.
The PDO mapping can be changed (dynamic PDO mapping). The default value
identifiers have been assigned according to the "predefined connection set" in
the CANopen specification.
●● The COB IDs of the PDOs and their baud rate can be configured.
●● The module expects a sync object. The CAN identifier of the sync object can
be configured.
●● The module supports "node guarding" and "heartbeat".
●● The module supports an emergency object. The COB ID of the EMCY object
can be configured.
●● The module stores the last error. The error code of the corresponding
emergency object is stored.
●● The module supports the load command (reset function to restore the factory
settings).
●● Alarms and warnings are not displayed.
5 Installation of the encoder
Attention: This product corresponds to the standard EN 61000-6-4. The unit may
cause radio interference in domestic areas. Where applicable, the user has to take
appropriate measures to avoid these.
5.1 Settings of the encoder
►► Set the node address of the encoder, the baud rate and the bus termination
before set-up of the device via software.
5.2 Signal assignment
Signal
5-pole M12 connector
CAN GND
pin 1
24 V supply voltage
pin 2
GND (PE)
pin 3
CAN high
pin 4
CAN low
pin 5
►► Use screened cable.
6
CANopen encoder
5.3 Setting of the node number
5.3.1 Setting of the node number via SDO objects
For devices without terminal cap the address can only be set via SDO objects. The
address of an encoder without terminal cap is set to 32 as standard. Details on
changing the node number → chapter 7.4.
5.3.2 Setting of the baud rate via SDO objects.
For devices without terminal cap the baud rate can only be changed via SDO
objects. The baud rate is set to 125 Kbits/s as default value. Details on changing
the baud rate → chapter 7.4.
UK
5.3.3 Setting the node number and the baud rate via LSS
Another possibility of how to set the node number and the baud rate for encoders
is Layer Setting Services. Further information → chapter 6.3.6.
5.3.4 Bus termination
If the encoder is the last participant, an external terminating resistor or a
terminating T connector has to be used.
5.4 LED indications
LED
Status
Description
red
flashes, 1 Hz
operating voltage OK,
faulty bus connection
red
lights
"BUS OFF" caused e.g. by short circuit, wire
break, faulty connector
green
flashes, 2.5 Hz
operating voltage OK, bus connection OK
green/red
green flashing, 2.5 Hz
and red flashing 1x at each 3rd
pulse of the green LED
guarding error, either node guard or heartbeat
green
flashes, 1 Hz
bus stopped
green
lights
master failure,
encoder remains in the preoperational
operating status
>> guard and heartbeat error are not indicated
green/red
green lights/
red flashing, 2.5 Hz
non reproducible indication (no clear
description of the indication)
7
CANopen encoder
6 Configuration
This chapter describes the configuration of the parameters of an absolute encoder
with CANopen interface.
6.1 Operating modes
6.1.1 General information
In the preoperational mode the encoder replies to the CAN bus after sending its
boot up message.
Boot up message: 700 hex + node number (further details in the Communication
Profile chapter 7.3.)
►► Change parameters only in the preoperational mode.
This mode decreases the bus load and simplifies the control of the messages sent
and received. It is not possible to send or receive PDO messages in this mode.
6.1.2 Preoperational mode
To set the encoder to the preoperational mode, the master must send the following
message:
Identifier
Byte 0
Byte 1
Description
0h
80 h
00
NMT PreOp, all nodes
0h
80 h
NN
NMT PreOp, NN
NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the
preoperational mode.
6.1.3 Start-operational mode
To set the encoder to the operational mode, the master must send the following
message:
Identifier
Byte 0
Byte 1
Description
0h
01 h
00
NMT start, all nodes
0h
01 h
NN
NMT start, NN
NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the
operational mode.
8
CANopen encoder
6.1.4 Start/stop mode
To set the encoder to the stop mode, the master must send the following message:
Identifier
Byte 0
Byte 1
Description
0h
02 h
00
NMT stop, all nodes
0h
02 h
NN
NMT stop, NN
NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the
stop mode.
UK
6.1.5 Reinitialisation of the encoder
►► Carry out reinitialisation in the event of incorrect function.
Identifier
Byte 0
Byte 1
Description
0h
81 h
00
reset all nodes
0h
81 h
NN
reset node
NN: node number
It is possible to reset all nodes (byte 1 = 0) or individual nodes (byte 1 NN). After
reinitialisation the device replies again in the preoperational mode.
6.2 Standard operation (CAN transmission modes)
RTR mode
The connected host requests the current position value via a remote
transmission request telegram. The encoder reads the current position,
sets off set parameters (if applicable) and returns the position value via
the same CAN identifier.
