absolute ixarc rotary encoder with canopen interface user

absolute ixarc rotary encoder with canopen interface user
ABSOLUTE IXARC ROTARY ENCODER WITH CANOPEN INTERFACE
USER MANUAL
Main Features
Programmable Parameters
-
Compact and heavy-duty industrial design
-
Direction of rotation (complement)
-
Interface:
CANopen / CAN
-
Resolution per revolution
-
Housing:
58 mm 
-
Total resolution
-
Solid/hollow shaft: 6 or 10mm / 15mm
-
Preset value
-
Max. 65536 steps per revolution (16 Bit)
-
Two limit switches and eight cams
-
Max. 16384 revolutions (14 Bit)
-
Baud rate and CAN-identifier
-
Code:
-
Transmission mode: Polled mode, cyclic
-
Velocity and Acceleration Output
Binary
mode, sync mode
-
Electrical Features
Mechanical Structure
-
-
Aluminium flange and housing
Temperature insensitive IR-opto-receiver
asic with integrated signal conditioning
-
Stainless steel shaft
-
Precision ball bearings with sealing or
-
Connection cap: Status indication with
two LEDs
cover rings
-
Layer Setting Services
Code disc made of unbreakable and
-
Polarity inversion protection
durable plastic
-
Over-voltage-peak protection
AMERICA
FRABA Inc.
1800 East State Street, Suite 148
Hamilton, NJ 08609-2020, USA
T +1-609-750-8705, F +1-609-750-8703
www.posital.com, [email protected]
EUROPE
POSITAL GmbH
Carlswerkstrasse 13c
D-51063 Köln, Germany
T +49 221 96213-0, F +49 221 96213-20
www.posital.com, [email protected]
ASIA
FRABA Pte. Ltd.
20 Kallang Avenue #01-00
Singapore 339411, Singapore
T +65 65148880, F +65 62711792
www.posital.com, [email protected]
ABSOLUTE IXARC ROTARY ENCODER
CANOPEN
Table of Contents
General Security Advise ...................................... 4
About this Manual ................................................ 4
5.2 Communication Profile DS301 specific
objects from 1000h - 1FFFh ................................ 25
1. Introduction ...................................................... 5
1.1 General CANopen Information ......................... 5
5.3 Manufacturer specific objects 2000h –
5FFFh .................................................................. 26
2. Installation ........................................................ 7
2.1 Connection via Connection Cap....................... 7
5.4 Application specific objects 6000h – 67FEh .. 26
5.5 Object Descriptions ....................................... 27
2.1.1 Signal Assignment ........................................ 7
2.1.2 Bus Termination in Connection Cap ............. 8
Object 1000h: Device Type ................................. 27
Object 1001h: Error Register ............................... 28
2.1.3 Setting Node Number in Connection Cap ..... 9
2.1.4 Setting Baudrate in Connection Cap ........... 10
Object 1003h: Pre-Defined Error Field ................ 28
Object 1005h: COB-ID Sync ................................ 28
2.1.5 Status of the connection cap LEDs ............. 10
2.2 Installation of Connector and Cable
Object 1008h: Manufacturer Device Name .......... 29
Object 1009h: Manufacturer Hardware Version... 29
encoders .............................................................. 12
2.2.1 Signal Assignment ...................................... 12
Object 100Ah: Manufacturer Software Version.... 29
Object 100Ch: Guard Time .................................. 30
2.2.2 Setting Node Number ................................. 13
2.2.3 Setting Baud Rate ....................................... 13
Object 100Dh: Life Time Factor ........................... 30
Object 1010h: Store Parameters ......................... 30
2.2.4 Switching the integrated Bus Terminal
Resistor................................................................ 14
Object 1011h: Restore Parameters ..................... 31
Object 1012h: COB-ID Time Stamp Object ......... 31
Object 3002h: Terminal Resistor.......................... 14
3. Technical Data................................................ 15
Object 1013h: High Resolution Time Stamp ........ 31
Object 1014h: COB-ID Emergency Object .......... 32
Electrical Data ...................................................... 15
Mechanical Data .................................................. 15
Object 1016h: Consumer Heartbeat Time ........... 32
Object 1017h: Producer Heartbeat Time ............. 32
Minimum Mechanical Lifetime .............................. 16
Environmental Conditions .................................... 16
Object 1018h: Identity Object .............................. 33
Object 1020h: Verify configuration....................... 33
4. Configuration ................................................. 17
4.1 Operating Modes ........................................... 17
Object 1029h: Error behaviour............................. 33
st
Object 1800h: 1
TPDO Communication
4.1.1 General ....................................................... 17
4.1.2 Mode: Preoperational .................................. 17
Parameter ............................................................ 34
nd
Object 1801h: 2
TPDO Communication
4.1.3 Mode: Start - Operational ............................ 17
4.1.4 Mode: Stopped............................................ 18
Parameter ............................................................ 34
st
Object 1A00h: 1 TPDO Mapping Parameter ...... 35
4.1.2 Reinitialization of the Encoder..................... 18
4.2 Normal Operating........................................... 18
Object 1A01h: 2 TPDO Mapping Parameter ..... 35
Object 1F50h: Download Program Area .............. 36
4.3 Storing Parameter .......................................... 19
4.3.1 List of storable Parameter ........................... 19
Object 1F51h: Program Control ........................... 36
Object 2000h: Position Value .............................. 36
4.3.1 Storing Procedure ....................................... 20
4.4 Restoring Parameters .................................... 20
Object 2100h: Operating Parameters .................. 37
Object 2101h: Resolution per Revolution ............ 37
4.5 Usage of Layer Setting Services (LSS) .......... 20
5. Programmable Parameters ........................... 22
Object 2102h: Total Resolution ........................... 38
Object 2103h: Preset Value ................................. 39
5.1 Programming example: Preset Value ............ 23
5.1.1 Set Encoder Preset Value ........................... 23
Object 2104h: Limit Switch, min. ......................... 39
Object 2105h: Limit Switch, max. ........................ 39
nd
Object 2160h: Customer storage ......................... 40
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Object 2200h: Cyclic Timer PDO ......................... 40
Object 2300h: Save Parameter with Reset .......... 41
Object 6400h: Area state register ........................ 51
Object 6401h: Work area low limit ....................... 52
Object 3000h: Node Number ............................... 41
Object 3001h: Baudrate ....................................... 41
Object 6402h: Work area high limit ...................... 52
Object 6500h: Operating status ........................... 52
Object 3002h: Terminal Resistor.......................... 42
Object 3010h: Speed Control ............................... 42
Object 6501h: Single-turn resolution ................... 52
Object 6502h: Number of distinguishable
Object 3011h: Speed Value ................................. 42
Object 3020h: Acceleration Control ..................... 43
revolutions ........................................................... 53
Object 6503h: Alarms .......................................... 53
Object 3021h: Acceleration Value ........................ 43
Object 3030h: C2-C5-Behavior ............................ 43
Object 6504h: Supported alarms ......................... 53
Object 6505h: Warnings ...................................... 54
Object 4000h: Bootloader Control ........................ 44
Object 6000h: Operating parameters ................... 44
Object 6506h: Supported warnings ..................... 54
Object 6507h: Profile and software version ......... 55
Object 6001h: Measuring units per revolution ...... 45
Object 6002h: Total measuring range in
Object 6508h: Operating time .............................. 55
Object 6509h: Offset value .................................. 55
measuring units.................................................... 45
Object 6003h: Preset value .................................. 45
Object 650Ah: Module identification .................... 56
Object 650Bh: Serial number............................... 56
Object 6004h: Position value ............................... 45
Object 6030h: Speed Value ................................. 46
6. Troubleshooting ............................................ 57
7. Mechanical Drawings .................................... 57
How to map the speed into TPDO2: .................... 46
Object 6040h: Acceleration Value ........................ 47
Appendix A: Order Codes ................................. 58
Appendix B: History and Compatibility ........... 61
Object 6200h: Cyclic timer ................................... 48
Object 6300h: Cam state register ........................ 48
Appendix C: Glossary ....................................... 66
Appendix D: List of tables ................................ 69
Object 6301h: Cam enable register ..................... 48
Object 6302h: Cam polarity register ..................... 48
Appendix E: List of figures ............................... 69
Appendix F: Document history ........................ 69
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General Security Advise
Important Information
This is the safety alert symbol. It is
Read these instructions carefully, and look at the
used to alert you to potential
equipment to become familiar with the device
personal injury hazards. Obey all
before trying to install, operate, or maintain it.
safety messages that follow this symbol to avoid
The following special messages may appear
possible injury or death.
throughout
this
documentation
or
on
the
equipment to warn of potential hazards or to call
Please Note
attention to information that clarifies or simplifies
Electrical equipment should be serviced only by
a procedure.
qualified personnel. No responsibility is assumed
by POSITAL for any consequences arising out of
The addition of this symbol to a
the use of this material. This document is not
Danger or Warning safety label
intended as an instruction manual for untrained
indicates that an electrical hazard
persons.
exists, which will result in personal injury if the
instructions are not followed.
About this Manual
Background
This user manual describes how to install and
Copyright
configure an OCD absolute rotary encoder with
The company POSITAL GmbH claims copyright
CANopen interface.
on this documentation. It is not allowed to
modify, to extend, to hand over to a third party
Relate Note
and to copy this documentation without written
Version date: 24. July 2009
approval by the company POSITAL GmbH. Nor
Version number: 1.0
is any liability assumed for damages resulting
Reference number: MBL20090724
from the use of the information contained herein.
Further, this publication and features described
Imprint
herein are subject to change without notice.
POSITAL GmbH
Carlswerkstrasse 13c
User Annotation
D-51063 Köln
The POSITAL GmbH welcomes all reader to
Telefon +49 (0) 221 96213-0
send
Telefax +49 (0) 221 96213-20
document. You can reach us by e-mail at
Internet http://www.posital.com
[email protected]
E-mail
feedback
and
comments
about
this
[email protected]
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After one turn the measuring range is completed
1. Introduction
and starts again from the beginning.
This manual explains how to install and
Multi-Turn
configure the OPTOCODE II absolute rotary
Linear systems normally need more than one
encoder with CANopen interface applicable for
turn of a shaft. A single turn encoder is
military and industrial applications with CANopen
unsuitable for this type of application because of
interface. The product is fully compliant with CiA-
the additional requirement of the number of
standards:
turns. The principle is relatively simple: Several
DS301V402 CANopen Application Layer
single turn encoders are connected using a
DR303-1 Cabeling and connector pin assignment
reduction gear. The first stage supplies the
DR303-3 CANopen indicator specification
resolution per turn, the stages behind supply the
DS305V200 CANopen Layer Setting Service
number of turns.
DS306V1R3 Electronic datasheet specification
There are several types of encoder versions.
DS406V32 Device Profile for Encoders
Please refer to the datasheets to find out which
is the best version for your application.
Measuring System
The measuring system consists of a light source,
a code disc pivoted in a precision ball bearing
and an opto-electronic scanning device. A LED
is used as a light source which shines through
the code disc and onto the screen behind. The
tracks on the code disk are evaluated by an
opto-array behind the reticle. With every position
another combination of slashes in the reticle is
covered by the dark spots on the code disk and
the light beam on the photo transistor is
interrupted. That way the code on the disc is
transformed into electronic signals. Fluctuations
in the intensity of the light source are measured
by an additional photo transistor and another
electronic circuit compensates for these. After
amplification and conversion the electronic
1.1 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
signals are available for evaluation.
bytes of data. The COB-ID, which determines
Single-Turn
Single turn encoders specify the absolute
position for one turn of the shaft i.e. for 360°.
the priority of the message, consists of a
function code and a node number. The node
number corresponds to the network address of
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CANOPEN
the device. It is unique on a bus. The function
setting are available from different suppliers. It is
code varies according to the type of message
easy to align and program the rotary encoders
being sent:
using
the
EDS
(electronic
data
sheet)
configuration file provided.

