Hx58 CB_Hx58S CB_HxC58 CB CANopen

Hx58 CB_Hx58S CB_HxC58 CB CANopen
User's guide
Hx58, Hx58S
HxC58 CB
BC-CB, BC-CB-C
DS406 - Device profile for encoder
Smart encoders & actuators
This publication was produced by Lika Electronic s.r.l. 2014. All rights reserved. Tutti i diritti riservati. Alle Rechte vorbehalten. Todos los
derechos reservados. Tous droits réservés.
This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in
part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies,
film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.
The information herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s.r.l. Lika
Electronic s.r.l. reserves the right to make all modifications at any moments and without forewarning.
This manual is periodically reviewed and revised. As required we suggest checking if a new or updated edition of this document is
available at Lika Electronic s.r.l.'s website. Lika Electronic s.r.l. assumes no responsibility for any errors or omissions in this document.
Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation, in order
to make it as clear and complete as possible. Please send an e-mail to the following address [email protected] for submitting your
comments, suggestions and criticisms.
General contents
User's guide............................................................................................................................................................................................1
General contents................................................................................................................................................................................3
Subject index........................................................................................................................................................................................6
Typographic and iconographic conventions..........................................................................................................................7
Preliminary information..................................................................................................................................................................8
1 Safety summary..............................................................................................................................................................................9
2 Identification.................................................................................................................................................................................10
3 Mounting instructions..............................................................................................................................................................11
3.1 Solid shaft encoders...........................................................................................................................................................11
3.1.1. Customary installation.............................................................................................................................................11
3.1.2 Installation using fixing clamps (code LKM-386).........................................................................................11
3.1.3 Installation using a mounting bell (code PF4256)........................................................................................12
3.2 Hollow shaft encoders......................................................................................................................................................13
3.2.1 HSC58, HMC58.............................................................................................................................................................13
3.2.2 HSC59, HMC59.............................................................................................................................................................13
3.2.3 HSC60, HMC60.............................................................................................................................................................13
4 Electrical connections................................................................................................................................................................14
4.1 Connection cap....................................................................................................................................................................14
4.2 Ground connection............................................................................................................................................................15
4.3 Connection cap with PGs: BC-CB................................................................................................................................15
4.4 Connection cap with M12 connectors: BC-CB-C..................................................................................................16
4.5 Connection of the shield..................................................................................................................................................16
4.6 RT Bus termination.............................................................................................................................................................17
4.7 Diagnostic LEDs....................................................................................................................................................................17
4.8 Baud rate: DIP A..................................................................................................................................................................18
4.9 Node number: DIP B..........................................................................................................................................................19
5 Quick reference............................................................................................................................................................................20
6 CANopen® interface...................................................................................................................................................................21
6.1 EDS file.....................................................................................................................................................................................21
6.2 Operation states...................................................................................................................................................................21
6.2.1 Initialization state.......................................................................................................................................................22
6.2.2 Pre-operational state................................................................................................................................................22
6.2.3 Operational state.........................................................................................................................................................22
6.2.4 Stopped state................................................................................................................................................................22
6.3 Communication objects...................................................................................................................................................23
6.3.1 Pre-defined connection set....................................................................................................................................23
6.4 NMT objects...........................................................................................................................................................................24
6.5 Boot-up objects...................................................................................................................................................................24
6.6 PDO objects............................................................................................................................................................................25
PDO1 Cyclic mode: cyclic transmission.............................................................................................................25
PDO2 and PDO3 SYNC mode: synchronous transmission......................................................................25
PDO4 Cyclic mode: cyclic transmission.............................................................................................................25
6.7 SDO objects............................................................................................................................................................................26
6.7.1 Command.......................................................................................................................................................................26
6.8 Object dictionary.................................................................................................................................................................27
6.8.1 Standard objects (DS 301).......................................................................................................................................27
1000-00 Device type....................................................................................................................................................27
1001-00 Error register................................................................................................................................................27
1003 Pre-defined error field...................................................................................................................................27
1005-00 COB_ID SYNC message..........................................................................................................................28
1008-00 Name of device manufacturer...........................................................................................................28
1009-00 Hardware version......................................................................................................................................28
100A-00 Software version.......................................................................................................................................28
100C-00 Guard time....................................................................................................................................................28
100D-00 Life time factor..........................................................................................................................................28
1010-01 Store parameters.......................................................................................................................................29
1011-01 Restore default parameters................................................................................................................29
1014-00 COB-ID EMCY..............................................................................................................................................30
1015-00 Inhibit time EMCY....................................................................................................................................30
1018 Identification object........................................................................................................................................30
1800 PDO1 parameters...............................................................................................................................................30
1801 PDO2 parameters...............................................................................................................................................32
1802 PDO3 parameters...............................................................................................................................................33
1803 PDO4 parameters...............................................................................................................................................34
1A00-01 PDO1 mapping parameter...................................................................................................................36
1A01-01 PDO2 mapping parameter...................................................................................................................36
1A02-01 PDO3 mapping parameter...................................................................................................................36
1A03-01 PDO4 mapping parameter...................................................................................................................36
6.8.2 Manufacturer specific objects...............................................................................................................................37
2104-00 Limit switch min........................................................................................................................................37
2105-00 Limit switch max.......................................................................................................................................37
3000-00 Baud rate........................................................................................................................................................37
3001-00 Node-ID...........................................................................................................................................................38
3005-00 Velocity format...........................................................................................................................................39
3006-00 Velocity value..............................................................................................................................................39
6.8.3 Device profile objects (DS 406).............................................................................................................................40
6000-00 Operating parameters............................................................................................................................40
Code sequence..................................................................................................................................................................40
Scaling function..............................................................................................................................................................40
Limit switch min.............................................................................................................................................................40
Limit switch max............................................................................................................................................................40
6001-00 Counts per revolution.............................................................................................................................41
6002-00 Total resolution..........................................................................................................................................41
6003-00 Preset value..................................................................................................................................................42
6004-00 Position value..............................................................................................................................................43
6200-00 Cyclic time.....................................................................................................................................................43
6500-00 Operating state..........................................................................................................................................43
Code sequence..................................................................................................................................................................43
Scaling function..............................................................................................................................................................44
Limit switch min.............................................................................................................................................................44
Limit switch max............................................................................................................................................................44
Current operating state..............................................................................................................................................44
6501-00 Hardware counts per revolution......................................................................................................44
6502-00 Hardware number of turns.................................................................................................................44
6504-00 Supported alarms......................................................................................................................................45
6506-00 Supported warnings................................................................................................................................45
6507-00 Profile and software version..............................................................................................................45
6508-00 Operating time............................................................................................................................................45
6509-00 Offset value..................................................................................................................................................45
650A-01 Manufacturer offset value..................................................................................................................45
650B-00 Serial number..............................................................................................................................................45
6.9 Warning objects...................................................................................................................................................................46
6.10 Emergency objects...........................................................................................................................................................46
6.11 Node guarding protocol................................................................................................................................................47
7 Setting-up......................................................................................................................................................................................48
8 Default parameters list.............................................................................................................................................................51
Subject index
1
1000-00 Device type......................................................27
1001-00 Error register...................................................27
1003 Pre-defined error field.......................................27
1005-00 COB_ID SYNC message...............................28
1008-00 Name of device manufacturer................28
1009-00 Hardware version..........................................28
100A-00 Software version...........................................28
100C-00 Guard time.......................................................28
100D-00 Life time factor..............................................28
1010-01 Store parameters..........................................29
1011-01 Restore default parameters......................29
1014-00 COB-ID EMCY.................................................30
1015-00 Inhibit time EMCY.........................................30
1018 Identification object............................................30
1800 PDO1 parameters.................................................30
1801 PDO2 parameters.................................................32
1802 PDO3 parameters.................................................33
1803 PDO4 parameters.................................................34
1A00-01 PDO1 mapping parameter........................36
1A01-01 PDO2 mapping parameter........................36
1A02-01 PDO3 mapping parameter........................36
1A03-01 PDO4 mapping parameter........................36
2
2104-00 Limit switch min............................................37
2105-00 Limit switch max...........................................37
3
3000-00 Baud rate..........................................................37
3001-00 Node-ID.............................................................38
3005-00 Velocity format..............................................39
3006-00 Velocity value.................................................39
6
6000-00 Operating parameters.................................40
6001-00 Counts per revolution.................................41
6002-00 Total resolution..............................................41
6003-00 Preset value.....................................................42
6004-00 Position value.................................................43
6200-00 Cyclic time.......................................................43
6500-00 Operating state..............................................43
6501-00 Hardware counts per revolution............44
6502-00 Hardware number of turns.......................44
6504-00 Supported alarms.........................................45
6506-00 Supported warnings....................................45
6507-00 Profile and software version....................45
6508-00 Operating time...............................................45
6509-00 Offset value.....................................................45
650A-01 Manufacturer offset value.......................45
650B-00 Serial number.................................................45
C
COB-ID of PDO1...............................................................30
COB-ID of PDO4...............................................................34
COB-ID of the PDO2.......................................................32
COB-ID of the PDO3.......................................................33
Code sequence...........................................................40, 43
Current operating state.................................................44
F
Flash memory error.........................................................46
I
Initialization.......................................................................22
L
Last error occurred..........................................................27
Limit switch max.......................................................40, 44
Limit switch min.......................................................40, 44
N
Node guarding error.......................................................46
Number of current errors.............................................27
O
Operational.........................................................................22
P
Pre-operational.................................................................22
Previous errors occurred...............................................27
Product number................................................................30
R
Revision number...............................................................30
S
Scaling function........................................................40, 44
Stopped................................................................................22
T
Transmission type...........................31 e seg., 34 e seg.