EVENT time
The absolute encoder cyclically sends the current position value without any request by the host. The cycle time can be programmed in
milliseconds for values between 1 ms and 65536 ms.
Sync Mode
When the sync telegram has been received by the host, the encoder
transmits the current process value. If several nodes reply to the sync
telegram, the individual nodes report one after the other according to
their CAN identifier. The programming of an offset time is not necessary.
A sync counter can be programmed so that the encoder does not send
before a defined number of sync telegrams.
6.3 Storing parameters
6.3.1 Object directory
Object Index
Object description
1005h
COB ID Sync
100Ch
guard time
100Dh
life time factor
1016h
consumer heartbeat time
9
CANopen encoder
Object Index
Object description
1017h
producer heartbeat time
1020h
verify configuration
1800h
communication parameter PDO 1
1801h
communication parameter PDO 2
1A00h
transmit PDO1 mapping parameter
1A01h
transmit PDO2 mapping parameter
2100h
operating parameters
2101h
resolution per revolution
2102h
total resolution
2103h
preset value
2104h
limit switch, min.
2105h
limit switch, max.
2160h
customer storage
2200h
cyclic timer
3000h
node number (NN)
3001h
baud rate
6000h
operating parameter
6001h
steps per revolution
6002h
total resolution
6003h
preset value
6200h
EVENT
6.3.2 Saving process
The parameters are stored in a non-volatile EEPROM. The changes made are
stored in the working memory of the encoder. Once all parameters have been
checked, they can be transferred to the EEPROM in a write cycle.
The stored parameters are activated after a reset (power on, NMT reset).
6.3.3 Storing without reset
Once the saving process is completed by using the object 1010, there will be no
automatic reset to activate the parameters.
6.3.4 Storing with reset
The object 2300 from the manufacturer-specific directory carries out storage via an
automatic reset. The parameters become active at once. This has to be taken into
account when the node number or the baud rate are changed since there may be
interference on the bus.
10
CANopen encoder
6.3.5 Restoring the parameters
The factory-set parameters can be restored. The settings stored in the EEPROM
are not overwritten. Only after the storage command has been sent again will the
default settings be stored in the EEPROM non-volatilely. The restored parameters
are identical for each CANopen encoder of this type and may possibly not
correspond to the original parameters. Please check the restored parameters with
regard to their validity before you perform the storage process again.
6.3.6 Layer Setting Service (LSS)
To configure the encoder via LSS, the encoder is handled like a slave. The
controller must have LSS master functionality. The LSS master device requests
the data of the encoder. The LSS master enquires the LSS information (vendor ID;
product code, revision number, serial number) of the slave. In this case the slave
is unambiguously recognised and the settings, node number and baud rate can be
set.
7 Programmable parameters
The objects are based on the device profile CiA 406 DS V3.2: CANopen profile for
encoders (www.can-cia.org)
Detailed description of the command byte
Command
Data length
Data type
43h
4 bytes
unsigned 32
47h
byte 3
unsigned 24
4Bh
byte 2
unsigned 16
4Fh
1 byte
unsigned 8
23h
4 bytes
unsigned 32
27h
byte 3
unsigned 24
2Bh
byte 2
unsigned 16
2Fh
1 byte
unsigned 8
7.1 Object directory
Data is transferred according to CAL exclusively via object-oriented message
telegrams. These objects are classified into groups via an index register. Each
index entry can be further subdivided via a sub index. The complete overview of
the standard object directory is shown in the following table.
Index (hex)
Object
0000
not used
0001-001F
static data types
0020-003F
complex data types
11
UK
CANopen encoder
Index (hex)
Object
0040-005F
manufacturer-specific data types
0060-0FFF
reserved
1000-1FFF
area of the communication profile
2000-5FFF
manufacturer-specific area
6000-9FFF
device-specific area
A000-FFFF
reserved
7.2 Programming example: preset value
The receipt of the SDO answer is to be monitored in the program since the request
is sent permanently without confirmation of receipt.
If a CANopen device is connected to the bus and configured with correct baud rate
and node number, it replies to the bus with a boot up message.