Management messages (LMT, NMT)

Messaging and service (SDOs)
Further CAN-information is available at:

Data exchange (PDOs)
CAN in Automation (CiA) - International Users

Layer Setting Services (LSS)
and Manufacturers Group e.V.

Predefined messages (synchronization,
Kontumazgarten 3
emergency messages)
DE-90429 Nuremberg
www.can-cia.org/
The absolute rotary encoder supports the
(*) Reference:
following operating modes:
CAN
Application
Layer
for
Industrial Applications



Polled mode: The position value is only
CiA
DS201..207
V1.1
CAL-based
given on request.
Communication Profile for Industrial
Cyclic mode: The position value is sent
Systems
cyclically (regular, adjustable interval)
CiA DS301 CANopen Application Layer
on the bus.
CiA DS406 Device Profile for Encoders
SYNC mode: The position value is sent
after
a
synchronization
message
(SYNC) is received. The position value
Note: All datasheets and manuals can be
downloaded
for
free
from
our
website
www.posital.com
is sent every n SYNCs (n ≥ 1).
Other functions (offset values, resolution, etc)
can be configured. The absolute rotary encoder
corresponds to the class 2 encoder profile (DS
406 in which the characteristics of encoder with
We
do
technical
not
assume
inaccuracies
responsibility
or
for
omissions.
Specifications are subject to change without
notice.
CANopen interface are defined). The node
number and speed in bauds are determined via
rotary switches.
The
transmission
speed
can
range
from
20kBaud up to 1Mbaud 1Mbaud (30m cable for
a maximum speed of 1Mbaud, 1000 m cable for
a maximum speed of 10 kbaud). Various
software tools for configuration and parameter-
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2. Installation
2.1 Connection via Connection Cap
RT
ON
2.1.1 Signal Assignment
The rotary encoder is connected with two or three
cables depending on whether the power supply is
integrated into the bus cable or connected
G L
78
78
L
H
901
23
78
H G
901
23
456
456
with a plug. The cable glands are suitable for cable
901
23
the bus cable, one of the cable glands can be fitted
+
456
separately. If the power supply is integrated into
Bd
x10
x1
diameters from 6.5 up to 9 mm.
Clamp
Description

Ground
+
24 V Supply voltage
-
0 V Supply voltage
G
CAN Ground
L
CAN Low
H
CAN High
G*
CAN Ground
Tab. 1 Signal Assignment Connection Cap
L*
CAN Low
H*
CAN High
* are not connected, if terminal resistor is ON
(see next page)
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CANOPEN
Bus Connection
RT
ON
The connection cap fulfills the function of a Tcoupler. From there the wiring must be done
according to the drawing on the left side. Please
note the assignment of incoming and outgoing bus
+
-
G L
H G
L
H
signals.
An
Bus In
activated
bus
termination
resistor will lead into a separation
Bus Out
of bus in and bus out signals!
Cable Connection
Remove screw, sealing and cone from the cable
gland. Remove 55 mm of the sheath and 50 mm of
the shielding. About 5 mm of the wires should be
de-isolated. Put screw, and sealing on the cable.
The cone should be mounted under the shielding
according to the figure 3. Put the whole cable into
Fig. 1 Connection cap bus in and bus out
the cable gland and tighten the screw.
2.1.2 Bus Termination in Connection Cap
If the encoder is connected at the end or beginning
55 mm
50 mm
5 mm
5 mm
of the bus the termination resistor must be
switched on. The termination resistor is switched
on when the switch is in the ON position.
Separation of Bus In and Bus Out
signals if termination resistor is
Fig. 2 Cable preparation
activated.
There is a resistor provided in the connection cap,
which must be used as a line termination on the
last device.
Resistor:
RT
Fig. 3 Cable connection
ON
Last Device
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ON
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CANOPEN
2.1.3 Setting Node Number in Connection Cap
The setting of the node number is done by
turning
the
BCD
rotary
switches
in
RT
the
ON
connection cap. Possible (valid) addresses lie
between 0 and 89 whereby every address can
only be used once. Two LEDs on the backside
of the connection cap show the operating status
G L
78
L
H
901
23
78
H G
901
23
456
456
456
Device address 0...89
23
BCD coded rotary switches
x1
901
78
+
of the encoder.
Bd
x10
x1
Setting CAN-node number
x10 Address reserved 90…99
xBd
Setting of the baud-rate
The
CANopen
Encoder
adds
internal 1 to the adjusted device
address.
To set the node number the customer can easily
Protocol Definition via BCD address switches
remove the connection cap for installation by
x1
removing two screws at the backside of the
x10 Recovery of C2-C5-Behavior
encoder. The meaning and the positioning of the
x1
two turn-switches you can see in the picture on
x10 Protocol selection according to DS301-V3
the
x1
right
side.
Device address 97
Device address 98
Device address 99
x10 Protocol selection according to DS301-V4
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CANOPEN
2.1.4 Setting Baudrate in Connection Cap
The adjusting of the baudrate is adjusted by one
Baudrate in kBit/s
BCD coded rotary switches
turn switch in the connection cap. The following
20
0
baudrates are possible:
50
1
100
2
125
3
250
4
500
5
800
6
1000
7
reserved
8
Sets SDO and LSS mode
9
Tab. 2 Baud rate Assignment Connection Cap
2.1.5 Status of the connection cap LEDs
The LED behaviour was designed in accordance to the CiA normative DR 303-3 CANopen indicator specification.
LED grün
green
Err
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/green
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ABSOLUTE IXARC ROTARY ENCODER
CANOPEN
CAN Run LED
State
Description
Flickering
AutoBitrate/ LSS
The auto-bitrate detection is in progress or LSS services are in
progress (alternately flickering with run LED)1
Blinking
PREOPERATIONAL The device is in state PREOPERATIONAL
Single flash
STOPPED
Double flash
Triple flash
The device is in state STOPPED
Reserved for further use
Program/ Firmware A software download is running on the device
download
On
OPERATIONAL
The device is in state OPERATIONAL
Tab.3: CAN Run LED states
ERR LED
State
Description
Off
No error
The device is in working condition
Flickering
AutoBitrate/ LSS
The auto-bitrate detection is in progress or LSS services are in
progress (alternately flickering with run LED)1
Blinking
Invalid
General configuration error
Configuration
Single flash
Double flash
Triple flash
Warning limit
At least one of the error counters of the CAN controller has
reached
reached or exceeded the warning level (too many error frames)
Error control
A guard event (NMT-slave or NMT-master) or a heartbeat event
event
(heartbeat consumer) has occurred
Sync error
The sync message has not been received within the configured
communication cycle period time out (see object dictionary entry
1006h)
Quadruple
Event-timer
An expected PDO has not beenreceived before the event-timer
flash
error
elapsed
On
Bus off
The CAN controller is bus off
Tab.4: CAN Error LED states
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2.2 Installation of Connector and Cable encoders
The new OCD-II-encoders with cable or connector exit fulfil all connection cap features, like:

Node Number Addressing

Baud Rate Setting

Terminal Resistor
2.2.1 Signal Assignment
The POSITAL absolute rotary with cable- and connector-exit were designed in accordance to CiA
normative DR303-1 cabeling and connector pin assignment.
Signal
5 pin round connector
9 pin D-Sub connector open cable
pin number (male / female)
pin number
Signal
Pin
Pin
CAN Ground
1
3
green
24 V supply voltage
2
9
white
0 V supply voltage
3
6
brown
CAN High
4
7
yellow
CAN Low
5
2
pink
Tab.5 Signal Assignment Connector / Cable
5 pin M12 connector female/male
3
4
4
1
1
5
2
9 pin D-Sub-connector
3
5
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CANOPEN
2.2.2 Setting Node Number
If the device has a connector, a cable exit or the
node number span from 1 to 127 can be
BCD-rotary-switch in the connection cap is set to
addressed. The default node number is 32. To
“9”, the node number has to be set via SDO
set node number object 3000h has to be written.
objects. An advantage of setting the node
For further information regard chapter 5.5 Object
number via software is that the whole CANopen
Dictionary.
Object 3000h: Node Number
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Node Number
Unsigned 8
1Fh
rw
Yes
NOTE: To avoid the node number 0, one will be added to the value of this object!
E.g.: 1Fh+1h = 20h = 32 (dec)
Setting Node Number via LSS
If the device has a connector, a cable exit or the
Setting Services (LSS). For further information
BCD-rotary-switch in the connection cap is set to
regard chapter 4.5
“9”, the node number can be adjusted via Layer
2.2.3 Setting Baud Rate
If the device has a connector, a cable exit or the
Baudrate in kBit/s Byte
BCD-rotary-switch in the connection cap is set to
20
00h
“9”, the baud rate has to be adjusted via SDO
50
01h
objects. The default baud rate is 20 kBaud. To
100
02h
set baud rate object 3001h has to be written. For
125
03h
further information please regard chapter 5.5
250
04h
Object Dictionary.
500
05h
800
06h
1000
07h
Eight different baud rates are provided. To
adjust the baud rate only one byte is used.
Object 3001h: Baudrate
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Baudrate
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yes
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ABSOLUTE IXARC ROTARY ENCODER
CANOPEN
Setting Baud Rate via LSS
If the device has a connector, a cable exit or the
Setting Services (LSS). The default baud rate is
BCD-rotary-switch in the connection cap is set to
20 kBaud. For further information regard chapter
“9”, the node number can be adjusted via Layer
4.5.
2.2.4 Switching the integrated Bus Terminal Resistor
Object 3002h: Terminal Resistor
This object allows the control of an internal terminal resistor. This resistor can be switched galvanically
isolated via an a Photo-MOS-relay.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Terminal resistor
BOOL
0h
rw
yes
If an encoder with connector or cable is used,
last device in the bus, the user can set object
there is the possibility to set a termination
3002h to “one” and the internal termination will
resistor inside the encoder. If the encoder is the
be
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switched
on.
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ABSOLUTE IXARC ROTARY ENCODER
CANOPEN
3. Technical Data
In the following section you will find general
several version with slightly different technical
technical
datas.
datas
for
OCD
absolute
rotary
encoders with CANopen interface. There are
For
details
please
refer
to
the
corresponding datasheet of the used encoder
Electrical Data
Interface
Transceiver according ISO 11898,
galvanically isolated by opto-couplers
Transmission rate
max. 1 MBaud
Device addressing
Adjustable by rotary switches in connection cap
Supply voltage
10 – 30* V DC (absolute limits)
Current consumption
max. 230 mA with 10 V DC, max. 100 mA with 24 V DC
Power consumption
max. 2.5 Watts
Step frequency LSB
800 kHz
Accuracy of division
 ½ LSB (12 bit), ± 2 LSB (16 bit)
EMC
Emitted interference:
EN 61000-6-4
Noise immunity:
EN 61000-6-2
5
Electrical lifetime
> 10 h
*Absolute rotary encoders should be connected only to subsequent electronics whose power supplies comply with EN
50178 (protective low voltage)
Tab. 6 Electrical Data
Mechanical Data
Flange
Synchro (S)
Clamp (C)
Hollow shaft
Blind Hollow shaft
(B)
(T)
12 mm
Shaft diameter
6 mm
10 mm
10 mm
15 mm
Shaft length
10 mm
20mm
20 mm
-
-
-
-
15 mm / 30 mm
hollow shaft depth min. / max.
15 mm / -
Tab. 7 Further mechanical data
Housing
Aluminium, optional stainless steel
Lifetime
Dependent on shaft version and shaft loading – refer to table
Max. shaft loading
Axial 40 N, radial 110 N
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CANOPEN
Inertia of rotor
 30 gcm
Friction torque
 3 Ncm (without shaft sealing)
RPM (continuous operation)
Singleturn:
max. 12,000 RPM
Multiturn:
max. 6,000 RPM
2
Shock (EN 60068-2-27)
 100 g (half sine, 6 ms)
Permanent shock (EN 60028-2-29)
 10 g (half sine, 16 ms)
Vibration (EN 60068-2-6)
 10 g (10 Hz ... 1,000 Hz)
Weight (standard version)
Singleturn:
 300 g
Multiturn:
 400 g
Singleturn:
 500 g
Multiturn:
 700 g
Singleturn:
 400 g
Multiturn:
 500 g
Weight (with connection cap)
Weight (stainless steel version)
Weight (stainless steel version with Singleturn:
 1,100 g
connection cap)
 1,200 g
Multiturn:
Tab. 8 Further mechanical data
Minimum Mechanical Lifetime
8
Flange
Lifetime in 10 revolutions with Fa / Fr
40 N / 60 N
40 N / 80 N
40 N / 110 N
C10 (Clamp flange 10 x 20)
247
104
40
S10 (Synchro flange 10 x 20)
262
110
42
S6 (Synchro flange 6 x 10) without shaft sealing
822
347
133
Tab. 9 Mechanical Lifetime
S6 (Synchro flange 6 x 10) with shaft sealing: max. 20 N axial, 80 N radial
Environmental Conditions
Operating temperature
- 40 .. +85°C
Storage temperature
- 40 .. + 85 °C
Humidity
98 % (without liquid state)
Protection class (EN 60529)
Casing side: IP 65
Shaft side: IP 64 (optional with shaft sealing: IP66)
Tab. 10 Environmental Conditions
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4. Configuration
The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with
CANopen interface.
4.1 Operating Modes
4.1.1 General
The encoder accesses the CAN network after
preoperational
powerup in pre-operational mode:
entails reduced activity on the network, which
mode.
Pre-operational
mode
BootUp Message: 700 hex + Node Number
simplifies the checking of the accuracy of the
sent/received SDOs. It is not possible to send or
It is recommended that the parameters can be
receive
PDOs
in
pre-operational
mode.
changed by the user when the encoder is in
4.1.2 Mode: Preoperational
To set a node to pre-operational 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 (Index 0) or a single node (Index NN) to pre-operational mode. The preoperational mode can be used for configuration purposes, in this state no Proces Data Objects (PDOs) can
be sent by the encoder.
4.1.3 Mode: Start - Operational
To put one or all nodes in the operational state, the master have to 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 (Index 0) or a single node (Index NN) to operational mode. This mode is used
for normal operation and the encoder can provide the position value as PDO.
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4.1.4 Mode: Stopped
To put one or all nodes in the stopped state, the master have to 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 (Index 0) or a single node (Index NN) to stop mode.
4.1.2 Reinitialization of the Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
NN
Command
Index
Description
0h
82 h
00
Reset Communication
0h
81 h
NN
Reset Node
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode.
After reinitialization, the encoder accesses the bus in pre-operational mode.
4.2 Normal Operating
Polled Mode
By a remote-transmission-request telegram the connected host calls for the current
process value. The encoder reads the current position value, calculates eventually setparameters and sends back the obtained process value by the same identifier.
Cyclic Mode
The encoder transmits cyclically - without being called by the host - the current process
value. The cycle time can be programmed in milliseconds for values between 1 ms and
65536 ms.
Sync Mode
After receiving a sync telegram by the host, the encoder answers with the current
process value. If more than one node number (encoder) shall answer after receiving a
sync telegram, the answer telegrams of the nodes will be received by the host in order
of their node numbers. The programming of an offset-time is not necessary. If a node
should not answer after each sync telegram on the CAN network, the parameter sync
counter can be programmed to skip a certain number of sync telegrams before
answering again.
Tab. 11 CAN Transmission Mode Description
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4.3 Storing Parameter
4.3.1 List of storable Parameter
Object Index
Object Description
1005h
COB-ID Sync
100Ch
Guard Time
100Dh
Life Time Factor
1016h
Consumer Heartbeat Time
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
3001h
Baud rate
3002h
Terminal Resistor
3030h
C2-C5-Behavior
6000h
Operating Parameter
6001h
Steps per Revolution
6002h
Total Resolution
6003h
Preset Value
6200h
Cyclic Timer
Tab. 12 List of Storable Parameters
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4.3.1 Storing Procedure
The parameter settings can be stored in a non-
by the parameter memory transfer.
2
volatile E PROM. The parameter settings are
The stored parameters are copied
stored in RAM when being programmed. When
after a RESET (Power on, NMT-
all the parameters are set and proved, they can
Reset) from the E PROM to the RAM (volatile