V
Vendor number.................................................................30
Typographic and iconographic conventions
In this guide, to make it easier to understand and read the text the following typographic and
iconographic conventions are used:
•
•
•
parameters and objects both of the device and the interface are coloured in ORANGE;
alarms are coloured in RED;
states are coloured in FUCSIA.
When scrolling through the text some icons can be found on the side of the page: they are expressly
designed to highlight the parts of the text which are of great interest and significance for the user.
Sometimes they are used to warn against dangers or potential sources of danger arising from the use of
the device. You are advised to follow strictly the instructions given in this guide in order to guarantee
the safety of the user and ensure the performance of the device. In this guide the following symbols are
used:
This icon, followed by the word WARNING, is meant to highlight the parts of the
text where information of great significance for the user can be found: user must
pay the greatest attention to them! Instructions must be followed strictly in order
to guarantee the safety of the user and a correct use of the device. Failure to heed
a warning or comply with instructions could lead to personal injury and/or damage
to the unit or other equipment.
This icon, followed by the word NOTE, is meant to highlight the parts of the text
where important notes needful for a correct and reliable use of the device can be
found. User must pay attention to them! Failure to comply with instructions could
cause the equipment to be set wrongly: hence a faulty and improper working of
the device could be the consequence.
This icon is meant to highlight the parts of the text where suggestions useful for
making it easier to set the device and optimize performance and reliability can be
found. Sometimes this symbol is followed by the word EXAMPLE when instructions
for setting parameters are accompanied by examples to clarify the explanation.
Preliminary information
This guide is designed to describe the technical characteristics, installation and use of the CANopen
encoders of the Hx58x series. For any further information please refer to the product datasheet.
To make it easier to read the text, this guide is divided into two main sections.
In the first section general information concerning the safety, the mechanical installation and the
electrical connection as well as tips for setting up and running properly and efficiently the unit are
provided.
In the second section, entitled CANopen Interface, both general and specific information is given on the
CANopen interface. In this section the interface features and the objects implemented in the unit are
fully described.
Hx58x CANopen®
1
Safety summary
Safety
 Always adhere to the professional safety and accident prevention regulations
applicable to your country during device installation and operation;
 installation and maintenance operations have to be carried out by qualified
personnel only, with power supply disconnected and stationary mechanical
parts;
 device must be used only for the purpose appropriate to its design: use for
purposes other than those for which it has been designed could result in
serious personal and/or the environment damage;
 high current, voltage and moving mechanical parts can cause serious or fatal
injury;
 warning! Do not use in explosive or flammable areas;
 failure to comply with these precautions or with specific warnings elsewhere
in this manual violates safety standards of design, manufacture, and
intended use of the equipment;
 Lika Electronic s.r.l. assumes no liability for the customer's failure to comply
with these requirements.
Electrical safety
 Turn off power supply before connecting the device;
 connect according to explanation in section “4 - Electrical connections”;
 in compliance with the 2004/108/EC norm on electromagnetic compatibility,
following precautions must be taken:
- before handling and installing, discharge electrical charge from your body
and tools which may come in touch with the device;
- power supply must be stabilized without noise, install EMC filters on device
power supply if needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as far as possible from any capacitive or inductive noise
source, shield the device from noise source if needed;
- to guarantee a correct working of the device, avoid using strong magnets on
or near by the unit;
- minimize noise by connecting the shield and/or the frame to ground. Make
sure that ground is not affected by noise. The connection point to ground
can be situated both on the device side and on user’s side. The best solution
to minimize the interference must be carried out by the user.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 9
Safety summary
Hx58x CANopen®
Mechanical safety
 Install the device following strictly the information in the section “3 Mounting instructions”;
 mechanical installation has to be carried out with stationary mechanical
parts;
 do not disassemble the encoder;
 do not tool the encoder or its shaft;
 delicate electronic equipment: handle with care; do not subject the device
and the shaft to knocks or shocks;
 respect the environmental characteristics declared by manufacturer
 unit with solid shaft: in order to guarantee maximum reliability over time of
mechanical parts, we recommend a flexible coupling to be installed to
connect the encoder and user's shaft; make sure the misalignment tolerances
of the flexible coupling are respected;
 unit with hollow shaft: the encoder can be mounted directly on a shaft
whose diameter has to respect the technical characteristics specified in the
purchase order and clamped by means of the collar and, when requested, the
anti-rotation pin.
2
Identification
Device can be identified through the ordering code and the serial number
printed on the label applied to its body. Information is listed in the delivery
document too. Please always quote the ordering code and the serial number
when reaching Lika Electronic s.r.l. for purchasing spare parts or needing
assistance. For any information on the technical characteristics of the product
refer to the technical catalogue.
Warning: encoders having ordering code ending with “/Sxxx” may
have mechanical and electrical characteristics different from
standard and be supplied with additional documentation for special
connections (Technical info).
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 10
Identification
Hx58x CANopen®
3
Mounting instructions
WARNING
Installation and maintenance operations have to be carried out by qualified
personnel only, with power supply disconnected and mechanical parts
absolutely in stop.
3.1 Solid shaft encoders
• Mount the flexible coupling 1 on the encoder shaft;
• fix the encoder to the flange 2 (or to the mounting bell) by means of screws
3;
• secure the flange 2 to the support (or the mounting bell to the motor);
• mount the flexible coupling 1 on the motor shaft;
• make sure the alignment tolerances of the flexible coupling 1 are respected.
3.1.1. Customary installation
HS58, HM58
HS58S, HM58S
a [mm] b [mm] c [mm] d [mm]
42
50 F7
4
36 H7
48
-
3.1.2 Installation using fixing clamps (code LKM-386)
HS58, HM58
HS58S, HM58S
a [mm] b [mm] c [mm] d [mm]
50 F7
67
4
36 H7
67
-
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 11
Mounting instructions
Hx58x CANopen®
3.1.3 Installation using a mounting bell (code PF4256)
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 12
Mounting instructions
Hx58x CANopen®
3.2 Hollow shaft encoders
3.2.1 HSC58, HMC58
• Fasten the anti-rotation pin 1 to the rear of the motor (secure it using a
locknut);
• mount the encoder on the motor shaft using the reducing sleeve 8 (if
supplied). Avoid forcing the encoder shaft;
• insert the anti-rotation pin 1 into the slot on the flange of the encoder; this
secures it in place by grub screw 2, preset at Lika;
• fix the collar 3 to the encoder shaft (apply threadlocker to screw 3).
•
3.2.2 HSC59, HMC59
• Mount the encoder on the motor shaft using the reducing sleeve 8 (if
supplied). Avoid forcing the encoder shaft;
• fasten the fixing plate 4 to the rear of the motor using two M3 cylindrical
head screws 5;
• fix the collar 3 to the encoder shaft (apply threadlocker to screw 3).
3.2.3 HSC60, HMC60
• Fix the tempered pin 6 to the rear of the motor;
• mount the encoder on the motor shaft using the reducing sleeve 8 (if
supplied). Avoid forcing the encoder shaft;
• make sure the anti-rotation pin 6 is inserted properly into the fixing plate 7;
• fix the collar 3 to the encoder shaft (apply threadlocker to screw 3).
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 13
Mounting instructions
Hx58x CANopen®
4
Electrical connections
WARNING
Power supply must be turned off before performing any electrical connection!
4.1 Connection cap
WARNING
Do not remove or mount the connection cap with power supply switched ON.
Damage may be caused to internal components.
The terminal connectors for connecting the power supply and the BUS IN and
BUS OUT cables (BC-CB connection cap) as well as the dip-switches meant to
set the baud rate and the node ID and activate the termination resistance are
located inside the encoder connection cap. Thus you must remove the
connection cap to access any of them.
NOTE
Be careful not to damage the internal components when you perform this
operation.
To remove the connection cap loosen the two screws 1. Please be careful with
the internal connector.