7.2.1 Set preset value (master to encoder with node number 1)
Set preset value (value 1000)
Identifier
DLC
NN 1
601
8
Command
Index
download
6003h
23h
03h
Sub index
60h
Service data
byte 4
byte 5
byte 6
byte 7
00h
00h
10h
00h
00h
Sub index
Service data
Response from the encoder
Identifier
DLC
NN 1
581
8
Command
Index
download
6003h
60h
03h
60h
byte 4
byte 5
byte 6
byte 7
00h
00h
00h
00h
00h
Subindex
Service data
Read preset value from the encoder
Identifier
DLC
NN 1
601
8
Command
Index
download
6003h
40h
03h
60h
byte 4
byte 5
byte 6
byte 7
00h
00h
00h
00h
00h
Sub index
Service data
Response from the encoder
Identifier
DLC
NN 1
581
12
8
Command
Index
download
6003h
43h
03h
60h
00h
byte 4
byte 5
byte 6
byte 7
00h
10h
00h
00h
CANopen encoder
Non-volatile storage of the preset value
Identifier
DLC
NN 1
601
8
Command
Index
download
1010h
23h
10h
Sub index
10h
Service data
byte 4
byte 5
byte 6
byte 7
01h
73h
61h
76h
65h
Sub index
Service data
Response from the encoder
Identifier
DLC
NN 1
581
8
Command
Index
download
6003h
60h
10h
10h
00h
byte 4
byte 5
byte 6
byte 7
00h
00h
00h
00h
7.3 Communication-specific objects of the DS301 from 1000h to 1FFFh
(communication profile DS301 V4.02)
Index
S-Idx
Name
Type,
access
default value
Description
1000
0
Device type
u32, ro
N/A
Device type and device profile
1001
0
Error register
u8, ro
N/A
Indication internal device error
0b 0000 0000 generic error
1003
0
Pre-defined
error field
u8, ro
0
An error list with 10 entries is supported
1...10
Error history
u32, ro
1005
0
COB ID sync
object
u32, rw
80h
The object contains the identifier for the
SYNC object.
1006
0
Com cycle
period
u32, rw
0h
The object defines the communication
cycle (SYNC producer) in μs (max. time
between 2 sync objects).
1007
0
Synchronous
window length
u32, rw
0h
The object contains the sync windows
length for synchronous PDOs in μs.
1008
0
Manufacturer
device name
str, ro
RM9000
Device designation
1009
0
Manufacturer
hardware
version
str, ro
x.x
Hardware version
100A
0
Manufacturer
software
version
str, ro
x.x
Software version
S-Idx 1 last error
S-Idx 2 second but last error
..........
Deleting the error memory
The error memory is deleted by writing a
zero to the sub index 0.
13
UK
CANopen encoder
Index
S-Idx
Name
Type,
access
default value
Description
100C
0
Guard time
u16, rw
0
This object contains the 'guard time' in
milliseconds.
100D
0
Life time factor
u8, rw
0
This object contains the life time factor
parameter. The life time factor multiplied
with the guard time results in the life time
for the guarding protocol.
1010
Store
parameters
0
Number of sub
indices
u8, ro
1
1
Store all
parameters
u32, rw
"save"
To write the parameters to the nonvolatile memory the word "save" has to
be sent to the corresponding node.
Most significant word
Least significant word
ASCII
e
v
a
s
Hex value
65h
76h
61h
73h
1011
14
This object is used to write the
parameters to the non-volatile memory.
Restore
parameters
The object is used to restore the factory
settings.
0
Number of sub
indices
u8, ro
1
1
Restore all
parameters
u32, rw
"load"
To restore the factory settings the
word "load" has to be sent to the
corresponding node. When the
parameters have been restored, please
check the parameters before the store
command is executed again. The
restored parameters only become active
after a reset or power up.
Most significant word
Least significant word
ASCII
d
a
o
l
Hex value
64h
61h
6Fh
6Ch
CANopen encoder
Index
S-Idx
Name
Type,
access
default value
Description
1012
0
COB ID time
stamp object
u32, rw
100h
The object contains the COB ID of the
time stamp object.
1013
0
High resolution
time stamp
u32, rw
0
The object contains a time stamp with a
resolution of 1 µs.
1014
0
COB ID
emergency
object
u32, rw
80h + node ID
The object contains the EMCY
emergency message identifier.
1016
Consumer
heartbeat time
The consumer heartbeat time defines the
heartbeat cycle time to be expected in
ms. The encoder can only monitor one
device. When the time is set to zero, this
service is not activated. The set time
must be higher than the corresponding
time (object 1017) of the device to be
monitored.
0
Number of sub
indices
u8, ro
1
1
Consumer
heartbeat time
u32, rw
0
The contents of the sub index 1 is composed as follows:
1017
0
1018
Bit
31 to 24
23 to 16
15 to 0
value
0h (reserved)
address of the
device to be
monitored
monitoring time
(ms)
u16, rw
This object contains the time interval in
milliseconds during which it has to send
the message.