2
be transferred in one burn cycle to the E PROM
2
memory).
Storing without Reset
By
using
the
object
1010h
from
the
communication profile related object dictionary
you can store the parameters into the nonvolatile
memory
without
a
reset.
Storing with Reset
By using the object 2300h from the manufacturer
storing the parameters a reset of the device is
specific object dictionary you can store the
performed.
parameters into the non-volatile memory. After
4.4 Restoring Parameters
The default parameters can be restored by using
parameter the following telegram is used. The
the object 1011h from communication profile
restored parameters are equal for every type of
related object dictionary. The already in the non-
CANopen encoder and might not fit with the
volatile memory programmed parameters are
status after delivery. Please check the restored
not overwritten. Only after a new store command
parameters before you store them to the non-
the default parameters are stored in the non-
volatile memory.
volatile
memory.
To
restore
the
default
4.5 Usage of Layer Setting Services (LSS)
The
integrated
Service
slave capability by a CANopen device with LSS
functionality is designed according to the CiA
master capability via the CAN network. In case
normative DS305V200 CANopen Layer Setting
of the OCD-II-series, the encoder will be the LSS
Service: General Description:
slave device and the PLC (control) has to
These services and protocols can be used to
support LSS master device functionality. The
inquire
several
LSS-functionality of the OCD-II-series is limited
parameters of the physical, data link layer, and
to the following parameters of the application
application layer on a CANopen device with LSS
layer, namely node number and baud rate.
or
to
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Object 1018h: Identity Object (LSS-address)
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of entries
Unsigned 8
4
ro
no
1
Vendor ID
Unsigned 32
42h
ro
no
2
Product Code
Unsigned 32
43h 41h
ro
no
3
Revision Number
Unsigned 32
10000h
ro
no
4
Serial Number
Unsigned 32
ro
no
Tab. 13: Identity Object
The LSS master device requests services that
Table 10. After receiving this information the
are performed by the encoder (LSS slave
control can unequivocally identify the encoder
devices). The LSS master device requests the
and the node number and baud rate can be set.
LSS address from the LSS slave device. The
The exact procedure varies in detail, coursed by
LSS address is defined in object 1018h Identity
the different PLC tools.
Object - it consists of vendor-id, product-code,
revision-number and serial-number as shown in
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5. Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org)
Command
Function
Telegram
Description
22h
Domain Download
Request
Parameter to Encoderr
23h, 27h, 2Bh, 2Fh (*)
Domain Download
Request
60h
Domain Download
Confirmation
Parameter received
40h
Domain Upload
Request
Parameter request
43h, 47h, 4Bh, 4Fh (*)
Domain Upload
Reply
80 h
Warning
Reply
Parameter to Encoder (Bytes
indicated)
Parameter to Master (Bytes
indicated)
Transmission error
(*)The value of the command byte depends on the data length of the called parameter.
Tab. 14 General Command Byte Description
Command
Data length
Data type
Command
Data length
Data type
43h
4 Byte
Unsigned 32
23h
4 Byte
Unsigned 32
47h
3 Byte
Unsigned 24
27h
3 Byte
Unsigned 24
4Bh
2 Byte
Unsigned 16
2Bh
2 Byte
Unsigned 16
4Fh
1 Byte
Unsigned 8
2Fh
1 Byte
Unsigned 8
Tab. 15 Detailed Command Byte Description
Object Dictionary
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The data transmission according to CAL is realized
Index (hex)
Object
exclusively by object oriented data messages. The
0000
not used
objects are classified in groups by an index record.
0001-001F
Static Data Types
Each index entry can be subdivided by sub-indices.
0020-003F
Complex Data Types
0040-005F
Manufacturer Specific Data Types
0060-0FFF
Reserved for further use
1000-1FFF
Communication Profile Area
2000-5FFF
Manufacturer Specific Profile Area
6000-9FFF
Standardized Device Profile Area
A000-FFFF
Reserved for further use
The overall layout of the standard object dictionary is
shown beside:
Tab. 16 Overview Object Dictionary
5.1 Programming example: Preset Value
If a CANopen device is connected and configured by the turning switches with the right baudrate and also
configured to a unused node number, it will start up into the pre-operational mode and send a bootup
massage to the master. The RUN LED of the device is now blinking.
5.1.1 Set Encoder Preset Value
Master to Encoder with Node Number 1
Setting Preset Value (Value 1000)
Identifier
DLC
NN 1
601
8
Command
Index
Subindex
Download
6003h
22
03
Command
Index
Download
6003h
43
03
60
Service/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
10
00
00
Subindex
Service/Process data
Answer of the Encoder
Identifier
DLC
NN 1
581
8
60
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
00
Subindex
Service/Process data
Read Preset Value from the Encoder
Identifier
DLC
NN 1
601
8
Command
Index
Download
6003h
40
03
60
00
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
Answer of the Encoder
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Identifier
DLC
NN 1
581
8
Command
Index
Subindex
Download
6003h
43
03
Command
Index
Download
1010h
22
10
60
Service/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
10
00
00
Subindex
Service/Process data
Save Preset Values
Identifier
DLC
NN 1
601
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10
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Byte 4
Byte 5
Byte 6
Byte 7
73
61
76
65
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ABSOLUTE IXARC ROTARY ENCODER
CANOPEN
5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh
In this manual we refer to the communication profile DS301 V4.02
Object Description
Page
Page
Hand-
DS301
Page
DS406
Book
1000h
Device type
22
86
8
1001h
Error register
22
87
8
1003h
Pre-defined error field
22
88
1005h
COB-ID SYNC-message
23
89
1006h
ComCyclePeriode
23
90
1008h
Device name
24
91
1009h
Hardware version
24
91
100Ah
Software version
24
91
100Ch Guard Time
24
92
100Dh Life Time Factor
24
92
1010h
Store parameters
25
92
1011h
Restore default parameters
25
94
1012h
COB-ID Time Stamp
26
97
1013h
High Resolution Time Stamp
26
98
1014h
COB-ID Emergency
26
98
1016h
Consumer Heartbeat Time
26
100
1017h
Producer Heartbeat Time
27
101
1018h
Identity Object
27
101
1020h
Verify Configuration
117
1029h
Error Behaviour
133
9
1800h
Communication parameter PDO 1
28
111
9
1801h
Communication parameter PDO 2
28
111
11
1A00h
Transmit PDO1 Mapping Parameter
30
112
11
1A01h
Transmit PDO2 Mapping Parameter
30
112
12
1F50h
Download Program Area
1F51h
Program Control
Tab. 17 Object Dictionary 1000h-1FFFh
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5.3 Manufacturer specific objects 2000h – 5FFFh
Object Description
Page
Hand-Book
2000h
Position Value
31
2100h
Operating Parameters
31
2101h
Resolution per Revolution
31
2102h
Total Resolution
33
2103h
Preset Value
34
2104h
Limit Switch, min.
34
2105h
Limit Switch, max.
33
2160h
Customer Storage
35
2200h
Cyclic Timer
35
2300h
Save Parameter with reset
35
3000h
Node Number
36
3001h
Baudrate
36
3010h
Speed Control
37
3011h
Speed Value
37
3020h
Acceleration Control
37
3021h
Acceleration Value
37
4000h
Bootloader Control
38
Tab. 18 Object Dictionary 2000-5FFF
5.4 Application specific objects 6000h – 67FEh
In this manual we refer to the communication profile DS406 V3.2
Object Description
Page
Hand-Book
Page
DS406
6000h
Operating Parameters
38
17
6001h
Measuring units per revolution
38
18
6002h
Total measuring range in measuring units
39
19
6003h
Preset value
39
19
6004h
Position Value
40
20
6030h
Speed Value
40
25
6040h
Acceleration Value
40
26
6200h
Cyclic Timer
40
28
6300h
Cam state register
40
30
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6301h
Cam enable register
41
32
6302h
Cam polarity register
41
33
6400h
Area state register
44
6401h
Work area low limit
44
6402h
Work area high limit
44
6500h
Operating status
45
63
6501h
Singleturn resolution
45
64
6502h
Number of distinguishable revolutions
45
65
6503h
Alarms
46
65
6504h
Supported alarms
46
66
6505h
Warnings
47
67
6506h
Supported warnings
47
68
6507h
Profile and software version
48
69
6508h
Operating time
48
70
6509h
Offset value
49
70
650Ah
Module identification
49
71
650Bh
Serial number
49
72
Tab. 19 Object Dictionary 6000h-6FFFh
5.5 Object Descriptions
In the following chapter you will find detailed information of the object dictionary related to the encoder
device.
Object 1000h: Device Type
The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit field
which describes the device profile that is used and a second 16-bit field which gives additional information
about optional functionality of the device. The additional information parameter is device profile specific.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
N/A
ro
no
OCD absolute rotary encoder singleturn: 10196h
OCD absolute rotary encoder multiturn: 20196h
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Object 1001h: Error Register
This object is used by the device to display internal faults. When a fault is detected, the corresponding bit
is therefore activated.
The following errors are supported:
Bit
Description
Comments
0
Generic Error
The generic error is signaled at any error situation.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
-
Unsigned 8
N/A
ro
no
Object 1003h: Pre-Defined Error Field
The object holds the errors that have occurred on the device and have been signaled via the Emergency
Object.

