Manual Absolute Photoelectric Encoders with

Manual Absolute Photoelectric Encoders with
FACTORY AUTOMATION
Manual
Absolute Photoelectric
Encoders with
CANopen Interface
Part. No. xxxxxx / DOCT-0114B / 08/29/2012
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1
General CANopen Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
2.2
2.2.1
2.2.2
2.2.3
2.2.4
Connection via Bus cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Signal Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Connecting-up the bus cover with cable glands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Setting Node Number in Bus Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Setting Baudrate in Bus Cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Status of the Bus Cover LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Installation of Encoders with Cable Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Signal Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Setting Node Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Setting Baud Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Switching the integrated Bus Terminal Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3
Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1
4.1.1
4.1.2
4.1.3
4.1.4
4.1.5
4.2
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pre-operational Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mode: Start - Operational . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stopped Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reinitialization of the Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Normal Operating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3
4.3.1
4.4
Storing Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Storing Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Restoring Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.5
Usage of Layer Setting Services (LSS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5
Programmable Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.1
5.1.1
5.2
Programming example: Preset Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Set Encoder Preset Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Communication Profile DS301 specific objects from 1000h - 1FFFh . . . . . . . . . . . . . . 19
Part No. xxxxxx
5.3
Manufacturer specific objects 2000h – 5FFFh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.4
Application specific objects 6000h – 67FEh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.5
Object Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.1
Power on – Encoder doesn’t respond . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.2
Malfunction of the position value during transmission . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.3
Too much ERROR-Frames. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Document No. DOCT-0114B
1
Date of issue: 31 th August 2012
Absolute Photoelectric Encoders with CANopen Interface
13
13
13
13
14
14
14
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Absolute Photoelectric Encoders with CANopen Interface
6.4
Limit switches without function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
6.5
Encoder without bus cover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7
Appendix: History and Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.1
Boot-up-time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.2
Object 1802h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.3
Objekt 1000h Device Type is not 196h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.4
Restore Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.5
Bus Cover BCD-Switch Setting “9” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.6
C2-C5-Work-around. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.7
Version History of Bus Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.8
Changes of the CANopen Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.9
Changes of entries in object dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.10
Changing transmit PDO communication parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.11
Polling in Pre-Operational state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.12
Changes in boot-up sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.13
Handling of spare parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.14
Changing of the default BootUp message of the B1 version . . . . . . . . . . . . . . . . . . . . . 47
Used symbols
This symbol warns the user of potential danger. Nonobservance may lead to
personal injury or death and/or damage to property.
Warning
Attention
This symbol calls attention to important notes.r
Document No. DOCT-0114B
This symbol warns the user of potential device failure. Nonobservance may lead
to the complete failure of the device or other devices connected.
Date of issue: 31th August 2012
Part No. xxxxxx
Note
4
Absolute Photoelectric Encoders with CANopen Interface
Security advice
This product must not be used in applications, where safety of persons depend
on the correct device function.
This product is not a safety device according to EC machinery directive.
Warning
Notes
These operating instructions refer to proper and intended use of this product. They must be
read and observed by all persons making use of this product. This product is only able to fulfill
the tasks for which it is designed if it is used in accordance with specifications of Pepperl+Fuchs.
The warrantee offered by Pepperl+Fuchs for this product is null and void if the product is not
used in accordance with the specifications of Pepperl+Fuchs.
Changes to the devices or components and the use of defective or incomplete devices or components are not permitted. Repairs to devices or components may only be performed by Pepperl+Fuchs or authorized work shops. These work shops are responsible for acquiring the latest
technical information about Pepperl+Fuchs devices and components.Repair tasks made on the
product that are not performed by Pepperl+Fuchs are not subject to influence on the part of
Pepperl+Fuchs. Our liability is thus limited to repair tasks that are performed by Pepperl+Fuchs.
The preceding information does not change information regarding warrantee and liability in the
terms and conditions of sale and delivery of Pepperl+Fuchs.
This device contains sub-assemblies that are electrostatically sensitive. Only qualified specialists may open the device to perform maintenance and repair tasks. Touching the components
without protection involves the risk of dangerous electrostatic discharge, and must be avoided.