Producer
heartbeat time
0
Identity object
This object contains the device
information
0
Number of
entries
u8, ro
1
1
Vendor ID
u32, ro
0x0069666D
2
Product code
u32, ro
0x43 0x41
3
Revision
number
u32, ro
0x10000
4
Serial number
u32, ro
see type label
15
UK
CANopen encoder
Index
S-Idx
1020
Type,
access
default value
Verify
configuration
Number of
entries
u8, ro
2h
1h
Configuration
date
u32, rw
0x0
2h
Configuration
time
u32, rw
0x0
Error behaviour
The object shows the error behaviour.
0h
Number of
entries
u8, ro
1h
1h
Communication
error
u8, rw
0x0
1800
Description
The object indexes the loaded
configuration, date and time.
0h
1029
16
Name
1st transmit
PDO
communication
parameter
This object contains the communication
parameters of the first transmit PDO.
0
Number of sub
indices
u8, ro
5
1
COB ID
u32, rw
180h +
node number
2
Transmission
mode
u8, rw
FE
3
Inhibit time
u32, rw
0
4
not available
5
Event timer
u32, rw
0x64 or 0
CANopen encoder
Index
S-Idx
1801
Name
Type,
access
default value
2nd transmit
PDO
communication
parameter
Description
The object contains the communication
parameters of the second transmit PDO.
Please note! This object is only activated
with C6 CANopen encoders.
0
Number of sub
indices
u8, ro
5
1
COB ID
u32, rw
280h
node number
2
Transmission
mode
u8, rw
1
3
Transmission
mode
u32, rw
0
4
not available
5
Event timer
u32, rw
1
UK
The transmission mode is set and configured as follows:
Transmission mode
Value
(decimal)
Cyclical
0
1...240
x
241...251
reserved
252
Acyclical
Synchronous
Asynchronous
x
x
Transmit PDO to first
sync messsage after an
event
x
Transmit PDO every xth
sync message
x
253
254, 255
x
Only
RTR
Description
x
Receive SYNC message
and transmit PDO on
remote request
x
Data update and transmit
PDO on remote request
Transmit PDO with event
Inhibit time
For "transmit PDOs". The "inhibit time" for PDO transmissions can be set as a
16-bit value. If data changes, the PDO checks if the inhibit time has elapsed since
its last data transmission. Another data transmission is only possible once the
inhibit time has elapsed. It is useful to set a time with asynchronous transmission
(transmission modes 254 and 255) to avoid overlaods on the bus.
Event time
The "event timer" only works in asynchronous transmission modes (transmission
modes 254 and 255). If the data changes before the event timer elapses, a
temporary telegram is sent. If the value of the timer is >0, the data will be sent
17
CANopen encoder
after the timer has elapsed. The value of the timer is written in subindex 5 of the
respective PDO. The data is also transferred without any changes to the data. The
value range is between 1-65536 ms.
Index
S-Idx
1A00
Name
default value
1st transmit
PDO mapping
parameter
Number of sub
indices
u8, ro
2
1
1st mapped
object
u32, rw
-
2nd transmit
PDO mapping
parameter
The object contains the mapping
parameters of the 2nd transmit PDO.
0
Number of sub
indices
u8, ro
2
1
2nd mapped
object
u32, rw
-
1F50
Download
program area
0h
Number of sub
indices
1h
1F51
This is a special object for the boot
loader functionality.
Use this entry to read the Intel hex file
with the program data. For detailed
information about the domain download
and the block transfer see CiA Draft
Standard 301 application layer and
communication profile.
u8, ro
1h
2h
Domain,
wo
Program
Control
0h
Description
The object contains the mapping
parameters of the 1st transmit PDO
0
1A01
18
Type,
access
Number of
program control
entries
This is a special bootloader object to
update the firmware.
This data area controls the program in
the index 0X1F50.
u8, ro
u32, rw
The sub index 1h and higher verifies
the storage block functionality. They can
have the following values:
write:
1 - start downloading the program
4 - delete flash memory
CANopen encoder
7.4 Manufacturer-specific objects from 2000h to 5FFFh
Index
S-Idx
Name
Type,
access
2000
0
Position value
u32, ro
2100
0
Operating
parameters
u16, rw
2101
default value Description
0h
The counting direction of the encoder as
an operating parameter can be changed
and the two limit switches can be switched
on or off.
The parameter counting direction
(complement) determines the counting
direction of the encoder. With the same
direction of rotation the value can be
indicated either adding or substracting.
The counting direction is set by bit 0 of the
object to 2100h. In addition the two limit
switches can be switched on or off. Bit 1
and bit 2 are used for this purpose.
Note: The counting direction is always
seen looking at the shaft. With clockwise
direction of the shaft (CW) the counting
direction is increasing.