Always replace the connection cap at the end of the operation. Take care in reconnecting the internal connector. Tighten the screws 1 using a tightening
torque of approx. 2.5 Nm.
WARNING
You are required to check that the encoder body and the connection cap are at
the same potential before replacing the connection cap!
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 14
Electrical connections
Hx58x CANopen®
4.2 Ground connection
Minimize noise by connecting the shield and/or the connector housing and/or
the frame to ground. Make sure that ground is not affected by noise. The
connection point to ground can be situated both on the device side and on
user’s side. The best solution to minimize the interference must be carried out by
the user. You are advised to provide the ground connection as close as possible
to the encoder. We suggest using the ground point provided in the cap (see
Figure, use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers).
4.3 Connection cap with PGs: BC-CB
The connection cap is fitted with two PG9 cable glands for bus-IN, bus-OUT and
supply voltage connections. The bus cables can be connected directly to the
terminal connectors in front of each cable gland. It is recommended to use
CANbus certificated cables. Core diameter should not exceed Ø 1,5 mm (0.06
inches).
Terminal connector
1
2
Description
0 VDC
Supply voltage
+10VDC +30VDC
+
Supply voltage
G
CAN GND 1
L
CAN Low
H
CAN High
PG
CAN Shield 2
CAN GND is the 0V reference of CAN signals, it is not
connected to 0VDC supply voltage.
Connect cable shield to cable gland.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 15
Electrical connections
Hx58x CANopen®
4.4 Connection cap with M12 connectors: BC-CB-C
BC-CB-C connection cap is fitted with two M12 connectors with pin-out in
compliance with CANopen® standard. Therefore you can use standard CAN
cables commercially available.
M12 connector
A coding
(frontal side)
M12
Case
11
2
3
4
5
1
male
female
(BUS IN)
(BUS OUT)
Description
CAN Shield
+10VDC +30VDC
Supply voltage
0 VDC Supply voltage
CAN High
CAN Low
CAN Shield is also connected to pin 1 to allow the connection
of the shield even if the plug connector has a plastic case.
4.5 Connection of the shield
Disentangle and shorten the shielding 1 and then bend it over the part 2; finally
place the ring nut 3 of the connector. Be sure that the shielding 1 is in tight
contact with the ring nut 3.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 16
Electrical connections
Hx58x CANopen®
4.6 RT Bus termination
WARNING
Power supply must be turned off before performing this operation!
A bus termination resistance is provided in the connection cap and has to be
activated as line termination in the last device of the transmission line.
Use RT Switch to activate or deactivate the bus termination.
RT
1 = 2 = ON
1 = 2 = OFF
Description
Activated: if the encoder is the last device in the
transmission line
Deactivated: if the encoder is not the last device
in the transmission line
4.7 Diagnostic LEDs
Two diagnostic LEDs located in the rear side of the connection cap are designed
to show the operating or fault status of the CANopen® interface.
GREEN LED
ON
Single flash
Blinking
Description
Encoder is in Operational state
Encoder is in Stopped state
Encoder is in Pre-Operational state
RED LED
ON
Double flash
Single flash
Blinking
OFF
Description
The CAN controller is switched off
Node guarding error
Max. number of warning errors
Generic error or Flash memory error
No error
During initialization, device carries out a hardware test to check LEDs operation.
Both LEDs light up.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 17
Electrical connections
Hx58x CANopen®
4.8 Baud rate: DIP A
WARNING
Power supply must be turned off before performing this operation!
Transmission rate can be set either via hardware or via software.
If DIP A bit 4 = ”OFF” the bit rate is set through object 3000-00 Baud rate in
the “Object Dictionary” and can be modified using SDO messages.
If DIP A bit 4 = ”ON” the bit rate is set by DIP A.
DIP A:
Set binary value of transmission rate considering that: ON=1, OFF=0.
bit
1 LSB
20
2
21
3 MSB
22
4
ON/OFF
Available baud rate values:
Decimal value
0
1
2
3
4
5
6
7
Binary value
000
001
010
011
100
101
110
111
Baud rate
20 Kbit/s
50 Kbit/s
100 Kbit/s
125 Kbit/s
250 Kbit/s
500 Kbit/s (default)
800 Kbit/s
1000 Kbit/s
Example
Set 250Kbit/s:
410 = 1002 (binary value, see table above)
bit
1
20
OFF
2
21
OFF
3
22
ON
4
23
ON
3
22
ON
4
23
ON
Set 500Kbit/s:
510 = 1012 (binary value, see table above)
bit
1
20
ON
2
21
OFF
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 18
Electrical connections
Hx58x CANopen®
4.9 Node number: DIP B
WARNING
Power supply must be turned off before performing this operation!
Node number can be set either via hardware or via software.
Allowed node addresses range between 1 and 127. The default value is 1.
If all bits of DIP B are ”OFF” node number is set through the object 3001-00
Node-ID in the “Object Dictionary” and can be modified using SDO messages.
If one bit at least of DIP B is set to “ON” the node number is set through DIP B.
DIP B:
Set the node number in binary value: ON=1, OFF=0
bit
1
LSB
20
2
3
4
5
6
21
22
23
24
25
7
MSB
26
8
not
used
Example
Set node number = 25:
2510 = 0001 10012 (binary value)
bit
1
20
ON
2
21
OFF
3
22
OFF
4
23
ON
5
24
ON
6
25
OFF
7
26
OFF
6
25
ON
7
26
OFF
8
OFF
Set node number = 55:
5510 = 0011 01112 (binary value)
bit
1
20
ON
2
21
ON
3
22
ON
4
23
OFF
5
24
ON
8
OFF
WARNING
If baud rate and node number are set via software, master device has to detect
the baud rate of the slave (scanning of baud rate) when the encoder is being
installed. Once communication has been activated new baud rate and node
number values can be set (objects 3000-00 Baud rate and 3001-00 NodeID). After having set new values, transmit a Reset node command and then
save parameters (object 1010-01 Store parameters). To avoid conflict
between Slaves, this operation has to be carried out when one only device is
connected to the network.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 19
Electrical connections
Hx58x CANopen®
5
Quick reference
Using the default settings provided by the manufacturer, you can switch on the
device and read immediately its position.
Follow the instructions below to:
 read the device resolution;
 set the Operational mode;
 read the current position (cyclic mode and/or sync mode).
Default Baud rate and Node-ID are:
Baud rate = 500 Kbit/s
Node-ID = 1
Read resolution per revolution 6501-00 Hardware counts per revolution
Master  Encoder
COB-ID
Cmd
Index
Sub
Process data
601
40
01
65
00
Encoder  Master
COB-ID
Cmd
Index
Sub
Process data
581
43
01
65
01
A0
A1
A2
A3
steps/rev. = ( (A3<<24) | (A2<<16) | (A1<<8) | A0 )
Read number of revolutions 6502-00 Hardware number of turns
Master  Encoder
COB-ID
Cmd
Index
Sub
Process data
601
40
02
65
00
Encoder  Master
COB-ID
Cmd
Index
Sub
Process data
581
43
02
65
01
B0
B1
B2
B3
N. rev. =( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
Set cyclic time 6200-00 Cyclic time (100 ms = 64h)
Master  Encoder
COB-ID
Cmd
Index
Sub
Process data
600+ID
2B
00
62
00
64
00
Encoder  Master
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
00
62
00
00
00
Set Operational mode
Master  Encoder
COB-ID
Cmd
000
01
Node
01
Read the position every 100 ms
Encoder  Master
COB-ID
Byte 0
181
Low
Byte 1
…
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 20
Byte 2
…
-
Byte 3
High
Quick reference
Hx58x CANopen®
6
CANopen® interface
Lika encoders are always slave devices in compliance with “Device profile for
encoders”, Class 2.
For any omitted information, refer to the “CiA Draft Standard 301” and “CiA
Draft Standard 406” documents available at address www.can-cia.org.
6.1 EDS file
CANopen® encoders are supplied with their own EDS file
Lika_HxCB_DS406_Vx.eds (see enclosed documentation or visit www.lika.biz
> ROTARY ENCODERS > ABSOLUTE ENCODERS > CAN).
EDS file has to be installed on CANopen® master device.
Lika_HMxCB_DS406_Vx.eds: for multiturn encoder.
Lika_HSxCB_DS406_Vx.eds: for singleturn encoder.
6.2 Operation states
CANopen® devices are designed to operate using different states. Transition
from one state to another is made by sending specific NMT messages (see Figure
below).