The error code is located in the least significant word

Additional Information is located in the most significant word

Subindex 0 contains the number of recorded errors
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of recorded errors
Unsigned 8
0
rw
no
1
Most recent errors
Unsigned 32
-
ro
no
2
Second to last error
Unsigned 32
-
ro
no
…
10
Clearing Error Log
The error log can be cleared by writing 0 to subindex 0 of object 1003.
Object 1005h: COB-ID Sync
This object contains the synchronization message identifier.
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Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
80000080h
rw
no
Data Type
Default Value
Access
Restore after
Object 1008h: Manufacturer Device Name
This object contains the device name.
Subindex
Description
BootUp
0
-
String
-
ro
no
Default Value
Access
Restore after
Object 1009h: Manufacturer Hardware Version
This object contains the article name of the circuit board.
Subindex
Description
Data Type
BootUp
0
-
String
-
ro
no
There are two actual versions of circuit boards for OCD:

POS026
Object 100Ah: Manufacturer Software Version
This object contains the manufacturer software version. The new encoder line 2008 starts with version
4.00.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
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String
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4.00
ro
no
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CANOPEN
Object 100Ch: Guard Time
This object contains the guard time in milliseconds.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 16
0
rw
yes
Object 100Dh: Life Time Factor
This object contains the life time factor parameters. The life time factor multiplied with the guard time gives
the life time for the node guarding protocol.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 8
0
rw
yes
Object 1010h: Store Parameters
This object is used to store device and CANopen related parameters to non volatile memory.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
no
1
Store all parameters
Unsigned 32
“save”
rw
no
Storing procedure
To save the parameters to non volatile memory the access signature “save” has to be sent to the
corresponding subindex of the device.
Most significant word Least significant word
ASCII
E
v
a
s
Hex value
65h
76h
61h
73h
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Object 1011h: Restore Parameters
This object is used to restore device and CANopen related parameters to factory settings.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
no
1
Restore all parameters
Unsigned 32
“load”
rw
no
Storing procedure
To save the parameters to non volatile memory the access signature “load” has to be sent to the
corresponding subindex of the device.
Most significant word Least significant word
ASCII
D
a
o
l
Hex value
64h
61h
6Fh
6Ch
Note: The restoration of parameters will only be taken into account after a power up or reset command.
Please check all parameters before you store them to the non volatile memory.
Object 1012h: COB-ID Time Stamp Object
This object contains the COB-ID of the Time Stamp object.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
100h
rw
no
Default Value
Access
Restore after
Object 1013h: High Resolution Time Stamp
This object contains a time stamp with a resolution of 1µs.
Subindex
Description
Data Type
BootUp
0
-
Version 20130328
Unsigned 32
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0
rw
no
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Object 1014h: COB-ID Emergency Object
This object contains the EMCY emergency message identifier.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
80h + Node ID
rw
no
Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only
monitor one corresponding device. If the time is set to 0 the monitoring is not active. The value of this
object must be higher than the corresponding time (object 1017) of the monitored device.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of indices
Unsigned 8
1
ro
no
1h
Consumer heartbeat time
Unsigned 32
0
rw
yes
The context of subindex 1 is as follows:
Bit
31 to 24
23 to 16
15 to 0
Value
0h (reserved)
Address of monitored Monitoring time (ms
device
Object 1017h: Producer Heartbeat Time
The object contains the time intervall in milliseconds in which the device has to produce the a heartbeat
message.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
-
Version 20130328
Unsigned 16
UME-OCD-CA
0
rw
yes
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Object 1018h: Identity Object
This object contains the device information. For further information, please see chapter 4.5 Layer Setting
Services.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of entries
Unsigned 8
4
ro
no
1h
Vendor ID
Unsigned 32
42h
ro
no
2h
Product Code
Unsigned 32
43h 41h
ro
no
3h
Revision Number
Unsigned 32
10000h
ro
no
4h
Serial Number
Unsigned 32
ro
no
Access
Restore after
Object 1020h: Verify configuration
This object indicates the downloaded configuration date and time.
Subindex
Description
Data Type
Default Value
BootUp
0h
Number of entries
Unsigned 8
1h
Configuration date
2h
Configuration time
2h
ro
no
Unsigned 32
rw
no
Unsigned 32
rw
no
Access
Restore after
Object 1029h: Error behaviour
This object indicates the error behavior.
Subindex
Description
Data Type
Default Value
BootUp
0h
Number of entries
Unsigned 8
1h
Communication error
Unsigned 8
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rw
no
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st
Object 1800h: 1 TPDO Communication Parameter
st
This object contains the communication parameter of the 1 transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
5
ro
yes
1
COB-ID
Unsigned 32
180h + Node ID
rw
yes
2
Transmission Mode
Unsigned 8
FE
rw
yes
3
Inhibit Time
Unsigned 32
0
rw
yes
4
Not available
5
Event Timer
Unsigned 32
64h or 0
rw
yes
Object 1801h: 2
nd
TPDO Communication Parameter
This object contains the communication parameter of the 2
nd
transmit PDO. NOTE: In the older encoder
line C2 and C5 the second PDO was configured via object 1802!
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
5
ro
yes
1
COB-ID
Unsigned 32
280h + Node ID
rw
yes
2
Transmission Mode
Unsigned 8
1
rw
yes
3
Inhibit Time
Unsigned 32
0
rw
yes
4
Not available
5
Event Timer
Unsigned 32
0
rw
yes
Transmission Mode
The transmission mode can be configured as described below:
Transmission Mode
Transfer
Value
Cyclic
Acyclic
(decimal)
0
X
1-240
241-251
X
Synchro
Asynchr
RTR
nous
onous
only
Notes
Send
X
PDO on
first
Sync message
following an event
X
Send PDO every x Sync messages
reserved
252
Version 20130328
X
X
UME-OCD-CA
Receive SYNC message and send PDO
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ABSOLUTE IXARC ROTARY ENCODER
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on Remote Request
253
X
Update data and send PDO on Remote
Request
254
X
Send PDO on event
255
X
Send PDO on event
Inhibit Time
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 and 255), to avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and 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 transmit PDO is always sent after the "event timer" expires. The value is written in subindex
5 of a transmit PDO. The data transfer also takes place with no change to data. The range is between 165536 ms.
st
Object 1A00h: 1 TPDO Mapping Parameter
st
This object contains the mapping parameter of the 1 transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
yes
1
1st mapped object
Unsigned 32
60040020h
rw
yes
Access
Restore after
Object 1A01h: 2
nd
TPDO Mapping Parameter
This object contains the mapping parameter of the 2
Subindex
Description
nd
transmit PDO.
Data Type
Default Value
BootUp
0
1
Number of sub indices
2
Version 20130328
nd
mapped object
Unsigned 8
2
ro
yes
Unsigned 32
60040020h
rw
yes
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Object 1F50h: Download Program Area
This is a special bootloader object that has functionality for singleturn encoders without connection cap
only. (see Bootloader chapter)
Use this entry to download your Intel hex file with the programming data. Detailed information about
Domain download and Block transfer in CiA Draft Standard 301 Application Layer and communication
Profile.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
1h
Unsigned 8
2h
DOMAIN
ro
Yes
wo
yes
Object 1F51h: Program Control
This is a special bootloader object that has functionality for single turn encoders without connection cap
only (see Bootloader chapter).
This array controls the programs residing at index 0x1F50.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of program control Unsigned 8
entries
1h
2h
Unsigned 32
ro
yes
rw
yes
Sub-index 1h and higher control the memory block functionality. They can have the following values:
for writing:
1 - start downloaded program
4 - erase flash
Object 2000h: Position Value
This object contains the position value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Position Value
Version 20130328
Unsigned 32
UME-OCD-CA
-
ro
n.a.
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Object 2100h: Operating Parameters
As operating parameters the code sequence (Complement) can be selected and the limit switches can be
turned on or off.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Operating Parameters
Unsigned 8
0h
rw
yes
The parameter code sequence (Complement) determines the counting direction, in which the output
process value increases or decreases (CW = Clockwise, CCW = Counterclockwise). The code sequence
is determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min. and Max. can be turned on
or off in Index 2100h. Optional an event triggered PDO can be activated. Remark: This function produces a
PDO with every change of the position value. Due to this, there will be generated a large amount of PDOs
and a heavy bus load.
Bit 0
Code
Code
Bit 1
sequence
Limit switch, Bit 2
Limit
min.
max.
switch, Bit 3
Event
triggered
PDO
0
CW
increasing
0
off
0
off
0
off
1
CCW
increasing
1
on
1
on
1
on
Calculation Example: Target: Absolute rotary encoder with direction CCW decreasing, both limit switches
disabled and event-triggered PDOs enabled.
Bitmatrix:
Bit 0 = 1
Direction decreasing (CCW)
Bit 1 = 0
Limit switch min. disabled
Bit 2 = 0
Limit switch max. disabled
Bit 3 = 1
Event triggered
Result = 1001h
Object 2101h: Resolution per Revolution
This object contains the desired steps per revolution of the encoder.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Resolution per Revolution
Version 20130328
Unsigned 32
UME-OCD-CA
see type sign
rw
yes
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ABSOLUTE IXARC ROTARY ENCODER
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If the desired value exceeds the hardware resolution of the encoder, the code will not be transmitted
stepwise. So it is important, to keep the parameter in the possible value range.
Object 2102h: Total Resolution
This object contains the desired total resolution of the encoder.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Total Resolution
Unsigned 32
see type sign
rw
yes
This parameter is used to program the desired number of measuring units over the total measuring range.
This value must not exceed the total resolution of the absolute rotary encoder, which is printed on the type
sign of the encoder.
Attention:
Following formula letter will be used:
PGA
Physical total resolution of the encoder
(see type sign)
PAU
Physical resolution per revolution
(see type sign)
GA
Total resolution
(customer parameter)
AU
Resolution per revolution
(customer parameter)
Please use the following formula to calculate the total resolution of the encoder:
If the desired resolution per revolution is less than the really physical resolution per revolution of the
encoder, then the total resolution must be entered as follows:
Total resolution:
Calculation example:
Customer handicap: AU = 2048
Encoder type sign:
PGA=24 bit, PAU=12bit
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Object 2103h: Preset Value
The preset value is the desired position value, which should be reached at a certain physical position of
the axis. The position value is set to the desired process value by the parameter preset. The preset value
must not exceed the parameter total resolution to avoid run-time errors. If the parameter value exceeds the
total resolution of the encoder a SDO “Out of range” message is generated.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Preset Value
Unsigned 32
0
rw
yes
Object 2104h: Limit Switch, min.
Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit
process value is set to high. Both programmed values must not exceed the parameter total resolution to
avoid run-time errors. If the parameter value exceeds the total resolution of the encoder a SDO “Out of
range” message is generated.
Bit 30 = 1:
Limit Switch, Min. reached or passed under
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Limit Switch, min.
Unsigned 32
0
rw
yes
The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value reaches or passes
under the value of the limit switch:
Status
Function bits
Bit
Process value
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0
1
X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
Object 2105h: Limit Switch, max.
Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit
process value is set to high. Both programmed values must not exceed the parameter total resolution to