Calculation example:
Goal: encoder with counting direction
decreasing (CCW) and both limit switches
off
Bit matrix:
bit 0 = 1
direction decreasing (CCW)
bit 1 = 0
limit switch min. disabled
bit 2 = 0
limit switch max.disabled
result = 01h
0
Resolution per
revolution
u16, rw
Requested steps per revolution
(single turn resolution up to 12 bits)
0
Resolution per
revolution
u32, rw
Requested steps per revolution
(single turn resolution > 12 bits)
If the requested resolution per revolution
exceeds the physical resolution, the set
value is not transmitted.
►► Set correct resolution.
19
UK
CANopen encoder
Index
S-Idx
Name
Type,
access
default value Description
2102
0
Total
resolution
u32, rw
0x1000000
Total resolution of the encoder
This parameter is used to set the
requested total resolution. The parameter
must not exceed the physical measuring
range of the encoder. The total resolution
and the resolution per revolution must be
entered using the following formula:
GA = (PGA x AU) / PAU
PGA
total physical resolution of the encoder
(see type label)
PAU
physical resolution per revolution of the
enocder (see type label)
GA
total resolution (customer-specific)
AU
resolution per revolution (customerspecific)
If the requested total resolution is lower
than the total physical resolution, the total
resolution parameter must be a multiple of
the physical resolution per revolution.
2103
0
Preset value
u32, rw
0
The preset value is a position value which
is to be indicated at a certain physical
position of the axis. The preset value must
not exceed the total physical resolution to
avoid runtime errors.
2104
0
Limit switch,
min.
u32, rw
0
Two position vaues can be programmed as
limit switch positions. When one of these
values has been reached, one of the 32-bit
position values is set. Both values must not
exceed the total physical resolution of the
encoder to avoid runtime errors.
The limit switch (min) sets bit 30 = 1 with the next telegram transmitted when the set position value
has been reached or fallen below.
20
Function
Status bit
Process value
Bit
31
30
29
28
27
26
25.....0
0
1
X
X
X
X
X
CANopen encoder
Index
S-Idx
Name
Type,
access
default value Description
2105
0
Limit switch,
max.
u32, rw
0
Two position vaues can be programmed as
limit switch positions. When one of these
values has been reached, one of the 32-bit
position values is set. Both values must not
exceed the total physical resolution of the
encoder to avoid runtime errors.
The limit switch (max) sets bit 31 = 1 with the next telegram transmitted when the set position
value has been reached or fallen below.
Function
Status bit
Process value
Bit
31
30
29
28
27
26
25.....0
1
0
X
X
X
X
X
2160
UK
Customer
storage
u8, rw
4h
The object enables the user to store any
value.
0h
Number of sub
indices
u32, rw
0x0
1h
Customer
storage 1
u32, rw
0x0
2h
Customer
storage 2
u32, rw
0x0
3h
Customer
storage 3
u32, rw
0x0
4h
Customer
storage 4
u32, rw
0x0
2200
0
Cyclic timer
PDO
u16, ro
0
The object contains the value of the event
timer in ms.
2300
0
Save
parameter with
reset
u32, wo
55AAAA55h
With this object the set parameters can be
written to the non-volatile memory. After
successful transmission of the access code
a reset will be made.
3000
0
Node number
u8, rw
-
The object contains the node number of
the device.
The node number must be ≠ 0.
►► Always add a 1 to the node number.
Example: 1Fh+1h = 20h = 32 (dec)
3001
0
Baud rate
u8, rw
0x3
The object contains the baud rate of the
device.
21
CANopen encoder
Index
S-Idx
Name
Type,
access
default value Description
Eight different baud rates are supported. Only one byte is used to set the baud rate.
Baud rate
[kbits/s]
Byte
20
0x00
50
0x01
100
0x02
125
0x03
250
0x04
500
0x05
800
0x06
1000
0x07
3010
3011
22
Speed control
Speed measurement, the measurement is
switched off in the factory setting.
0h
Number of sub
indices
u8, ro
2h
1h
Enable speed
u8, rw
0h
2h
Speed mode
u8, rw
0h
0h
Speed value
u8, romap
Via this sub-index the filter interval
and thus the latency time of the speed
measurement can be set. There are three
setting options:
Setting Speed
mode
Delay time
[ms]
0
5
1
50
2
500
Speed value [dig/s]
CANopen encoder
Index
S-Idx
Name
Type,
access
4000
0h
Bootloader
control
u32, wo
default value Description
The object controls the bootloader
functionality. If the security code is
written to the object, the EEprom and
the information in the flash memory
are deleted. Furthermore the device is
subjected to a reset. After another set-up,
the bootloader verifies the user application
and does not find any other information.