(1)
Initialization
(2)
Boot-up message
(6)
Pre-operational
(3)
(5)
(4)
(6)
Stopped
(6)
(4)
(5)
(3)
Operational
(1)
(2)
(3)
(4)
(5)
(6)
Power on
Initialization carried out, boot-up message is sent
automatically
NMT message: Start remote node
NMT message: Enter pre-operational
NMT message: Stop remote node
NMT message: Reset node or Reset communication
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 21
CANopen® interface
Hx58x CANopen®
6.2.1 Initialization state
This is the first state the CANopen® device enters after power is turned on or
after a hardware reset. As soon as the basic CANopen® device initialization is
carried out, device reads and loads the parameters saved on EPROM, sends a
boot-up message and then switches automatically to Pre-operational state.
6.2.2 Pre-operational state
In this state communication between master and slave is possible using SDO
messages. They allow working parameters to be set. Slave cannot send PDO
messages.
To switch slave device to Operational state master must send a Start remote
node command using a NMT message.
6.2.3 Operational state
In this state slave device is active and all communication objects are available.
Slave device can use the parameters available in the “Object dictionary” and is
allowed to send process data using PDO messages. “Object dictionary” can be
accessed using SDO messages. To switch slave device to Pre-operational state
master must send an Enter pre-operational command using a NMT message.
6.2.4 Stopped state
In this state slave device is forced to interrupt communication with the Master
(except node guarding, if active).
Communication using PDO and SDO messages is not allowed.
To switch slave device to Pre-operational or Operational state master must
send the specific commands Enter pre-operational or Start remote node
using a NMT message.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 22
CANopen® interface
Hx58x CANopen®
6.3 Communication objects
Four different kinds of communication messages are used in a CANopen®
network:
 Network management NMT protocol: NMT protocols are used to issue state
machine change commands (i.e. to start and stop the devices), detect
remote device boot-ups and error conditions.
 Process Data Objects PDO protocol: used to process real time data
(transmission of process data in real time).
 Service Data Objects SDO protocol: used to set and read values from the
object dictionary of a remote device.
 Special Function Objects:
- SYNC: synchronization message used by master to enable slaves devices
to transmit process data (encoder position and velocity).
- Emergency: error messages are triggered by each error event.
- Nodeguard: used to request the state of the slave.
Relation between device states and communication objects:
Initial.
NMT
PDO
SDO
SYNC
EMCY
Boot-up
Node guard
Pre-oper.
X
Stopped
X
X
Operat.
X
X
X
X
X
X
X
X
X
X
6.3.1 Pre-defined connection set
Type of COB
(Object)
NMT
SYNC
Master  Slave broadcast
Function code
COB-ID (hex)
(binary)
0000
000
0001
080
EMERGENCY
PDO 1 (tx)
PDO 2 (tx)
PDO 3 (tx)
PDO4 (tx)
SDO (tx)
SDO (rx)
Node guard
Boot-up
peer-to-peer transmission
0001
0011
0101
0111
1001
1011
1100
1110
1110
081 - 0FF
181 - 1FF
281 - 2FF
381 - 3FF
481 - 4FF
581 - 5FF
601 - 67F
701 - 77F
701 - 77F
The type of COB (tx or rx) is viewed from the slave device.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 23
CANopen® interface
Hx58x CANopen®
6.4 NMT objects
NMT structure:
COB-ID (11 bit)
Func.code Node ID
0000
0
2 CAN Data Bytes
Command
Slave ID
NMT Func.
Slave ID
If Slave ID = 00h, the NMT message is issued to all network nodes.
NMT Function:
Command
01 hex
02 hex
80 hex
81 hex
82 hex
NMT Function
Start remote node
Stop remote node
Enter pre-operational
Reset node
Reset communication
State node
Operational
Stopped
Pre-operational
Pre-operational
Pre-operational
6.5 Boot-up objects
Boot-up message structure:
COB-ID(hex)
700+Node ID
1 CAN Data Bytes
00
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 24
CANopen® interface
Hx58x CANopen®
6.6 PDO objects
PDO (tx) messages are always made up of 4 CAN Data Bytes and are used by the
encoder to transmit the position value and/or the velocity value.
PDO structure:
IDENTIFIER
COB-ID(hex)
F.C.
Node-ID
4 CAN Data Bytes
Byte 0
Byte 1
Byte 2
Byte 3
Low
…
…
High
position value (with PDO1, PDO2, PDO3)
velocity value (with PDO4)
PDO1 Cyclic mode: cyclic transmission
Encoder uses the PDO1 message to transmit the position value cyclically, i.e.
periodically and independently from the Master.
The interval between two issues is set in the object 6200-00 Cyclic time.
To activate (or deactivate) cyclic mode it is necessary to set to 0 (or 1) the most
significant bit of COB-ID used by PDO1 (object 1800 PDO1 parameters, sub 1).
PDO2 and PDO3 SYNC mode: synchronous transmission
Transmission of position value is managed by the Master by sending a SYNC
message.
SYNC message is a high-priority COB transmitted by the Master to request the
position value of the encoder.
If several nodes (encoders) are connected to the network, the Master receives
the position values from the slaves respecting the Node number order.
The encoder can be programmed to send a reply after a set number of SYNC
messages by setting a counter.
The PDO message will be transmitted after having received the set number of
SYNC messages.
For PDO2 the value of the counter must be set in object 1801 PDO2
parameters, sub 2.
For PDO3 refer to object 1802 PDO3 parameters, sub 2.
SYNC transmission mode can be enabled (or disabled) by setting to 0 (or 1) the
most significant bit (MSB) of COB-IB used by PDO (object 1801 PDO2
parameters / 1802 PDO3 parameters, sub1).
PDO4 Cyclic mode: cyclic transmission
Encoder uses the PDO4 message to transmit the velocity value cyclically, i.e.
periodically and independently from the Master.
The interval between two issues is set in the object 6200-00 Cyclic time.
To activate (or deactivate) cyclic mode it is necessary to set to 0 (or 1) the most
significant bit of COB-ID used by PDO4 (object 1803 PDO4 parameters, sub 1).
NOTE
Several transmission modes can be active at the same time.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 25
CANopen® interface
Hx58x CANopen®
6.7 SDO objects
SDO messages are used to set and read values from the object dictionary of the
encoder. These parameters are described in the “Object dictionary” section (page
27).
4 bytes at the most are used for CAN data, other 4 bytes are used for Command,
Index and Sub-index fields. SDO messages are always followed by confirmation.
It follows that when Master sends a SDO message to Slave, slave always sends a
reply (and a warning, should an error occur).
SDO structure:
IDENTIFIER
COB-ID(hex)
F.C. Node-ID
Com
Index
Sub
Data
0
Com
1byte
from 4 to 8 CAN data bytes
1
2
3
4
5
6
Index
Sub
Data
LSB MSB 1byte LSB
…
…
7
MSB
command
parameter index
parameter sub-index
parameter value
6.7.1 Command
The command byte contains the type of telegram transmitted to the CAN
network.
Three types of telegram are available:
 Set: to send configuration parameters to a device;
 Req: used by master to read data from a device;
 Warnings: used by slave to send error messages to master (e.g. Index does
not exist, …).
Command
22h
23h
2Bh
2Fh
COB
Set
Set
Set
Set
COB type
M  S request
M  S request
M  S request
M  S request
Data length
not spec.
4 byte
2 byte
1 byte
60h
40h
Set
Req
S  M confirmation
M  S request
0 byte
0 byte
42h
43h
4Bh
4Fh
41h
Req
Req
Req
Req
Req
80h
Warning
S  M reply
not spec.
S  M reply
4 byte
S  M reply
2 byte
S  M reply
1 byte
S  M reply segmented SDO
S  M reply
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 26
4 byte
CANopen® interface
Hx58x CANopen®
6.8 Object dictionary
In the following pages the objects implemented are listed and described as
follows:
Index-subindex Object name
[data types, attribute]


Index and subindex are expressed in hexadecimal notation.
Attribute:
ro = read only access
rw = read and write access
Unsigned16 data type:
Process data bytes
byte 4
LSByte
byte 5
MSByte
Unsigned32 data type:
byte 4
LSByte
Process data bytes
byte 5
byte 6
…
…
byte 7
MSByte
6.8.1 Standard objects (DS 301)
1000-00 Device type
[Unsigned32, ro]
Default = 0001 0196h = singleturn encoder, DS 406
0002 0196h = multiturn encoder, DS 406
1001-00 Error register
[Unsigned8, ro]
Should an error occur, bit 0 of this object will be set to "1".
Default = 00h
1003 Pre-defined error field
This object contains the last four errors which generated an emergency
message.

00 Number of current errors [Unsigned8, rw]
(write 00h to delete the error history)
 01 Last error occurred [Unsigned32, ro]
 02-04 Previous errors occurred [Unsigned32, ro]
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 27
CANopen® interface
Hx58x CANopen®
1005-00 COB_ID SYNC message
[Unsigned32, rw]
Default = 0000 0080h
1008-00 Name of device manufacturer
[String, ro]
It shows the name of the device manufacturer.