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avoid run-time errors. If the parameter value exceeds the total resolution of the encoder a SDO “Out of
range” message is generated.
Bit 31 = 1:
Limit Switch, Max. reached or passed beyond
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Limit Switch, max.
Unsigned 32
0
rw
yes
The limit switch, max sets Bit 31=1 with the next message telegram, if the process value reaches or
passes under the value of the limit switch:
Status
Function bits
Bit
Process value
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1
0
X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
Object 2160h: Customer storage
This object provides for the customer the possibility to store any value. Attention: The values, written to
these objects, will be stored in volatile memory, only.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
4h
ro
1h
Customer Storage1
Unsigned 32
rw
2h
Customer Storage2
Unsigned 32
rw
3h
Customer Storage3
Unsigned 32
rw
4h
Customer Storage4
Unsigned 32
rw
Object 2200h: Cyclic Timer PDO
This object contains cyclic time of the event timer in ms (of PDO 1).
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Event Time in ms
Version 20130328
Unsigned 16
UME-OCD-CA
0h
ro
yes
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The object 2200h is hard-wired to the objects 1800h subindex 5h and 6200h and provide the cycle time for
the cyclic mode. (See chapter Cycle Time and Event Timer)
Object 2300h: Save Parameter with Reset
With this object all parameters can be stored in the non volatile memory. After storing the parameters a
reset is executed.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Access code
Unsigned 32
55AAAA55h
wo
no
Object 3000h: Node Number
This object contains the node number of the device. The POSITAL standard node number is 32.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Node Number
Unsigned 8
1Fh
rw
Yes
Access
Restore after
NOTE: To avoid the node number 0, one will be added to the value of this object!
E.g.: 1Fh+1h = 20h = 32 (dec)
Object 3001h: Baudrate
This object contains the baudrate of the device.
Subindex
Description
Data Type
Default Value
BootUp
0
Baudrate
Unsigned 8
-
rw
yes
Eight different baud rates are provided. To adjust the baud rate only one byte is used.
Baudrate in kBit/s
Byte
20
00h
50
01h
100
02h
125
03h
250
04h
500
05h
800
06h
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1000
07h
Object 3002h: Terminal Resistor
This object allows the control of an internal terminal resistor. This resistor can be switched galvanically
isolated via a Photo-MOS-relay.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Terminal resistor
BOOL
0h
rw
yes
Object 3010h: Speed Control
This object contains the speed control. The speed measurement is disabled by default.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
2h
ro
1h
Enable Speed
Unsigned 8
0h
rw
yes
2h
Speed modus
Unsigned 8
0h
rw
yes
Data Type
Default Value
Access
Restore after
Object 3011h: Speed Value
This object contains speed value.
Subindex
Description
BootUp
0h
Speed value
INTEGER32
romap
no
Speed-modus setting
Delay [msec]
Accuracy [steps/sec], relative
0
5
+/-32; 3.5%
1
50
+/-16; 1.0%
2
500
+/-8; 0.3%
Tab. 20 Delay and accuracy
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Object 3020h: Acceleration Control
This object contains the acceleration control. The acceleration measurement is disabled by default.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
2h
Ro
1h
Enable Acceleration
Unsigned 8
0h
rw
Yes
2h
Acceleration modus
Unsigned 8
0h
rw
yes
Data Type
Default Value
Access
Restore after
Object 3021h: Acceleration Value
This object contains acceleration value.
Subindex
Description
BootUp
0h
Acceleration Value
INTEGER32
romap
Acceleration-modus setting
Delay [msec]
Accuracy [steps/sec²]
0
40
+/-1’024
1
120
+/-512
2
750
+/-128
Tab. 21 Delay and accuracy
Object 3030h: C2-C5-Behavior
This object allows to switch back in an backward compatibility mode. To switch back the security code
“47111147h“ has to be written to Subindex 0h. After this the Subindex 1h Enable C2-C5-Behavior can be
written to ONE. This modus should only be used for fully compatible replacement of C2- or C5-encoders.
For further information, concerning compatibility, have a look at Apendix B
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Security code
Unsigned 32
47111147h
ro
1h
Enable C2-C5-Behavior
BOOL
0h
rw
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Object 4000h: Bootloader Control
This object controls the Bootloader functionality. Writing the security code to this object causes erasing the
EEPROM and application information in the flash memory and resets the device. After a power-up, the
Bootloader checks the user application and detects no more information. The Bootloader starts up with a
pre-defined CANopen node ID of 1 (0x1) and a fixed CAN baud rate of 125 kbits.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Bootloader Control
Unsigned32
wo
ATTENTION:
Activating the boot loader courses a deep reset of the device. If the encoder enters boot loader mode, only
a minimum object amount will remain, to assure basic communication. The device does not behave like an
encoder anymore and waits for new programming.
Firmware updates have to be done in close cooperation with the CAN product manager of POSITAL.
Object 6000h: Operating parameters
This object shall indicate the functions for code sequence, commissioning diagnostic control
and scaling function control.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Operating Parameter
Unsigned 16
0h
rw
yes
Code sequence: The code sequence defines, whether increasing or decreasing position values are output,
in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the
shaft.
Scaling function control: With the scaling function the encoder numerical value is converted in software to
change the physical resolution of the encoder. The measuring units per revolution (object 6001h) and total
measuring range in measuring units (object 6002h) are the scaling parameters. The scaling function bit is
set in the operating parameters. If the scaling function bit is set to zero, the scaling function is disabled.
Bit structure for the operating parameters
Bit
15
14
Version 20130328
13
12
11
10
9
8
7
UME-OCD-CA
6
5
4
3
2
1
0
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ABSOLUTE IXARC ROTARY ENCODER
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Use
MS
MS
MS
MS
R
R
R
R
R
R
R
R
MD
SFC CD
CS
Table Description:
MS:
Manufacturer Specific Function (not available)
R:
Reserved for future use
MD:
Measuring direction (not available)
SFC:
Scaling function (0 = disable, 1 = enable)
CD:
Commissioning diagnostic control (not availabe)
CS:
Code sequence (0 = CW, 1 = CCW)
Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h.
Object 6001h: Measuring units per revolution
This object shall indicate the number of distinguishable steps per revolution.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Measuring units per revolution
Unsigned 32
see type sign
rw
yes
Hardwired with 2101h.
Object 6002h: Total measuring range in measuring units
This object shall indicate the number of distinguishable steps over the total measuring range.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Total measuring steps
Unsigned 32
see type sign
rw
yes
Access
Restore after
Object 6003h: Preset value
This object indicates the preset value for the output position value
Subindex
Description
Data Type
Default Value
BootUp
0h
Preset Value
Unsigned 32
0h
rw
yes
Object 6004h: Position value
This object contains the process value of the encoder.
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Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Process Value
Unsigned 32
-
romap
yes
Default Value
Access
Restore after
Hardwired with Object 2000h.
Object 6030h: Speed Value
This object contains the speed value of the encoder.
Subindex
Description
Data Type
BootUp
0h
Number of sub indices
Unsigned 8
1h
ro
1h
Speed value channel1
Integer 16
-
romap
yes
If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.
The customer can use the 3010h (32 bit) object.
How to map the speed into TPDO2:
(Hint: SDO: 0x600 + Node number. The following values are all in hex and the Nodenumber is "1" DLC
(Data length) = 8 , 22 means "write", This example is written in intel-format (LSB...MSB). Depending on
your tool, it could be, that the Motorola-format (MSB..LSB) is used and the direction of the Bytes has to be
changed.)
1. The TPDO2 has to be enabled by setting the Transmission type (1801Sub2) to FE:
601 8 22 01 18 02 FE 00 00 00
2. The Event Timer has to be changed from 0x00 to the desired value (e.g.: 100 ms --> 0x64)
601 8 22 01 18 05 64 00 00 00
3. The TPDO mapping Parameter 0 (1A01) has to be dissabled, by setting the Number of entries
(1A01Sub0) to 0:
601 8 22 01 1A 00 00 00 00 00
4. Then the dissabled TPDO mapping Parameter 0 Subindex 1, namely mappedObj1, can be written. The
Speed values is Object 6030Sub1 and the data length is 16Bit --> 10:
601 8 22 01 1A 01 10 01 30 60
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5. The TPDO mapping Parameter 0 (1A01) has to be enabled, by setting the Number of entries
(1A01Sub0) to 1, again:
601 8 22 01 1A 00 01 00 00 00
6. Finally the Speed has to be enabled by setting "Enable Speed" (3010Sub1):
601 8 22 10 30 01 01 00 00 00
7. To save this configuration please write 73 61 76 65 to 1010:
601 8 22 10 10 01 73 61 76 65
8. Send the NMT-message, to get into "Operational Mode":
00 2 01 00
Summarisation:
601 8 22 01 18 02 FE 00 00 00
601 8 22 01 18 05 64 00 00 00
601 8 22 01 1A 00 00 00 00 00
601 8 22 01 1A 01 10 01 30 60
601 8 22 01 1A 00 01 00 00 00
601 8 22 10 30 01 01 00 00 00
601 8 22 10 10 01 73 61 76 65
00 2 01 00
Object 6040h: Acceleration Value
This object contains the acceleration value of the encoder.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
1h
ro
1h
Acceleration value channel1
Integer 16
-
romap
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Object 6200h: Cyclic timer
This object contains the value of the event timer of the corresponding TPDOs. The value can be changed
between 1-65538 ms.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Cyclic Time
Unsigned 16
64h
rw
yes
The object 6200h is hard-wired to the objects 1800h (subindex 5h and 2200h) and provides the cycle time
for the cyclic mode. (See chapter Cycle Time and Event Timer)
Object 6300h: Cam state register
This object contains the cam state register. The subindices 1h to FEh containing the cam state of channel
1 to 254.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
1h
ro
1h
Cam state channel 1
Unsigned 8
4h
romap
yes
Data Type
Default Value
Access
Restore after
Object 6301h: Cam enable register
This object contains the cam enable register
Subindex
Description
BootUp
0h
Number of sub indices
Unsigned 8
1h
Cam enable channel 1
Unsigned 8
1h
ro
rw
yes
Access
Restore after
Object 6302h: Cam polarity register
This object contains the cam enable register
Subindex
Description
Data Type
Default Value
BootUp
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0h
Number of sub indices
Unsigned 8
1h
ro
1h
Cam polarity channel 1
Unsigned 8
0h
rw
yes
List of Cam objects
6310h
Cam1 low limit
rw
0h
VAR
Highest sub-index supported
1h
VAR
Cam1 low limit channel1
rw
Cam2 low limit
rw
6311h
U32 ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam2 low limit channel1
rw
Cam3 low limit
rw
6312h
U32 ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam3 low limit channel1
rw
Cam4 low limit
rw
6313h
U8
0h
VAR
Highest sub-index supported
1h
VAR
Cam4 low limit channel1
rw
Cam5 low limit
rw
6314h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam5 low limit channel1
rw
Cam6 low limit
rw
6315h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam6 low limit channel1
rw
Cam7 low limit
rw
6316h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam7 low limit channel1
rw
Cam8 low limit
rw
6317h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam8 low limit channel1
rw
Cam1 high limit
rw
6320h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam1 high limit channel1
rw
Cam2 high limit
rw
6321h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam2 high limit channel1
rw
Cam3 high limit
rw
6322h
Version 20130328
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ro
ro
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
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0h
VAR
Highest sub-index supported
1h
VAR
Cam3 high limit channel1
rw
Cam4 high limit
rw
6323h
U8
0h
VAR
Highest sub-index supported
1h
VAR
Cam4 high limit channel1
rw
Cam5 high limit
rw
6324h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam5 high limit channel1
rw
Cam6 high limit
rw
6325h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam6 high limit channel1
rw
Cam7 high limit
rw
6326h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam7 high limit channel1
rw
Cam8 high limit
rw
6327h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam8 high limit channel1
rw
Cam1 hysteresis
rw
6330h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam1 hysteresis channel1
rw
Cam2 hysteresis
rw
6331h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam2 hysteresis channel1
rw
Cam3 hysteresis
rw
6332h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam3 hysteresis channel1
rw
Cam4 hysteresis
rw
6333h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam4 hysteresis channel1