Destruction of basic components caused by an electrostatic discharge voids the warrantee!
Pepperl+Fuchs GmbH in D-68301 Mannheim maintains a quality assurance system certified
according to ISO 9001.
ISO9001
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Subject to technical modifications.
5
Absolute Photoelectric Encoders with CANopen Interface
Introduction
1
Introduction
•
•
•
•
•
6
Management messages (LMT, NMT)
Messaging and service (SDOs)
Data exchange (PDOs)
Layer Setting Services (LSS)
Predefined messages (synchronization, emergency messages)
Part No. xxxxxx
General CANopen Information
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 device checks whether the bus is free, and if it is the device is able to send messages. If two devices try to access the bus at the same time, the device with the higher priority level (lowest ID
number) has permission to send its message.
Devices with the lowest priority level must delay their data transfer and wait before retrying to
send their message. Data communication is carried out via messages. These messages consist
of 1 COB-ID followed by a maximum of 8 bytes of data. The COB-ID, which determines the priority of the message, consists of a function code and a node number. The node number corresponds to the network address of the device. It is unique on a bus. The function code varies
according to the type of message being sent:
Date of issue: 31th August 2012
1. 1
Document No. DOCT-0114B
This manual explains how to install and configure the photoelectric absolute rotary encoder with
CANopen interface applicable for industrial applications with CANopen interface. The products
are fully compliant with:
DS301V402 CANopen Application Layer
DR303-1 Cabeling and connector pin assignment
DR303-3 CANopen indicator specification
DS305V200 CANopen Layer Setting Service
DS306V1R3 Electronic datasheet specification
DS406V32 Device Profile for Encoders.
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 optoarray 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 signals are available
for evaluation.
Single-Turn
Single turn encoders specify the absolute position for one turn of the shaft i.e. for 360°. After one
turn the measuring range is completed and starts again from the beginning.
Multi-Turn
Linear systems normally need more than one turn of a shaft. A single turn encoder is unsuitable
for this type of application because of the additional requirement of the number of turns. The
principle is relatively simple: Several single turn encoders are connected using a reduction gear.
The first stage supplies the resolution per turn, the stages behind supply the number of turns.
There are several types of encoder versions. Please refer to the datasheets to find out which is
the best version for your application.
Absolute Photoelectric Encoders with CANopen Interface
Installation
The absolute rotary encoder supports the following operating modes:
• Polled mode: The position value is only sent on request.
• Cyclic mode: The position value is sent cyclically (regular, adjustable interval) on the bus.
• SYNC mode: The position value is sent after a synchronization message (SYNC) was
received. The position value 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
CANopen interface are defined). The node number and speed in bauds are determined via rotary switches.
The transmission speed can range from 20 kbaud up to 1Mbaud (30 m cable for a maximum
speed of 1 Mbaud, 1000 m cable for a maximum speed of 20 kbaud). Various software tools for
configuration and parameter-setting are available from different suppliers. It is easy to align and
program the rotary encoders using the EDS (electronic data sheet) configuration file provided on
the Pepperp+Fuchs internet page www.pepperl-fuchs.com.
Further information is available at:
CAN in Automation (CiA) International Users and Manufacturers Group e.V.
Kontumazgarten 3
DE-90429 Nurenberg
www.can-cia.org/
(*) Reference: CAN Application Layer for Industrial Applications
CiA DS201..207 V1.1 CAL-based Communication Profile for Industrial Systems
CiA DS301 CANopen Application Layer
CiA DS406 Device Profile for Encoders
2
Installation
2. 1
Connection via Bus cover
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 separately. If the power supply is integrated into
the bus cable, one of the cable glands can be fitted with a plug. The cable glands are suitable for
cable diameters from 6.5 up to 9 mm.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Note
All datasheets and manuals can be downloaded for free from our website
www.pepperl-fuchs.com
We do not assume responsibility for technical inaccuracies or omissions.
Specifications are subject to change without notice.