Default = “LIKA SRL”
1009-00 Hardware version
[String, ro]
It shows the hardware version of the device.
100A-00 Software version
[String, ro]
It shows the software version of the device.
100C-00 Guard time
[Unsigned16, rw]
It contains the Guard time expressed in msec (milliseconds).
Object 100C-00 Guard time is used in the “Node guarding protocol” controlled
by the master. For more details see section “6.11 Node guarding protocol”.
Default = 0000h
100D-00 Life time factor
[Unsigned8, rw]
Object 100D-00 Life time factor is used in the “Node guarding protocol”
controlled by the master. For more details see section “6.11 Node guarding
protocol”.
Default = 00h
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 28
CANopen® interface
Hx58x CANopen®
1010-01 Store parameters
[Unsigned32, rw]
Use this object to save all parameters on non-volatile memory.
Write "save" (ASCII code in hexadecimal form) in the data bytes:
Master  Encoder
COB-ID
Cmd
Index
600+ID
23
10
10
Sub
01
Encoder  Master (confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
10
10
01
73
Data bytes
61
76
65
00
Data bytes
00
00
00
1011-01 Restore default parameters
[Unsig32, rw]
This object allows the operator to restore all parameters to default values
(default values are set at the factory by Lika Electronic engineers to allow the
operator to run the device for standard operation in a safe mode).
Write "load" (ASCII code in hexadecimal form) in the data bytes and then issue a
Reset node command:
Master  Encoder
COB-ID
Cmd
Index
600+ID
23
11
10
Sub
01
Encoder  Master (confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
11
10
01
6C
Data bytes
6F
61
64
00
Data bytes
00
00
00
Master  Encoder (Reset node)
COB-ID
Cmd Slave ID
000
81
ID
Encoder  Master (Boot-up)
COB-ID
Cmd
700+ID
00
NOTE
Save default values using the store parameters function (see object 1010-01
Store parameters).
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 29
CANopen® interface
Hx58x CANopen®
1014-00 COB-ID EMCY
[Unsigned32, rw]
This object defines the COB-ID used for sending emergency messages (EMCY).
If the node address is set using the internal dip-switches (i.e. at least one dipswitch for setting the node has HIGH logic level = 1), when the power is turned
on, this object is always forced to the default value. Otherwise, if the node
address is set via software (i.e. all dip-switches for setting the node have LOW
logic level = 0) it retains the set value, unless a software procedure for setting a
new address is forced at power on.
Default = 0000 0080h+NodeID
1015-00 Inhibit time EMCY
[Unsigned16, rw]
Inhibit time of the emergency messages (EMCY) expressed in multiples of 100
µs. When set to 0, this function is disabled.
Default = 0000h
1018 Identification object
 01 Vendor number [Unsigned32, ro]
 02 Product number [Unsigned32, ro]
 03 Revision number [Unsigned32, ro]
1800 PDO1 parameters
PDO1 message is used by default for cyclic transmission of the position value.
For more information refer to section “6.6 PDO objects” on page 25.
See object 6200-00 Cyclic time to set the cyclic timer.
 01 COB-ID of PDO1 [Unsigned32, rw]
Bit number
31 (MSB)
30
29
28 … 11
10 … 0 (LSB)
Value Meaning
0
PDO exists / is valid
1
PDO does not exist / is not valid
0
RTR allowed on this PDO (not implemented)
1
no RTR allowed on this PDO
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
0
if bit 29 = 0
X
if bit 29 = 1: bits 28-11 of 29-bit-COB-ID
X
bits 10-0 of COB-ID
Default = 4000 0180h+NodeID (no RTR, COB-ID)
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 30
CANopen® interface
Hx58x CANopen®
WARNING
It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed).
This means that “No RTR is allowed on the PDO”.
If the node address is set using the internal dip-switches (i.e. at least one
dip-switch for setting the node has HIGH logic level = 1), when the
power is turned on, this object is always forced to the default value.
Otherwise, if the node address is set via software (i.e. all dip-switches for
setting the node have LOW logic level = 0) it retains the set value, unless
a software procedure for setting a new address is forced at power on.

02 Transmission type [Unsigned8, rw]
Transmission type
PDO transmission
00h (0)
Acyclic, synchronous
not implemented
01h … F0h (1 … 240)
Cyclic, synchronous
implemented
F1h … FBh (241 … 251)
not implemented - reserved
FCh (252)
Synchronous, RTR only
FDh (253)
Asynchronous, RTR only not implemented
FEh (254)
Asynchronous,
manufacturer specific
implemented
FFh (255)
Asynchronous,
profile specific
not implemented
device
not implemented
Default = FEh (cyclic transmission, see hereafter and object 6200-00
Cyclic time)
WARNING
Following an attempt to set the Transmission Type to 0, the value is
accepted but the PDO message is not sent; following an attempt to
change the Transmission Type to any other value that is not supported
by the device, an abort message (abort code = 0609 0030h: Value
range of parameter exceeded) is generated.
If the value next to the object 6200-00 Cyclic time ≠ 0, the PDO
message is sent cyclically and the interval between two messages is the
time set next to the object 6200-00 Cyclic time; otherwise, if the value
next to the object 6200-00 Cyclic time = 0, the PDO message is not
sent.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 31
CANopen® interface
Hx58x CANopen®
1801 PDO2 parameters
PDO2 message is used by default for synchronous transmission of the position
value. For more information refer to section “6.6 PDO objects” on page 25.
 01 COB-ID of the PDO2 [Unsigned32, rw]
Bit number
Value Meaning
31 (MSB)
30
29
28 … 11
10 … 0 (LSB)
0
PDO exists / is valid
1
PDO does not exist / is not valid
0
RTR allowed on this PDO (not implemented)
1
no RTR allowed on this PDO
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
0
if bit 29 = 0
X
if bit 29 = 1: bits 28-11 of 29-bit-COB-ID
X
bits 10-0 of COB-ID
Default = 4000 0280h+NodeID (no RTR, COB-ID)
WARNING
It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed).
This means that “No RTR is allowed on the PDO”.
If the node address is set using the internal dip-switches (i.e. at least one
dip-switch for setting the node has HIGH logic level = 1), when the
power is turned on, this object is always forced to the default value.
Otherwise, if the node address is set via software (i.e. all dip-switches for
setting the node have LOW logic level = 0) it retains the set value, unless
a software procedure for setting a new address is forced at power on.

02 Transmission type [Unsigned8, rw]
Transmission type
PDO transmission
00h (0)
Acyclic, synchronous
not implemented
01h … F0h (1 … 240)
Cyclic, synchronous
implemented
F1h … FBh (241 … 251)
not implemented - reserved
FCh (252)
Synchronous, RTR only
FDh (253)
Asynchronous, RTR only not implemented
FEh (254)
Asynchronous,
manufacturer specific
implemented
FFh (255)
Asynchronous,
profile specific
not implemented
device
not implemented
Default = 01h (synchronous transmission at each SYNC command)
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 32
CANopen® interface
Hx58x CANopen®
Position value is transmitted after the set number of SYNC commands.
Interval in SYNC commands must be set next to this object 1801 PDO2
parameters, sub 2.
WARNING
Following an attempt to set the Transmission Type to 0, the value is
accepted but the PDO message is not sent; following an attempt to
change the Transmission Type to any other value that is not supported
by the device, an abort message (abort code = 0609 0030h: Value
range of parameter exceeded) is generated.
If the value next to the object 6200-00 Cyclic time ≠ 0, the PDO
message is sent cyclically and the interval between two messages is the
time set next to the object 6200-00 Cyclic time; otherwise, if the value
next to the object 6200-00 Cyclic time = 0, the PDO message is not
sent.
1802 PDO3 parameters
PDO3 message is used by default for synchronous transmission of the position
value. For more information refer to section “6.6 PDO objects” on page 25.
 01 COB-ID of the PDO3 [Unsigned32, rw]
Bit number
31 (MSB)
30
29
28 … 11
10 … 0 (LSB)
Value Meaning
0
PDO exists / is valid
1
PDO does not exist / is not valid
0
RTR allowed on this PDO (not implemented)
1
no RTR allowed on this PDO
0
11-bit ID (CAN 2.0A)
1
29-bit ID (CAN 2.0B)
0
if bit 29 = 0
X
if bit 29 = 1: bits 28-11 of 29-bit-COB-ID
X
bits 10-0 of COB-ID
Default = C000 0380h+NodeID (disable, no RTR)
WARNING
It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed).
This means that “No RTR is allowed on the PDO”.
If the node address is set using the internal dip-switches (i.e. at least one
dip-switch for setting the node has HIGH logic level = 1), when the
power is turned on, this object is always forced to the default value.