rw
Cam5 hysteresis
rw
6334h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam5 hysteresis channel1
rw
Cam6 hysteresis
rw
6335h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam6 hysteresis channel1
rw
Cam7 hysteresis
rw
6336h
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U8
ro
ro
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
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ABSOLUTE IXARC ROTARY ENCODER
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0h
VAR
Highest sub-index supported
1h
VAR
Cam7 hysteresis channel1
rw
Cam8 hysteresis
rw
6337h
0h
VAR
Highest sub-index supported
1h
VAR
Cam8 hysteresis channel1
U8
U8
ro
0x1
ro
0x1
rw
Object 6400h: Area state register
This object contains the area state register
The object provides the actual area status of the encoder position. Figure 9 specifies the
object structure and Table 106 specifies the value definition.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
1h
Work area state channel
Unsigned 8
1h
ro
romap
yes
7
6
5
4
3
2
1
0
R
r
r
r
r
Range
Range
Out
underflow
overflow
range
MSB
of
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
range overflow
0
No range overflow
1
Position is lower than the position value set in object
6402h „work area low limit“
range underflow
0
No range underflow
1
Position is higher than the position value set in
object 6401h „work area high limit“
r
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Reserved
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Object 6401h: Work area low limit
This object indicates the position value, at which bit 2 of the according work area state
channel in object 6400h shall flag the underflow of the related work area.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Integer 32
1h
ro
1h
Work area low limit channel 1
Integer 32
0h
rw
yes
This object is hardwired with 2104h (Limit Switch Min).
Object 6402h: Work area high limit
This object indicates the position value, at which bit 1 of the according work area state
channel in object 6400h shall flag the overflow of the related work area.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Integer 32
1h
Work area high limit channel Integer 32
1
1h
0h
ro
rw
yes
This object is hardwired with 2105h (Limit Switch Max).
Object 6500h: Operating status
This object shall provide the operating status of the encoder. It gives information on encoder internal
programmed parameters.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Operating status
Unsigned 16
-
ro
no
The operating status object corresponds to the value of the object 6000h and 2100h.
Object 6501h: Single-turn resolution
The object contains the physical measuring steps per revolution of the absolute rotary encoder.
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Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Single Turn Resolution
Unsigned 32
see type sign
ro
no
Access
Restore after
Object 6502h: Number of distinguishable revolutions
This object contains number of revolutions of the absolute rotary encoder.
Subindex
Description
Data Type
Default Value
BootUp
0h
Number of Revolutions
Unsigned 16
see type sign
ro
no
Object 6503h: Alarms
Additionally to the emergency messages in /CiA301/, this object shall provide further alarm messages. An
alarm shall be set if a malfunction in the encoder could lead to incorrect position value. If an alarm occurs,
the according bit shall indicate the alarm til the alarm is cleared and the encoder is able to provide an
accurate position value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Alarms
Unsigned 16
-
romap
no
Bit structure of the alarms
Bit
15
Use MS
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
MS
MS
MS
R
R
R
R
R
R
R
R
R
R
CD
PE
Table Description:
MS:
Manufacturer Specific Alarm (not supported)
R:
Reserved for future use
CD:
Commissioning diagnostic control (not supported)
PE:
Position Error (not supported)
Object 6504h: Supported alarms
The object shall provide the supported alarms of the device. Please refer to the bit structure table to find
more details about the supported alarms.
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Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Supported Alarms
Unsigned 16
1000h
ro
no
The CA-encoder supports the position error alarm.
Object 6505h: Warnings
This object shall provide the warnings. Warnings indicate that tolerance for certain internal parameters of
the encoder have been exceeded. In contrast to alarm and emergency messages warnings do not imply
incorrect position values. All warnings shall be cleared if the tolerances are again within normal
parameters.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Warnings
Unsigned 16
-
romap
no
Bit structure of the warnings
Bit
15
Use MS
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
MS
MS
MS
R
R
R
R
R
R
RP
BC
OT
CP
LC
FE
Table Description:
MS:
Manufacturer Specific Warnings (not supported)
R:
Reserved for future use
RP:
Reference Point reached/not reached (not supported)
BC:
Battery charge (not supported)
OT:
Operating Time limit (not supported)
CP:
CPU watchdog status (not supported)
LC:
Light control reserve (not supported)
FE:
Frequency warning (not supported)
Object 6506h: Supported warnings
The object provides the supported warnings of the device. Please refer to the bit structure table to find
more details about the supported warnings.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
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0h
Supported Warnings
Unsigned 16
1000h
ro
no
Currently there are not supported warnings available for an Optocode absolute rotary encoder.
The CA-encoder supports the manufacture specific warning (Bit 12).
Object 6507h: Profile and software version
This object provides the implemented encoder device profile version and the manufacturer-specific
software version.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Profile and Software Version
Unsigned 32
04040302h
ro
no
The value is divided into the profile version part and the Software version part. Each part is divided in
upper version and lower version.
MSB
LSB
Software Version 4.4
Profile Version 3.2
Upper Software Version
Lower Software Version
Upper Profile Version
Lower Profile Version
04
04
03
02
Object 6508h: Operating time
This object indicates the operating time of the device. Currently the operating time is not supported and the
value of this object will always be FFFFFFFFh.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Operatiung time
Unsigned 32
FFFFFFFFh
ro
no
Object 6509h: Offset value
This object contains the offset value. It is been calculated by the preset function and shifts the physical
position value with the desired value.
Subindex
Description
Version 20130328
Data Type
UME-OCD-CA
Default Value
Access
Restore after
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CANOPEN
BootUp
0h
Offset value
Integer 32
-
ro
no
Object 650Ah: Module identification
This object shall provide the manufacturer-specific offset value, the manufacturer-specific minimum and
maximum position value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Highest supported subindex
Integer 32
3
ro
no
1h
Manufacturer offset value
Integer 32
-
ro
no
2h
Man. min. position value
Integer 32
-
ro
no
3h
Man. max. position value
Integer 32
-
ro
no
Object 650Bh: Serial number
This object contains the serial number of the device. The serial number is also supported in object 1018h
subindex 4h.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Serial Number
Version 20130328
Unsigned 32
UME-OCD-CA
See type sign
ro
no
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6. Troubleshooting
6.1 Power on – Encoder doesn’t respond
6.3 Too many ERROR-Frames
Problem:
Problem:
The bus is active but the installed encoder
The bus load is too high in case of too many error
transmitted no boot up message.
frames.
Possible solution:
Possible solution:
-
switch of the PLC
-
remove
the
connection
Check if all bus nodes have the same baud rate. If
cap
of
the
produced automatically.
encoder
-
check the turn-switch for the baud rate
-
Assemble the connection cap
-
power on
one node has another baud rate error frames are
6.4 Limit switches without function
6.2 Malfunction of the position value during
Problem:
transmission
The encoder didn’t transmit the bits for the limit
switches.
Problem:
During the transmission of the position value
Possible solution:
occasional malfunction occurs. The CAN bus can
The limit switch functionality has to be activated
be temporary in the bus off state also.
once. Please follow the description you can find at
4.5.
Possible solution:
Check, if the last bus node has switched on the
6.5 Encoder without connection cap
terminal resistor. If the last bus node is an encoder
the terminal resistor is situated in the connection
Notice: The changing of baud rate and node
cap.
number are only valid after a new power up, NMT
Reset
or
the
store
parameters
command.
7. Mechanical Drawings
Refer to the data sheet information on the website
www.posital.com.
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Appendix A: Order Codes
Description
Type key
IXARC Optical
OCD-
CA
Interface
CANopen
CA
A1
B-
__
__ -
_
__
_-
___
A1
Version
B
Code
Binary
Revolutions (Bits)
Singleturn
00
Multiturn (4096 revolutions)
12
Multiturn (16384 revolutions)
14
Steps per revolution
Flange
Shaft diameter
Mechanical options
4096 (0,09°)
12
8192 (0,04°)
13
65536 (0,005°)
16
Clamp flange
C
Synchro flange
S
Through Hollow Shaft
T
Blind shaft
B
06 mm
06
10 mm
10
12 mm (Through Hollow Shaft)
12
15 mm (Blind Hollow shaft)
15
without
0
Shaft sealing (IP66)
S
Stainless steel version*
V
Customized
C
Connection
Connection Caps Cap encoder with connection cap AH 58-B1CA-3PG
H3P
Cap encoder with connection cap AH 58-B1CA-2M20
H2M
Cap encoder with connection cap AH 58-B1CA-1BW
H1B
Cap encoder with connection cap AH 58-B1CA-2BW
H2B
Cap encoder without connection cap**
Cable Cable exit 1m, radial, open wire ends
Cable exit 1m, axial, open wire ends
Connectors Connector exit, radial, 5 pin male M12
HCC
CRW
CAW
PRM
Connector exit, axial, 5 pin male M12
PAM
Connector exit, axial, 9 pin D-Sub
PA9
Standard = bold, further models on request
*
Stainless Steel version is not available with radial cable or connector exit (namely CRW, PRM)
**
For the function of a cap encoder a connection cap is needed. To order this encoder type only makes
sense for spare part / replacement usage
Tab. 22 Order Key
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Connection caps
All connections caps are equipped with a switchable terminal resistor, integrated T-coupler for CAN bus
lines, BCD switches to adjust baudrate and node number, as well as LEDs for diagnosis.
Description
Article Name
Article Number
AH 58-B1CA-3PG
0246370325
Stainless steel housing with three M12 cable glands.
AH 58-B1CA-3PG-VA
0246370328
Aluminium housing with one 5 pin male M12
AH 58-B1CA-1BW
0246370342
connector.
Aluminium housing with on 5 pin male M12 connector
AH 58-B1CA-2BW
0246370370
and one 5 pin female M12 connector
Aluminium housing with two M20 cable glands for
AH 58-B1CA-2M20
0246370339
Aluminium housing with three M12 cable glands for
cable diameters between 6,5 – 9 mm.
cable diameter between 9 – 13 mm.
Tab. 23 Available Connection Cap Types
Models/Ordering Description for Heavy Duty Version
Description
Type key
IXARC Optical
OCD-
CA A1
CANopen
CA
B- __
_
_ _
_ _ _-
___
Interface
A1
Version
B
Code
Binary
Revolutions (Bits)
Singleturn
00
Multiturn (4096 revolutions)
12
Multiturn (16384 revolutions)
14
Steps per revolution
4096
12
13
16
Flange
8192
65536
Clamp flange
Shaft diameter
Mechanical options
C
S
B
Synchro flange
Blind shaft
10 mm
15 mm (Hollow shaft)
without
10
15
H
Customized
Connection
C
1x 5 pin M12 connector male, 1x 5 pin M12 connector female,
PRN
venting element
1x 5 pin M12 connector male, venting element
PRM
Tab. 24 Order Key for Heavy Duty encoders
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Accessories
Description
Article Name
Article Number
Drilling: 10 mm / 10 mm
GS 10
29100450
Drilling: 6 mm / 6 mm
GS 06
29100350
Drilling: 4 mm – 11 mm
GS 4-11
29100440
Clamp Disc
Set (4 pieces).
SP 15
32400155
Clamp Ring
Set (2 pieces)
SP H
32400152
Reducing Ring*
15 mm to 12 mm
RR 12
32220291
Reducing Ring *
15 mm to 10 mm
RR 10
32220292
Reducing Ring *
15 mm to 8 mm
RR 8
32220295
Shaft Coupling
Tab. 25 List of Accessories
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Appendix B: History and Compatibility
History encoder generations
3.3 Object 1802h
This chapter gives you information about older
In
types of absolute rotary encoder with CANopen
parameterised by the object 1801h and 1802h.
interface. Technical changes and compatibilities
This is not consistent with the CiA standards and
between the different types are specified.
will be ended with the new encoder line. This
the
past
the
second
PDO
could
be
means in the future the second PDO can only be
Encodergeneration Optocode
parameterised via object 1801h.
Since September 2009 the second CANopen
encoder generation, namely OPTOCODE-II,
New versions
replaces the OPTOCODE encoders.
C6,
To guarantee conformity to CiA standard the
(CiA-
encoders had to be changed in a way, that they
Conform)
CA Mode
COB-ID
are not fully compatible to the old types
1800h
PDO1
Asynchronous
180h
anymore.
1801h
PDO2
Cyclic
280h
1802h
PDO3
Optional Cyclic 380h
Overview of the incompatibilities:
(not
used
in
C6)