7
Absolute Photoelectric Encoders with CANopen Interface
Installation
RT
ON
+
G L H G L
9 01
9 01
9 01
2 8
2 8
2
8
3 7
3 7
3
7
6 54
6 54
6 54
Bd
x10
H
x1
Fig. 2.1: Bus cover, internal view and signal assignment
Bus Connection
The bus cover fulfills the function of a T-coupler. From there the wiring must be done according
to the drawing on the left side. Please note the assignment of incoming and outgoing bus signals.
An activated bus termination resistor will lead into a separation of bus in and bus
out signals!
Attention
8
Part No. xxxxxx
Installation hints
Both the cable shielding and the metal housings of encoders and subsequent electronics have a
shielding function. The housing must have the same potential and be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line.
Potential compensating lines should have a minimum cross section of 6 mm 2.
Do not lay signal cable in the direct vicinity of interference sources (air clearance > 100 mm
(4 in.)).
A minimum spacing of 200 mm (8 in.) to inductors is usually required, for example in switch-
Date of issue: 31th August 2012
1. Cut off cable sheath and expose bralded screen over a length of appr. 10-15 mm depending
on the cable diamter.
2. Push dome nut and lamellar insert with sealing ring on to the cable.
3. Bend braided screen outwards at a right angle (90°).
4. Fold braided screen towards outer sheath, i.e. by another 180°.
5. Push lamellar insert with sealing ring into gland body and snap anti-rotation element into
place.
6. Screw on dome nut with 3,5 Nm.
Document No. DOCT-0114B
2.1.2 Connecting-up the bus cover with cable glands
Absolute Photoelectric Encoders with CANopen Interface
Installation
mode power supplies.
Configure the signal lines for minimum length and avoid the use of intermediate terminals.
Shielded field bus cables shall be used! The shield must be grounded according to EMI rules!
In metal cable ducts, sufficient decoupling of signal lines from interference signal transmitting cable can usually be achieved with a grounded partition.
2.1.3 Setting Node Number in Bus Cover
The setting of the node number is done by turning the BCD rotary switches x1 and x10 in the bus
cover. Possible (valid) addresses lie between 0 and 89 whereby every address can only be used
once. Two LEDs on the backside of the bus cover show the encoder’s operating status.
Internally the CANopen Encoder adds 1 to the adjusted device address.
To set the node number the customer can easily remove the bus cover for installation by removing two screws at the backside of the encoder. The meaning and the positioning of the two turnswitches you can see in Fig. 2.1.
2.1.4 Setting Baudrate in Bus Cover
The baudrate is adjusted by one turn switch Bd in the bus cover. The following baudrates are
possible:
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Note
9
Absolute Photoelectric Encoders with CANopen Interface
Installation
Date of issue: 31th August 2012
Fig. 2.2: CAN Run LED states
Part No. xxxxxx
Document No. DOCT-0114B
2.1.5 Status of the Bus Cover LEDs
The LED behaviour was designed in accordance to the CiA normative DR 303-3 CANopen indicator specification.
10
Absolute Photoelectric Encoders with CANopen Interface
Installation
Fig. 2.3: CAN Error LED states
2. 2
Installation of Encoders with Cable Exit
The encoders with cable exit fulfil all bus cover features, like:
• Node Number Addressing
• Baud Rate Setting
• Terminal Resistor
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
2.2.1 Signal Assignment
The Pepperl+Fuchs absolute rotary with cable exit were designed in accordance to CiA normative DR303-1 cabeling assignment.
11
Absolute Photoelectric Encoders with CANopen Interface
Installation
2.2.2 Setting Node Number
If the device has a cable exit or the BCD-rotary-switch in the bus cover is set to “9”, the node
number has to be set via SDO objects. An advantage of setting the node number via software
is, that the whole CANopen node number span from 1 to 127 can be addressed. The default
node number is 32. To set node number object 3000h has to be written.
For further information see chapter 5.5 Object Dictionary.