Otherwise, if the node address is set via software (i.e. all dip-switches for
setting the node have LOW logic level = 0) it retains the set value, unless
a software procedure for setting a new address is forced at power on.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 33
CANopen® interface
Hx58x CANopen®

02 Transmission type [Unsigned8, rw]
Transmission type
PDO transmission
00h (0)
Acyclic, synchronous
not implemented
01h … F0h (1 … 240)
Cyclic, synchronous
implemented
F1h … FBh (241 … 251)
not implemented - reserved
FCh (252)
Synchronous, RTR only
FDh (253)
Asynchronous, RTR only not implemented
FEh (254)
Asynchronous,
manufacturer specific
implemented
FFh (255)
Asynchronous,
profile specific
not implemented
not implemented
device
Default = 01h (synchronous transmission at each SYNC command)
Position value is transmitted after the set number of SYNC commands.
Interval in SYNC commands must be set next to this object 1802 PDO3
parameters, sub 2.
WARNING
Following an attempt to set the Transmission Type to 0, the value is
accepted but the PDO message is not sent; following an attempt to
change the Transmission Type to any other value that is not supported
by the device, an abort message (abort code = 0609 0030h: Value
range of parameter exceeded) is generated.
If the value next to the object 6200-00 Cyclic time ≠ 0, the PDO
message is sent cyclically and the interval between two messages is the
time set next to the object 6200-00 Cyclic time; otherwise, if the value
next to the object 6200-00 Cyclic time = 0, the PDO message is not
sent.
1803 PDO4 parameters
PDO4 is used by default for cyclic transmission of the velocity value.
For more information refer to section “6.6 PDO objects” on page 25.
See object 6200-00 Cyclic time to set the cyclic timer.
 01 COB-ID of PDO4 [Unsigned32, rw]
Bit number
31 (MSB)
30
Value Meaning
0
PDO exists / is valid
1
PDO does not exist / is not valid
0
RTR allowed on this PDO (not implemented)
1
no RTR allowed on this PDO
0
11-bit ID (CAN 2.0A)
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 34
CANopen® interface
Hx58x CANopen®
29
1
29-bit ID (CAN 2.0B)
28 … 11
0
if bit 29 = 0
X
if bit 29 = 1: bits 28-11 of 29-bit-COB-ID
X
bits 10-0 of COB-ID
10 … 0 (LSB)
Default = C000 0480h+NodeID (no RTR, COB-ID)
WARNING
It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed).
This means that “No RTR is allowed on the PDO”.
If the node address is set using the internal dip-switches (i.e. at least one
dip-switch for setting the node has HIGH logic level = 1), when the
power is turned on, this object is always forced to the default value.
Otherwise, if the node address is set via software (i.e. all dip-switches for
setting the node have LOW logic level = 0) it retains the set value, unless
a software procedure for setting a new address is forced at power on.

02 Transmission type [Unsigned8, rw]
Transmission type
PDO transmission
00h (0)
Acyclic, synchronous
not implemented
01h … F0h (1 … 240)
Cyclic, synchronous
implemented
F1h … FBh (241 … 251)
not implemented - reserved
FCh (252)
Synchronous, RTR only
FDh (253)
Asynchronous, RTR only not implemented
FEh (254)
Asynchronous,
manufacturer specific
implemented
FFh (255)
Asynchronous,
profile specific
not implemented
device
not implemented
Default = FEh (cyclic transmission, see hereafter and object 6200-00
Cyclic time)
WARNING
Following an attempt to set the Transmission Type to 0, the value is
accepted but the PDO message is not sent; following an attempt to
change the Transmission Type to any other value that is not supported
by the device, an abort message (abort code = 0609 0030h: Value
range of parameter exceeded) is generated.
If the value next to the object 6200-00 Cyclic time ≠ 0, the PDO
message is sent cyclically and the interval between two messages is the
time set next to the object 6200-00 Cyclic time; otherwise, if the value
next to the object 6200-00 Cyclic time = 0, the PDO message is not
sent.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 35
CANopen® interface
Hx58x CANopen®
NOTE
- Transmission of PDO1, PDO2, PDO3 and PDO4 messages can be enabled (or
disabled) setting to “0” (or “1”) the most significant bit (MSB) used by PDO
(object 180xh, sub1).
- Cyclic transmission or synchronous transmission can be modified setting the
object 180xh sub 2:
01h: synchronous transmission at each SYNC command;
02h: synchronous transmission after two SYNC commands;
…
FEh: cyclic transmission:
if 6200-00 Cyclic time ≠ 0  “cyclic transmission”: cycle time is set
next to the object 6200h;
if 6200-00 Cyclic time = 0  the PDO message is not sent.
1A00-01 PDO1 mapping parameter
[Unsig32, rw]
This object contains the mapped position value of the encoder according to
DS406 device profile.
Default = 6004 0020h
1A01-01 PDO2 mapping parameter
[Unsig32, rw]
See object 1A00-01 PDO1 mapping parameter.
1A02-01 PDO3 mapping parameter
[Unsig32, rw]
See object 1A00-01 PDO1 mapping parameter.
1A03-01 PDO4 mapping parameter
[Unsig32, rw]
This object contains the mapped velocity value of the encoder according to the
manufacturer profile.
Default = 3006 0020h
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 36
CANopen® interface
Hx58x CANopen®
6.8.2 Manufacturer specific objects
2104-00 Limit switch min.
[Unsigned32, rw]
This object can be used to set the lowest software limit switch. (-).
If the encoder position is below the value set in this object, bit 12 of object
6500-00 Operating state will be set to 1.
To enable this function set bit 12 of object 6000-00 Operating parameters to
1.
Default = 0000 0010h
2105-00 Limit switch max.
[Unsigned32, rw]
This object can be used to set the highest software limit switch. (+).
If the encoder position is higher than the value set in this object, bit 13 of object
6500-00 Operating state will be set to 1.
To enable this function set bit 13 of object 6000-00 Operating parameters to
1.
Default = 003F FFF0h
3000-00 Baud rate
[Unsigned8, rw]
This object is meant to set the baud rate (transmission rate) according to the
following table:
Data byte
00h
01h
02h
03h
04h
05h
06h
07h
Baud rate
20 Kbit/s
50 Kbit/s
100 Kbit/s
125 Kbit/s
250 Kbit/s
500 Kbit/s (default)
800 Kbit/s
1000 Kbit/s
The bit rate is set through object 3000-00 Baud rate only if bit 4 in DIP A is set
to ”OFF”. If bit 4 in DIP A is set to ”ON”, the bit rate is set by DIP A. For any
further information refer to section “4.8 Baud rate: DIP A”.
To change the baud rate value you have to:
 set the object 3000-00 Baud rate;
 send a Reset node command (or Reset communication command);
 save the parameter;
 set the Master to the new baud rate.
Default = 05h
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 37
CANopen® interface
Hx58x CANopen®
Master  Encoder
COB-ID
Cmd
Index
600+ID
2F
00
30
Encoder  Master (confirmation)
COB-ID
Cmd
Index
580+ID
60
00
30
Sub
00
Data byte
see table
Sub
00
Data byte
00
Master  Encoder (Reset node)
COB-ID
Cmd
Slave ID
000
81
ID
Set the master device to the new baud rate:
Encoder  Master (Boot-up with new baud rate)
COB-ID
Cmd
700+ID
00
NOTE
To save the new Baud rate value execute the store parameters function (see
object 1010-01 Store parameters).
When the power is turned off, parameters not saved are lost.
3001-00 Node-ID
[Unsigned8, rw]
This object defines the node identifier of the device.
The node number is set through the object 3001-00 Node-ID only if all bits of
DIP B are set to ”OFF”. If one bit at least of DIP B is set to “ON” the node number
is set through DIP B. For any further information refer to section “4.9 Node
number: DIP B”.
To change the Node-ID value you have to:
 set the object 3001-00 Node-ID;
 send a Reset node command;
 save the parameter.
Default = 01h
Master  Encoder
COB-ID
Cmd
600+ID
2F
Index
01
30
Sub
00
Data byte
new Node-ID
Encoder  Master (confirmation)
COB-ID
Cmd
Index
580+ID
60
01
30
Sub
00
Data byte
00
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 38
CANopen® interface
Hx58x CANopen®
Master  Encoder (Reset node)
COB-ID
Cmd
Slave ID
000
81
old ID
Encoder  Master (Boot-up with new Node-ID)
COB-ID
Cmd
700+ID
00
NOTE
To save the new Node-ID value execute the store parameters function (see
object 1010-01 Store parameters).
When the power is turned off, parameters not saved are lost.
3005-00 Velocity format
[Unsigned8, rw]
This attribute defines the engineering units for the velocity value.