LED-behaviour
Object 1802h second TPDO


Object 1000h Device Type is not 196h
Restore command

BCD-switch position 9 in the connection
cap
Old versions
C2
and Mode
COB-ID
C5
1800h
PDO1
Asynchronous
180h
1801h
PDO2
Cyclic
Not
3.2 Boot-up-time
used!
1802h
PDO2
The encoder line needs less time to send the
Optional Cyclic 280h
(used in C2/C5)
Boot-Up message after switching on.
old OCD-series
new OCD-II-series
3.4 Objekt 1000h Device Type is not 196h
Ca. 3000ms
Ca. 250 ms
Object 1000h contains a coded description of
CAN devices. Until now 196h was written to all
encoder types. According to the standards
singleturn and multiturn must be distinguished:
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
Singleturn

10196h

Mutliturn

20196h
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3.5 Restore Command
In case for unexpected problems, there is the
In the past the restore command set the encoder
possibility
to
compatibility mode, that will restore the old C2-
customised
default
values
The
restore
to
set
the
CA-encoder
in
a
command sets the encoder to POSITAL default
C5-behavior.
values, which are defined in the user manual.
There are the following procedures to set this
Communication parameters like node number
mode:

and baud rate are not restored.
Manual, with the BCD-switch in the
connection cap:
3.6 Connection Cap BCD-switch setting “9”
The, former undefined, BCD-switch setting “9” in
the connection cap is used to set the encoder in
o
o
Remove cap from encoder
Set node number 97
o
Reconnect connection cap 
Both LEDs will glow in red.
o
Remove connection cap again
and set back to the needed
a mode, that ignores the switch setting for baud
rate and node number. The parameters can be
o
modified by SDO messages and LSS, only.

3.7 C2-C5-Work-around
node number
Reconnect connection cap 
C2-C5-Behavior
Via Software:
With little limitations, the new OCD-II-encoder
line will be compatible to the current version. It
o
Set object 3030h subindex 1h
to „ONE“ via SDO-commando
o
Hard- or Software RESET
will be possible to use the old EDS-file for
configuration purposes in the PLC with the new
encoder and no errors will occur. Merely the
enhanced
functions,
like
velocity-
CA00
and
acceleration-output, will not be available.
Type key
Nr.
type key old
type key new
comment
1
58XX-XXXX-XBA1C203PG
58XX-XXXX-XBB1C203PG
encoder CAN
2
AH58-CA-3PG
AH58-B1CA-3PG
connection cap CAN
X: wildcard for various designs
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Version history connection cap
Changes of the CANopen protocol
In particular the design of the connection cap is
The following changes have not be relevant to
improved. Easier installation due to a new type
you because only specific function according to
of screw terminals inside of the connection cap.
the newest CANopen specification (DS-301
On the back of the connection cap two multi-
V4.0) are not supported anymore or are new
color LEDs are implemented for easy diagnosis.
implemented. If your application doesn’t use this
The terminal resistor is hooked up via a slide
function, there will be no problem.
switch. Thus continuative bus connection will be
cut off. The localisation of accidentally switched
Changes of entries in object dictionary
on terminal resistors will be made easier. The
Relevant
device address and the baudrate will be
message, as well as some entries in the
adjusted via BCD switches. This made the
CANopen object index not used by the common
installation easier.
user. A complete list of these objects you can
changes
apply
to
the
boot-up
find in the following table.
object-nr.
comment
(hex)
1004
Number of PDOs
CANopen profile
CANopen profile
DS301 V3.0
DS301 V4.0
58XX-XXXX-XBA1C203PG
58XX-XXXX-XBB1C203PG
supported
according to DS301-V4.0 not
supported
100B
supported anymore
Node-ID
supported
according to DS301-V4.0 not
supported anymore
100E
COB-ID
Guarding supported
according to DS301-V4.0 not
protocol
1016
Consumer
supported anymore
heartbeat reserved
supported
heartbeat reserved
supported
time
1017
Producer
time
1018
Identity Object
Changing
transmit
PDO
reserved
supported
communication
entry [2200h]) to 0 and left the PDO switched on
parameter
to poll the encoder. Important! If the PDO is
In the new encoder generation the polling isn’t
switched off no communication is possible.
supported anymore if the PDO is disabled.
According to CANopen specification DS301V4.0 it is necessary to set the cyclic time (object
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Polling in Pre-Operational state
The
old
generation
has
Handling of spare parts
accepted
polling
Boot-up
message
new
encoder
and
old
requests in pre-operational state, but wasn’t
connection cap
correct according to CANopen standard. In the
To use the new encoder generation as spare
manual for the old encoder was a hint, that the
part for the old encoder generation, the new
polling request is not allowed in pre-operational
encoder recognize the old connection cap type
state, because it is not defined in the CANopen
and
standard. So be aware that the new encoder is
automatically as well as the appropriate boot-up
in general not accepting poll requests in pre-
message.
support
the
specification
DS301-V3.0
operational state independent of configuration of
Changing of the default BootUp message of
the behavior as new or old encoder.
the B1 version
Changes in boot-up sequence
To get the same boot-up behavior of the old
If the old encoder generation is connected to the
encoder generation if you use the new encoder
supply voltage or a NMT message (reset node,
generation and the new connection cap type
reset communication) is sent to the encoder, a
there will be following solution:
boot-up
telegram
The needed protocol type will be activated via a
structure looks like this: identifier: 80hex + node
defined device address. Please use the following
number, data length 0 bytes
configuration sequence:
This
message
message
appears.
was
not
The
defined
by
the
specification DS301 V3.0, but vendor specific
1.
used by some manufactures to show that the
below).
device is ‘alive’.
2.
According to DS301 V4.0 the new rotary
encoder
generation
doesn’t
support
Setting the needed address (s. table
Connect the connection cap to the
encoder.
this
3.
Switch on supply voltage.
message anymore. In place of the old message
4.
Wait until both LEDs are red.
a common valid boot-up message is defined.
5.
Switch off supply voltage.
The structure looks like this:
6.
Remove connection cap.
identifier: 700hex + node number, data length 1
7.
Set up the correct device address. (0-
byte
89)
This boot-up message also appears if the
command
‘reset
node’
and
8.
‘reset
Connect the connection cap to the
encoder.
communication’ is sent to the encoder.
9.
Switch on supply voltage.
normal operation.
Profile according C2 encoder
Protocol DS301-V3.0
Protocol DS301-V4.0
address 97
address 98
address 99
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Besides the set up via hardware there is also the possibility to set up the protocol via SDO objects. For
further information please refer the manual.
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Appendix C: 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 or SDO
objects.
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
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
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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. 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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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. The encoders
are always slaves.
W
WO
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Appendix D: List of tables
Tab. 1 Signal Assignment Connection Cap .................................................................................................. 7
Tab. 2 Baud rate Assignment Connection Cap ........................................................................................... 10
Tab.3: CAN Run LED states ....................................................................................................................... 11
Tab.4: CAN Error LED states ...................................................................................................................... 11
Tab.5 Signal Assignment Connector / Cable .............................................................................................. 12
Tab. 6 Electrical Data.................................................................................................................................. 15
Tab. 7 Further mechanical data .................................................................................................................. 15
Tab. 8 Further mechanical data .................................................................................................................. 16
Tab. 9 Mechanical Lifetime ......................................................................................................................... 16
Tab. 10 Environmental Conditions .............................................................................................................. 16
Tab. 11 CAN Transmission Mode Description ............................................................................................ 18
Tab. 12 List of Storable Parameters ........................................................................................................... 19
Tab. 13: Identity Object ............................................................................................................................... 21
Tab. 14 General Command Byte Description ............................................................................................. 22
Tab. 15 Detailed Command Byte Description ............................................................................................. 22
Tab. 16 Overview Object Dictionary............................................................................................................ 23
Tab. 17 Object Dictionary 1000h-1FFFh ..................................................................................................... 25
Tab. 18 Object Dictionary 2000-5FFF ......................................................................................................... 26
Tab. 19 Object Dictionary 6000h-6FFFh ..................................................................................................... 27
Tab. 20 Delay and accuracy ....................................................................................................................... 42
Tab. 21 Delay and accuracy ....................................................................................................................... 43
Tab. 22 Order Key ...................................................................................................................................... 58
Tab. 23 Available Connection Cap Types ................................................................................................... 59
Tab. 24 Order Key for Heavy Duty encoders .............................................................................................. 59
Tab. 25 List of Accessories ......................................................................................................................... 60
Appendix E: List of figures
Fig. 1 Connection cap bus in and bus out ..................................................................................................... 8
Fig. 2 Cable preparation ............................................................................................................................... 8
Fig. 3 Cable connection ................................................................................................................................ 8
Appendix F: Document history
Version
Date
Comment
1.0
10.10.03
Initial version
1.1
24.10.03
Correction of the type key. List of figures, List of tables added
2.0
06.11.03
Hint protection low voltage added
2.1
08.01.04
Hint temperature cable exit added
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2.2
21.05.04
New inner diameter of the cable glances
2.3
24.09.04
SubIndex of RestoreAllParameter changed
11/07
19.11.07
Complete Review of the manual
03/08
30.03.08
Complete Review, due to OCD-CA00 introduction
07/09
28.07.09
Complete Review, due to OCD-CAA1 introduction
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