The bootloader starts with a predefined
CANopen node number (0x1) and a fixed
baud rate of 125 Kbits.
Activation of the bootloader entails an
erasing process. Afterwards only a small
number of objects are available. The
encoder is waiting for new programming.
Due to this behaviour the security code for
prevention is not published in this manual
but is only available from ifm on request.
7.5 Device-profile-specific objects from 6000h to 9FFFF
Index
S-Idx
6000
Name
Type,
access
default value
Description
Operating
parameters
u16, rw
1h
The object sets the counting direction,
the diagnostic function and the scaling
function.
Note: The counting direction is always
seen looking at the shaft. With clockwise
direction of the shaft (CW) the counting
direction is increasing.
Scaling function:
Using the scaling function the position value provided can be adapted to the requirements of
the application via the software. The objects 6001 and 6002 of the device profile are scaling
parameters. When the scaling bit has been set to zero, scaling is switched off.
Bit structure
Bit
15
14
13
12
11...4
3
2
1
0
Description
MS
MS
MS
MS
R
MD
SFC
CD
CS
Abbreviations:
MS = manufacturer-specific function (not available)
R = reserved
MD = measurement direction (not available)
SFC = scaling function (0 = off, 1 = on)
CD = commissioning diagnostic control (not available)
CS = counting direction 0 = CW (clockwise); 1 = CCW (counter-clockwise)
23
UK
CANopen encoder
Index
S-Idx
Name
Type,
access
default value
Description
6001
0
Measuring
units per
revolution
u32, rw
see
type label
Setting steps per revolution
6002
0
Total
measuring
range in
measuring
units
u32, rw
see
type label
Setting the total resolution of the
measuring range
6003
0
Preset value
u32, rw
0
Setting the preset value for the encoder
6004
0
Position value
u32,
romap
-
The object gets the position value
6030
Speed value
If the max. possible value is exceeded,
the value stops there. The user can use
the object 3010 (32 bits).
6200
0h
Number of sub
indices
u8, ro
1h
1h
Speed value
channel 1
integer
16, romap
-
0
Event time
u16, rw
0x64
6300
Cam state
register
Number of sub
indices
u8, ro
1h
1h
Cam state
channel 1
u8, romap
4h
Cam enable
register
The object describes the cam state.
0h
Number of sub
indices
u8, ro
1h
Cam enable
channel 1
u8, rw
6302
1h
Cam polarity
register
The object describes the cam behaviour.
0h
Number of sub
indices
u8, ro
1h
1h
Cam polarity
channel 1
u8, rw
0h
List of cam objects
24
The object describes the cam state
register. The object contains the current
position of the cam from 1 to 8.
0h
6301
This object contains the value of the
event timer of the corresponding PDOs.
The value can be set between 1 and
65538 ms.
CANopen encoder
6310h
Cam 1 low limit
0h
VAR
Highest sub-index supported
u32
ro
0x1
1h
VAR
Cam 1 low limit channel 1
u32
rw
0x0
6311h
Cam 2 low limit
0h
VAR
Highest sub-index supported
u32
ro
0x1
1h
VAR
Cam 2 low limit channel 1
u32
rw
0x0
6312h
Cam 3 low limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 3 low limit channel 1
u32
rw
0x0
6313h
Cam 4 low limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 4 low limit channel 1
u32
rw
0x0
6314h
Cam 5 low limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 5 low limit channel 1
u32
rw
0x0
6315h
Cam 6 low limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 6 low limit channel 1
u32
rw
0x0
6316h
Cam 7 low limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 7 low limit channel 1
u32
rw
0x0
6317h
Cam 8 low limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 8 low limit channel 1
u32
rw
0x0
6320h
Cam 1 high limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 1 high limit channel 1
u32
rw
0x0
6321h
Cam 2 high limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 2 high limit channel 1
u32
rw
0x0
6322h
Cam 3 high limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 3 high limit channel 1
u32
rw
0x0
6323h
6324h
UK
Cam 4 high limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 4 high limit channel 1
u32
rw
0x0
Cam 5 high limit
25
CANopen encoder
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 5 high limit channel 1
u32
rw
0x0
6325h
Cam 6 high limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 6 high limit channel 1
u32
rw
0x0
6326h
Cam 7 high limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 7 high limit channel 1
u32
rw
0x0
6327h
Cam 8 high limit
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 8 high limit channel 1
u32
rw
0x0
6330h
Cam 1 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 1 hysteresis channel 1
u32
rw
0x0
6331h
Cam 2 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 2 hysteresis channel 1
u32
rw
0x0
6332h
Cam 3 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 3 hysteresis channel 1
u32
rw
0x0
6333h
Cam 4 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 4 hysteresis channel 1
u32
rw
0x0
6334h
Cam 5 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 5 hysteresis channel 1
u32
rw
0x0
6335h
Cam 6 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 6 hysteresis channel 1
u32
rw
0x0
6336h
Cam 7 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 7 hysteresis channel 1
u32
rw
0x0
6337h
26
Cam 8 hysteresis
0h
VAR
Highest sub-index supported
u8
ro
0x1
1h
VAR
Cam 8 hysteresis channel 1
u32
rw
0x0
CANopen encoder
Index
S-Idx
6400
Name
Type,
access
default value
Area state
register
Description
The object describes the area state
register.