00h = steps/s: number of steps per second (default);
01h = rpm:
revolutions per minute.
3006-00 Velocity value
[Unsigned32, ro]
This attribute shows the current speed detected by the position sensor and
calculated every 100 ms.
Value is transmitted according to the settings in the object 1803 PDO4
parameters.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 39
CANopen® interface
Hx58x CANopen®
6.8.3 Device profile objects (DS 406)
6000-00 Operating parameters
[Unsigned16, rw]
Bit
Function
0
Code sequence
1
2
3…11
12
13
14…15
Scaling function
Limit switch min.
Limit switch max.
bit = 0
CW
(clockwise)
not used
disabled
not used
disabled
disabled
not used
bit = 1
CCW (counter
clockwise)
enabled
enabled
enabled
Default = 0000h
Code sequence
It defines whether the position value output by the transducer increases when
the encoder shaft rotates clockwise (CW) or counterclockwise (CCW). When
Code sequence = 0, the position value increases when the encoder shaft
rotates clockwise; on the contrary, when Code sequence = 1, the position value
increases when the encoder shaft rotates counterclockwise. CW and CCW
rotations are viewed from shaft end.
Scaling function
If disabled the device uses its own physical resolution (see objects 6501-00
Hardware counts per revolution and 6502-00 Hardware number of turns);
if enabled it uses the resolution set in objects 6001-00 Counts per revolution
and 6002-00 Total resolution with the following relation:
Transmitted position =
6001-00 Counts per revolution
 real position  6002-00 Total resolution
6501-00 Hardware counts per revolution
WARNING
Every time you enable the scaling function and/or change the scaling values (see
objects 6001-00 Counts per revolution and 6002-00 Total resolution) then
you are required to set a new preset value (see object 6003-00 Preset value)
and finally save the new parameters (see object 1010-01 Store parameters).
Limit switch min.
Limit switch max.
It allows to enable / disable the function of the objects 2104-00 Limit switch
min. and 2105-00 Limit switch max.. For further information see on page 37.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 40
CANopen® interface
Hx58x CANopen®
6001-00 Counts per revolution
[Unsig32, rw]
This object sets a custom number of distinguishable steps per revolution.
Enabled if bit 2 Scaling function in the object 6000-00 Operating
parameters = ”1”.
To avoid counting errors, check that
6501-00 Hardware counts per revolution
6001-00 Counts per revolution
= integer value.
Allowed values are equal to or lower than 6501-00 Hardware counts per
revolution (see encoder label).
WARNING
Every time you change the value in this object then you are required to set a
new preset value (see object 6003-00 Preset value) and finally save the new
parameters (see object 1010-01 Store parameters).
6002-00 Total resolution
[Unsigned32, rw]
This object sets a custom number of distinguishable steps over the total
measuring range.
Enabled if bit 2 in the object 6000-00 Operating parameters = ”1”.
Allowed values are equal to or lower than Total hardware resolution (650100 Hardware counts per revolution  6502-00 Hardware number of turns,
see encoder label).
WARNING
Every time you change the value in this object then you are required to set a
new preset value (see object 6003-00 Preset value) and finally save the new
parameters (see object 1010-01 Store parameters).
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 41
CANopen® interface
Hx58x CANopen®
Example
Multiturn encoder HM5816/16384FB-6 with connection cap “BC-CB-C”.
Resolution is:
 Hardware counts per revolution:
revolution = 65536 (216)
 Hardware number of turns:
16384 (214)
 Total hardware resolution:
6501-00
Hardware
counts
per
6502-00 Hardware number of turns =
= 1073741824 (230)
2048 counts/rev.  1024 turns are required:
 Enable scaling function: 6000-00 Operating parameters, bit 2 = “1”
 Counts per revolution:
6001-00 Counts per revolution = 2048 (0000
0800h)
 Total resolution:
6002-00 Total resolution = 2048*1024 =
2097152 (0020 0000h)
NOTE
We suggest setting values which are power of 2 (2 n: 2, 4, …, 2048, 4096, 8192,…)
to be set in objects 6001-00 Counts per revolution and 6002-00 Total
resolution to avoid counting errors.
If 6001-00 Counts per revolution and/or 6002-00 Total resolution values
change, the 6003-00 Preset value must be updated to the new resolution. A
new 6003-00 Preset value is also required.
6003-00 Preset value
[Unsigned32, rw]
This object allows to set the encoder position to a Preset value. Preset function
is meant to assign a certain value to a desired physical position of the encoder
shaft.
Default = 0000 0000h
NOTE
 If the scaling function is disabled (see bit 2 Scaling function in the object
6000-00 Operating parameters), 6003-00 Preset value must be lower
than “Total hardware resolution” (6501-00 Hardware counts per
revolution  6502-00 Hardware number of turns).
 If the scaling function is enabled (see bit 2 Scaling function in the object
6000-00 Operating parameters), 6003-00 Preset value must be lower
than 6002-00 Total resolution.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 42
CANopen® interface
Hx58x CANopen®
6004-00 Position value
[Unsigned32, ro]
This object contains the position value, transmitted value is calculated
considering the scaling values. Value is transmitted cyclically or synchronously
according to the settings in the objects 1800 PDO1 parameters, 1801 PDO2
parameters and 1802 PDO3 parameters.
6200-00 Cyclic time
[Unsigned16, rw]
Cyclic timer value is used in asynchronous transmission mode (Transmission
Type = FEh) to set the interval between two PDO issues.
If the value next to the object 6200-00 Cyclic time ≠ 0, the PDO message is
sent cyclically and the interval between two messages is the time set next to the
object 6200-00 Cyclic time; otherwise, if the value next to the object 620000 Cyclic time = 0, the PDO message is not sent.
Value is expressed in milliseconds. See on pages 25 and 30.
Default = 0000h
6500-00 Operating state
[Unsigned16, ro]
Bit
0
1
2
3…11
12
13
14
15
Function
Code sequence
bit = 0
Clockwise
not used
Disabled
Scaling function
not used
posit. > 2104Limit switch min.
00 Limit switch
min.
posit. < 2105Limit switch max.
00 Limit switch
max.
not used
Stopped /
Current operating state
Pre-operational
bit = 1
CCW
Enabled
posit. < 210400 Limit switch
min.
posit. > 210500 Limit switch
max.
Operational
Code sequence
It shows whether the code sequence is set to clockwise (CW) or
counterclockwise (CCW). To set the code sequence to either CW or CCW you
must set the bit 0 Code sequence of the object 6000-00 Operating
parameters to 0 / 1.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 43
CANopen® interface
Hx58x CANopen®
Scaling function
It shows whether the scaling function is disabled or enabled. To disable / enable
the scaling function you must set the bit 2 Scaling function of the object
6000-00 Operating parameters to 0 / 1.
Limit switch min.
If the encoder position is over the value set in the object 2104-00 Limit
switch min., bit 12 of this object is set to “0”.
If the encoder position is below the value set in the object 2104-00 Limit
switch min., bit 12 of this object is set to “1”.
To enable this function set the bit 12 Limit switch min. of the object 6000-00
Operating parameters to "1".
Limit switch max.
If the encoder position is below the value set in the object 2105-00 Limit
switch max., bit 13 of this object is set to “0”.
If the encoder position is over the value set in the object 2105-00 Limit
switch max., bit 13 of this object is set to “1”.
To enable this function set the bit 13 Limit switch max. of the object 6000-00
Operating parameters to "1".
Current operating state
It shows the current operating state of the unit. For further information on the
available states see section “6.2 Operation states” on page 21.
bit 15 = 0: Stopped or Pre-operational state;
bit 15 = 1: Operational state.
6501-00 Hardware counts per revolution
[Unsigned32, ro]
This object defines the physical number of distinguishable steps each turn given
by the hardware.
To set a custom resolution see object 6001-00 Counts per revolution.
6502-00 Hardware number of turns
[Unsig16, ro]
This object defines the physical number of distinguishable turns given by the
hardware.
Total hardware resolution = 6501-00 Hardware counts per revolution 
6502-00 Hardware number of turns.
To set a custom number of turns see objects 6001-00 Counts per revolution
and 6002-00 Total resolution.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 44
CANopen® interface
Hx58x CANopen®
6504-00 Supported alarms
[Unsigned16, ro]
Default = 0000h (Alarms not supported).
6506-00 Supported warnings
[Unsigned16, ro]
Default = 0000h (Warnings not supported).
6507-00 Profile and software version
[Unsig32, ro]
Contains the profile and software version.
Profile version for encoders = 3.1
Software version = 1.1
Default = 0301 0101h
6508-00 Operating time
[Unsigned32, ro]
Default = FFFF FFFFh (not used)
6509-00 Offset value
[Integer32, ro]
This object contains the Offset value. This value is the difference between the
physical position of the encoder and the position relating to 6003-00 Preset
value.