Setting Node Number via LSS
If the device has a cable exit or the BCD-rotary-switch in the bus cover is set to “9”, the node
number can be adjusted via Layer Setting Services (LSS). For further information see chapter
4.5.
Date of issue: 31th August 2012
Setting Baud Rate via LSS
If the device has a cable exit or the BCD-rotary-switch in the bus cover is set to “9”, the node
number can be adjusted via Layer Setting Services (LSS). The default baud rate is 20 kBaud.
For further information see chapter 4.5.
Part No. xxxxxx
Document No. DOCT-0114B
2.2.3 Setting Baud Rate
If the device has a cable exit or the BCD-rotary-switch in the bus cover is set to “9”, the baud rate
has to be adjusted via SDO objects. The default baud rate is 20 kBaud. To set baud rate object
3001h has to be written. For further information please see chapter 5.5 Object Dictionary.
Eight different baud rates are provided. To adjust the baud rate only one byte is used.
12
Absolute Photoelectric Encoders with CANopen Interface
Technical Data
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.
If an encoder with cable is used, there is the possibility to set a termination resistor inside the encoder. If the encoder is the last device in the bus, the user can set object 3002h to “one” and the
internal termination will be switched on.
3
Technical Data
There is a large variety of absolute rotary encoders with photoelectric sampling.
For detailed and complete technical data of your specific encoder, please refer to the data sheet
on http://www.pepperl-fuchs.com.
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 powerup in pre-operational mode:
BootUp Message: 700 hex + Node Number
It is recommended that the parameters can be changed by the user when the encoder is in preoperational mode. Pre-operational mode entails reduced activity on the network, which simplifies the checking of the accuracy of the sent/received SDOs. It is not possible to send or receive
PDOs in pre-operational mode.
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Part No. xxxxxx
Document No. DOCT-0114B
4.1.2 Pre-operational Mode
To set a node to pre-operational mode, the master must send the following message:
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode. The
pre-operational 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:
It is possible to set all nodes (Index 0) or a single node (Index NN) to operational mode. This
13
Absolute Photoelectric Encoders with CANopen Interface
Configuration
mode is used for normal operation and the encoder can provide the position value as PDO.
4.1.4 Stopped Mode
To put one or all nodes in the stopped state, the master have to send the following message:
It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode.
4.1.5 Reinitialization of the Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
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.
Normal Operating
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Part No. xxxxxx
Document No. DOCT-0114B
4. 2
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Absolute Photoelectric Encoders with CANopen Interface
Configuration
Part No. xxxxxx
Document No. DOCT-0114B
4. 3
Storing Parameter
4.3.1 Storing Procedure
The parameter settings can be stored in a nonvolatile E2PROM. The parameter settings are
stored in RAM when being programmed. When all the parameters are set and proved, they can
be transferred in one burn cycle to the E2 PROM by the parameter memory transfer.
The stored parameters are copied after a RESET (Power on, NMTReset) from
Date of issue: 31 th August 2012
the E2PROM to the RAM (volatile memory).
Note
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.
15
Absolute Photoelectric Encoders with CANopen Interface
Configuration
4. 4
Restoring Parameters
The default parameters can be restored by using the object 1011h from communication profile
related object dictionary. The already in the nonvolatile memory programmed parameters are
not overwritten. Only after a new store command the default parameters are stored in the nonvolatile memory. To restore the default parameter the following telegram is used. The restored
parameters are equal for every type of CANopen encoder and might not fit with the status after
delivery. Please check the restored parameters before you store them to the nonvolatile memory.
4. 5
Usage of Layer Setting Services (LSS)
The integrated Layer Setting Service functionality is designed according to the CiA normative
DS305V200 CANopen Layer Setting Service: General Description:
These services and protocols can be used to inquire or to change settings of several parameters of the physical, data link layer, and application layer on a CANopen device with LSS slave
capability by a CANopen device with LSS master capability via the CAN network. In case of our
photoelectric encoder series, the encoder will be the LSS slave device and the PLC (control)
has to support LSS master device functionality. The LSS-functionality of the photoelectric encoder series is limited to the following parameters of the application layer, namely node number
and baud rate.