In this object the status of the encoder
value is indicated in the area defined
before.
0h
Measuring
units per
revolution
u8, ro
1h
1h
Total
measuring
range in
measuring
units
u8, romap
-
UK
Bit structure
7
6
5
4
3
2
1
0
R
r
r
r
r
Range
underflow
Range
overflow
Out of
range
MSB
LSB
Signal
Value
Definition
Out of range
0
Position between low and high limit
1
Position out of range (refer to module
identification object, 650Ah) is reached
0
No range overflow
1
Position is lower than the position value set
in object 6402h "work area low limit“
0
No range underflow
1
Position is higher than the position value set
in object 6401h "work area high limit“
0
reserved
Range overflow
Range underflow
r
6401
Work area low
limit
-
0h
Number of sub
indices
integer
32, ro
1h
1h
Work area low
limit channel 1
integer
32, rw
0h
The objects shows the lower value of the
work area. Bit 2 of the existing work area
status in object 6400h will change when
the work area is fallen below.
This object is directly linked with object
2104h (limit switch min.).
27
CANopen encoder
Index
S-Idx
6402
Name
Type,
access
Work area high
limit
default value
Description
-
The object indicates the upper value of
the working area. Bit 1 of the working
status existing in object 6400h will
change when the working area is
exceeded.
This object is directly linked with object
2105h (limit switch max.).
0h
Number of sub
indices
integer
32, ro
1h
1h
Work area high
limit channel 1
integer
32, rw
0h
6500
0
Operating
status
u16, ro
-
Operating status of the encoder.
The operating status object is linked with
the value of the object 6000.
6501
0
Single-turn
resolution
u32, ro
see type label
The object indicates the physical
resolution per revolution of the encoder.
6502
0
Number of
distinguishable
revolutions
u16, ro
see type label
The object indicates the physical number
of revolutions of the encoder.
6504
0
Supported
alarms
u16, ro
-
Not supported.
6507
0
Profile and
software
version
u32, ro
-
The object contains the implemented
profile versions and the manufacturerspecific software version of the encoder.
MSB
LSB
Software version
Upper software
version
6509
28
0
Offset value
Profile version
Lower software
version
integer
32, ro
0
Upper profile version
Lower profile version
Offset value of the encoder. This value is
determined by the preset value and shifts
the physical position by this offset value.
CANopen encoder
Index
S-Idx
650A
650B
Name
Type,
access
default value
Module
identification
Description
The object indicates the manufacturerspecific offset, the manufacturer-specific
minimum and maximum of the position
value.
0
Largest
sub index
integer
32, ro
3
1
Manufacturerspecific offset
integer
32, ro
-
2
Manufacturerspecific min.
position value
integer
32, ro
-
3
Manufacturerspecific max.
position value
integer
32, ro
-
0
Serial number
u32, ro
-
UK
Serial number of the shaft encoder. If the
serial number is not supported by the
encoder, the value is always 0xffffffff.
29
CANopen encoder
8 Terms and abbreviations
0b ...
Binary value (for bit coding), e.g. 0b0001 0000
0d ...
Decimal value, e.g. 0d100
0x ...
Hexadecimal value, e.g. 0x64 (= 100 decimal)
Baud rate
Transmission speed (1 baud = 1 bit/s)
CAL
CAN Application Layer
CAN-based network protocol on application level
CAN
Controller Area Network (bus system for the use in mobile vehicles)
CAN_H
CAN high; CAN connection/cable with high voltage level
CAN_L
CAN low; CAN connection/cable with low voltage level
CANopen
CAN-based network protocol on the application level with an open configuration interface (object directory).
CiA
"CAN in Automation e.V."