Default = 0000 0000h
650A-01 Manufacturer offset value
[Integer32, ro]
This object contains the manufacturer offset value. This is the difference
between the physical zero position of the encoder (zero set mechanically) and
the zero position set by the manufacturer (zero set via software).
Default = 0000 0000h
650B-00 Serial number
[Unsigned32, ro]
Default = FFFF FFFFh (not used)
NOTE
To save new parameters execute the store parameters function (see object
1010-01 Store parameters).
When the power is turned off or in case of Reset node and Restore node
commands, parameters not saved are lost.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 45
CANopen® interface
Hx58x CANopen®
6.9 Warning objects
For the complete list and meaning of the warning messages please refer to “SDO
abort codes” section in “CiA Draft Standard 301” document available at address
www.can-cia.org.
6.10 Emergency objects
Emergency (EMCY) objects are issued by the device when an internal error
occurs.
EMCY structure:
IDENTIFIER
COB-ID(hex)
see object
1014-00 COB-ID
EMCY
0
1
Error code
LSB
CAN Data Byte
2
3…7
Error Subregister
Specific code
01
00…00
MSB
Available error codes:
1000h = Node guarding error
5530h = Flash memory error
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 46
CANopen® interface
Hx58x CANopen®
6.11 Node guarding protocol
At system boot the “Node guarding protocol” is disabled; this protocol is enabled
automatically as soon as the master device sends a RTR message (Remote
Transmission Request) the first time.
Master
request
Guard
time
response
request
Slave
RTR
NodeGuard.
RTR
Node life
time
time
Node guarding
event
Life guarding
event
100C-00 Guard time:
interval between two RTR messages.
Node life time:
maximum time available for the encoder to receive a
RTR message.
Node life time = 100C-00 Guard time  100D-00 Life time factor.
“Node guarding” is enabled if Node life time  0.
If the slave does not receive a RTR message before the Node life time has
expired, it warns activating a “Life Guarding Event”. Furthermore the red LED
starts flashing so indicating the Node guarding error, objects 1001-00 Error
register and 1003 Pre-defined error field are updated and an error message
is sent.
To reset the error send a Reset node command.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 47
CANopen® interface
Hx58x CANopen®
7
Setting-up
Here following are some examples of transmission between Master and Slave
devices.
A generic “ID” value is used to indicate the encoder address; Master address is
always 0. All values are expressed in hexadecimal notation.
Set Operational, Pre-operational state
NMT message
Operational:
Pre-operational:
Master  Slave
COB-ID
000
Cmd
01
Node
ID
80
ID
000
Set resolution per revolution 6001-00 Counts per revolution (216=0001
0000h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
23
01
60
00
00
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
01
60
00
Process data
00
00
00
00
Process data
00
01
00
Set total resolution 6002-00 Total resolution (228=1000 0000h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
23
02
60
00
Process data
00
00
01
00
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
02
60
00
Process data
00
00
00
00
Set Operating parameter 6000-00 Operating parameters
(Code sequence: CW, Scaling function: enabled, Limit switch min. / Limit
switch max.: disabled)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
2B
00
60
00
Process data
04
00
-
-
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
00
60
00
Process data
00
00
-
-
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 48
Setting-up
Hx58x CANopen®
Set Preset value 6003-00 Preset value (preset = 1000 = 03E8h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
23
03
60
00
Process data
E8
03
00
00
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
03
60
00
Process data
00
00
00
00
Set Sync counter 1801 PDO2 parameters sub 2 (n = 5 = 05h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
2F
01
18
02
05
Process data
-
-
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
01
18
02
00
Process data
-
-
Process data
-
-
Disable Sync mode 1801 PDO2 parameters sub 1
Read COB-ID used by PDO2:
Master  Encoder (Req request)
COB-ID
Cmd
Index
Sub
600+ID
40
01
18
01
Encoder  Master (Req reply)
COB-ID
Cmd
Index
580+ID
43
01
18
Sub
01
-
B0
Process data
B1
B2
B3
COB-ID used by PDO2 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 1:
B3 |= 0x80;
Set new COB-ID used by PDO2 (1801 PDO2 parameters sub 1):
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
23
01
18
01
Process data
B0
B1
B2
B3
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
01
18
01
Process data
00
00
00
00
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 49
Setting-up
Hx58x CANopen®
Enable Cyclic mode 6200-00 Cyclic time
Set cyclic time (100 ms = 64h)
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
2B
00
62
00
64
Process data
00
-
-
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
00
62
00
Process data
00
00
-
-
Read COB-ID used by PDO1 (1800 PDO1 parameters sub 1):
Master  Encoder (Req request)
COB-ID
Cmd
Index
Sub
600+ID
40
00
18
01
Encoder  Master (Req reply)
COB-ID
Cmd
Index
580+ID
43
00
18
Sub
01
-
Process data
-
-
Process data
B0
B1
B2
B3
COB-ID used by PDO1 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 0:
B3 &= 0x7F;
Set new COB-ID used by PDO1 (1800 PDO1 parameters sub 1):
Master  Encoder (Set request)
COB-ID
Cmd
Index
Sub
600+ID
23
00
18
01
B0
Process data
B1
B2
B3
Encoder  Master (Set confirmation)
COB-ID
Cmd
Index
Sub
580+ID
60
00
18
01
00
Process data
00
00
00
NOTE
To save new parameters execute the store parameters function (see object
1010-01 Store parameters).
When the power is turned off or in case of Reset node and Restore node
commands, parameters not saved are lost.
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 50
Setting-up
Hx58x CANopen®
8
Default parameters list
Default values are expressed in hexadecimal notation.
Parameters list
1000-00 Device type
1001-00 Error register
1003 Pre-defined error field
1005-00 COB_ID SYNC message
1008-00 Name of device
manufacturer
1009-00 Hardware version
100A-00 Software version
100C-00 Guard time
100D-00 Life time factor
1014-00 COB-ID EMCY
1015-00 Inhibit time EMCY
1018 Identification object
1800 PDO1 parameters, sub 1
1800 PDO1 parameters, sub 2
1801 PDO2 parameters, sub 1
1801 PDO2 parameters, sub 2
1802 PDO3 parameters, sub 1
1802 PDO3 parameters, sub 2
1803 PDO4 parameters, sub 1
1803 PDO4 parameters, sub 2
1A00-01 PDO1 mapping
parameter, sub 1
1A01-01 PDO2 mapping
parameter, sub 1
1A02-01 PDO3 mapping
parameter, sub 1
1A03-01 PDO4 mapping
parameter, sub 1
2104-00 Limit switch min.
2105-00 Limit switch max.
3000-00 Baud rate
3001-00 Node-ID
3005-00 Velocity format
6000-00 Operating parameters
6001-00 Counts per revolution
6002-00 Total resolution
6003-00 Preset value
6200-00 Cyclic time
6500-00 Operating state
6504-00 Supported alarms
6506-00 Supported warnings
6507-00 Profile and software
version
6508-00 Operating time
6509-00 Offset value
650A-01 Manufacturer offset
value
650B-00 Serial number
* Text string
Default values
0x00010196
0x00020196
0x00
0x00000080
LIKA*
0x0000
0x00
NODEID+0x00000080
0x0000
NODEID+0x40000180
0xFE
NODEID+0x40000280
0x01
NODEID+0xC0000380
0x01
NODEID+0xC0000480
0xFE
0x60040020
0x60040020
0x60040020
0x36000020
0x00000010
0x003FFFF0
0x05
0x01
0x00
0x0000
0x00000000
0x0000
0x0000
0x0000
0x0000
0x03010101
0xFFFFFFFF
0x00000000
0x00000000
0xFFFFFFFF
MAN Hx58 CB_Hx58S CB_HxC58 CB E 1.9.odt 51
Default parameters list
Document release
1.0
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
Description
1st issue
obj_6002 and obj_6003 corrections
Added M12 electrical connections
General review and section1 corrections
Added velocity value: PDO4, obj_1803, obj_1A03, obj_3005 e
obj_3006.
Added section 5.11
Section 4 update
General review
General review
Object 1014.00-1800.01-1801.01-1802.01-1803.01 updated,
general review, added section 8, Italian / English separate edition
Updated information about objects 1800h, 1801h, 1802h, 1803h,
6200h
This device is to be supplied by a Class 2 Circuit or Low-Voltage
Limited Energy or Energy Source not exceeding 30 Vdc. Refer to
the product datasheet for supply voltage rate.
Dispose separately
LIKA Electronic
Via S. Lorenzo, 25 - 36010 Carrè (VI) - Italy
Tel. +39 0445 806600
Fax +39 0445 806699
Italy: eMail [email protected] - www.lika.it
World: eMail [email protected] - www.lika.biz
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