Date of issue: 31th August 2012
Part No. xxxxxx
The LSS master device requests services, that are performed by the encoder (LSS slave devices). The LSS master device requests the LSS address from the LSS slave device. The LSS address is defined in object 1018h Identity Object, it consists of Vendor ID, Product Code,
Revision Number and Serial Number as shown in table above. After receiving this information
the control can unequivocally identify the encoder and the node number and baud rate can be
set. The exact procedure varies in detail, coursed by the different PLC tools.
Document No. DOCT-0114B
Storing with Reset
By using the object 2300h from the manufacturer specific object dictionary you can store the parameters into the non-volatile memory. After storing the parameters a reset of the device is performed.
16
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
5
Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org).
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)
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Object Dictionary
The data transmission according to CAL is realized exclusively by object oriented data messages. The objects are classified in groups by an index record. Each index entry can be subdivided
by sub-indices. The overall layout of the standard object dictionary is shown below:
17
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Answer of the Encoder
Read Preset Value from the Encoder
Answer of the Encoder
Date of issue: 31th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Save Preset Values
18
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Communication Profile DS301 specific objects from 1000h - 1FFFh
In this manual we refer to the communication profile DS301 V4.02
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
5. 2
19
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Manufacturer specific objects 2000h – 5FFFh
Date of issue: 31th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
5. 3
20
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Application specific objects 6000h – 67FEh
In this manual we refer to the communication profile DS406 V3.2
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
5. 4
21
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
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.
Absolute rotary encoder single turn: 10196h
Absolute rotary encoder multi turn: 20196h
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:
Clearing Error Log
The error log can be cleared by writing 0 to subindex 0 of object 1003.
22
Date of issue: 31th August 2012
Part No. xxxxxx
• 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
Document No. DOCT-0114B
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.
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 1005h: COB-ID Sync
This object contains the synchronization message identifier.
Object 1008h: Manufacturer Device Name
This object contains the device name.
Object 1009h: Manufacturer Hardware Version
This object contains the article name of the circuit board.
Object 100Ah: Manufacturer Software Version
This object contains the manufacturer software version.
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.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Object 100Ch: Guard Time
This object contains the guard time in milliseconds.
23
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 1010h: Store Parameters
This object is used to store device and CANopen related parameters to non volatile
memory.
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.
Object 1011h: Restore Parameters
This object is used to restore device and CANopen related parameters to factory settings.
Note
Please check all parameters before you store them to the non volatile memory.
Date of issue: 31th August 2012
Object 1012h: COB-ID Time Stamp Object
This object contains the COB-ID of the Time Stamp object.
Part No. xxxxxx
The restoration of parameters will only be taken into account after a power up or
reset command.
Document No. DOCT-0114B
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.
24
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 1013h: High Resolution Time Stamp
This object contains a time stamp with a resolution of 1µs.
Object 1014h: COB-ID Emergency Object
This object contains the EMCY emergency message identifier.
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.
Object 1017h: Producer Heartbeat Time
The object contains the time intervall in milliseconds in which the device has to produce the a
heartbeat message.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
The context of subindex 1 is as follows:
25
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 1018h: Identity Object
This object contains the device information. For further information, please see chapter 4.5 Layer Setting Services.
Object 1020h: Verify configuration
This object indicates the downloaded configuration date and time.
Date of issue: 31th August 2012
Part No. xxxxxx
Object 1800h: 1st TPDO Communication Parameter
This object contains the communication parameter of the 1 st transmit PDO.
Document No. DOCT-0114B
Object 1029h: Error behaviour
This object indicates the error behavior.
26
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 1801h: 2nd TPDO Communication Parameter
This object contains the communication parameter of the 2nd transmit PDO.
In previous encoder series the second PDO was configured with object 1802.
Note
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Transmission Mode
The transmission mode can be configured as described below:
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 1 ... 65536 ms.
27
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 1A00h: 1st TPDO Mapping Parameter
This object contains the mapping parameter of the 1st transmit PDO.