(user and manufacturer organisation in Germany/Erlangen)
definition and control body for CAN and CAN-based network protocols
CiA DS
Draft Standard (published CiA specification which usually has not been modified or supplemented for one year)
CiA DSP
Draft Standard Proposal (published CiA specification draft)
CiA WD
Work Draft (work draft accepted for discussion within CiA)
CiA DS 301
Specification concerning the CANopen communication profile;
describes the basic communication mechanisms between the network participants such as the transfer of process data in real time, the data exchange between devices or the configuration phase.
Completed by the following CiA specifications according to the application:
CiA DS 401
Device profile for digital and analogue I/O modules
CiA DS 402
Device profile for drives
CiA DS 403
Device profile for HMI
CiA DS 404
Device profile for measurement and control technology
CiA DS 405
Specification for interfaces to programmable systems (IEC 61131-3)
CiA DS 406
Device profile for encoders
CiA DS 407
Application profile for local public transport
COB
CANopen communication object (PDO, SDO, EMCY, ...)
COB ID
CANopen identifier of a communication object
Communication
The synchronisation time to be monitored; max. time between 2 cycles
sync objects
EMCY object
Emergency object (alarm message; device signals an error)
Error reg
Error register (entry with an error code)
Guarding error
Node or network participant could or can no longer be found
Guard MASTER: one or several SLAVES no longer reply
Guard SLAVE: no polling of the device (SLAVE).
Guard Time
Within this time the network participant expects a "node guarding" of the network master Heartbeat
Configurable cyclic monitoring among network participants.
In contrast to "node guarding" no superior NMT master is required.
ID Identifier; identifies a CAN message. The numerical value of the ID
(also identifier) also contains a priority for the access to the bus system.
ID 0 = top priority.
Idx
Index; together with the S index it forms the address of an entry in the object directory
Life Time Factor
Number of attempts in case of a missing guarding response
Monitoring
Is used to describe the error class (guarding monitoring, sync etc.). NMT
Network Management
NMT master/slaves The NMT master controls the operating statuses of the NMT slaves
Node Guarding
Adjustable cyclic monitoring of slave network participants by a 30
CANopen encoder
higher-level master node as well as monitoring of this polling process by the slave participants.
Node ID
Nodal point identifier (identification of a participant in the CANopen network) Object (also OBJ)
Term for data/messages which can be exchanged in the CANopen network Object directory
Contains all CANopen communication parameters of a device as well as device-specific parameters and data.
Access to the individual entries is possible via the index and S-index.
Operational
Operating status of a CANopen participant.
In this mode SDOs, NMT commands and PDOs can be transferred.
PDO
Process Data Object;
in the CANopen network to transfer process data in real time such as motor speed.
PDOs have a higher priority than SDOs; in contrast to the SDOs they are transferred without confirmation. PDOs consist of a CAN message with identifier and up to 8 bytes of user data.
PDO mapping
Describes the application data transferred with a PDO. Pre-Op
Preoperational; operating status of a CANopen participant.
After application of the supply voltage each participant automatically goes into this state.
In the CANopen network only SDOs and NMT commands can be transferred in this mode but no process data.
Prepared
(Also stopped) operating status of a CANopen participant.
In this mode only NMT commands are transferred.
Rec PDO
(Receive) Process Data Object
(also Rx PDO)
ro
read only (unidirectional)
rw read-write (bidirectional)
Rx queue
Input buffer
s16
Data type signed 16 bits (incl. sign, 16-bit format)
SDO
Service Data Object
With this object direct access to the object directory of a network participant is possible (read/write). An SDO can consist of several CAN messages. The transfer of the individual messages is confirmed by the addressed participant.
With the SDOs, devices can be configured and parameters can be set.
Server SDO
Process and parameter set to make the object directory of a network participant available to other participants (clients).
S-Idx (also SIdx)
Sub index within the object directory of a CANopen-capable device
Start Guarding
Start node monitoring
str
Data type string (variable for strings such as text "load")
Sync error
Missing sync object OBJ in the adjustable synchronisation time
Sync OBJ
Synchronisation object for simultaneous update in the complete network or for accepting process data of the respective parameterised PDOs.
Sync windows
Time during which the synchronous PDOs have to be transferred. Time stamp
Time stamp to align existing clocks in network participants
Trans Type
Type of process data transmission; synchronous, asynchronous
Trans PDO
Transmit Process Data Object
(also Tx PDO)
Trans SDO
(Transmit) Service Data Object
(also Tx SDO)
31
UK
CANopen encoder
Tx queue(Transmit) Transmission buffer
u8 (16, 32)
Data type unsigned 8 (16, 32) bits (without sign, 8 (16, 32) bit-format
wowrite only
32
CANopen encoder
UK
33
CANopen encoder
34
CANopen encoder
UK
35
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