Object 1A01h: 2nd TPDO Mapping Parameter
This object contains the mapping parameter of the 2nd transmit PDO.
28
Part No. xxxxxx
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
Date of issue: 31th August 2012
Object 1F51h: Program Control
This is a special bootloader object, that has functionality for single turn encoders without bus
cover only (see Bootloader chapter).
This array controls the programs residing at index 0x1F50.
Document No. DOCT-0114B
Object 1F50h: Download Program Area
This is a special bootloader object, that has functionality for single turn encoders without bus
cover 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.
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 2000h: Position Value
This object contains the position value.
Object 2100h: Operating Parameters
As operating parameters the code sequence (Complement) can be selected and the limit switches can be turned on or off.
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.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
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.
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.
29
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 2102h: Total Resolution
This object contains the desired total resolution of the encoder.
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:
 PGA  AU 
GA = ------------------------------- AU  PAU
PAU
16777216
 2048 - = 8388608
GA = --------------------------------------------4096
Date of issue: 31th August 2012
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.
Part No. xxxxxx
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
Document No. DOCT-0114B
PGA
k = ------------  k = integer
GA
30
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
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
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:
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 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
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.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
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:
31
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 2200h: Cyclic Timer PDO
This object contains cyclic time of the event timer in ms (of PDO 1).
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.
Object 3000h: Node Number
This object contains the node number of the device. The Pepperl+Fuchs standard node number
is 32.
NOTE: To avoid the node number 0, one will be added to the value of this object!
E.g.: 1Fh+1h = 20h = 32 (dec)
Date of issue: 31th August 2012
Part No. xxxxxx
Eight different baud rates are provided. To adjust the baud rate only one byte is used.
Document No. DOCT-0114B
Object 3001h: Baudrate
This object contains the baudrate of the device.
32
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
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.
Object 3010h: Speed Control
This object contains the speed control. The speed measurement is disabled by default.
Object 3020h: Acceleration Control
This object contains the acceleration control. The acceleration measurement is disabled by default.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Object 3011h: Speed Value
This object contains speed value.
33
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 3021h: Acceleration Value
This object contains acceleration value.
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 C2C5-Behavior can be written to ONE. This modus should only be used for fully compatible replacement of C2- or C5-encoders.
Part No. xxxxxx
Date of issue: 31th August 2012
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 Pepperl+Fuchs.
Document No. DOCT-0114B
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.
34
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 6000h: Operating parameters
This object shall indicate the functions for code sequence, commissioning diagnostic control and
scaling function control.
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
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.
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.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Object 6001h: Measuring units per revolution
This object shall indicate the number of distinguishable steps per revolution.
35
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 6003h: Preset value
This object indicates the preset value for the output position value
Object 6004h: Position value
This object contains the process value of the encoder.
Hardwired with Object 2000h.
36
Part No. xxxxxx
Date of issue: 31th August 2012
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 Motorola-format (MSB..LSB) is used and
the direction of the Bytes have 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
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
Document No. DOCT-0114B
Object 6030h: Speed Value
This object contains the speed value of the encoder.
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Summarisation:
Object 6040h: Acceleration Value
This object contains the acceleration value of the encoder.
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.
The object 6200h is hard-wired to the objects 1800h subindex 5h and 2200h and provide the cycle time for the cyclic mode. (See chapter Cycle Time and Event Timer)
Object 6301h: Cam enable register
This object contains the cam enable register
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Object 6300h: Cam state register
This object contains the cam state register. The subindices 1h to FEh contain the cam state of
channel 1 to 254.
37
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Object 6302h: Cam polarity register
This object contains the cam enable register
Date of issue: 31th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
List of CAM objects
38
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
39
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
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.
Date of issue: 31th August 2012
This object is hardwired with 2104h (Limit Switch Min).
Part No. xxxxxx
Document No. DOCT-0114B
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.
40
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
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.
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.
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.
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.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Object 6502h: Number of distinguishable revolutions
This object contains number of revolutions of the absolute rotary encoder.
41
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
Bit structure of the alarms
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.
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.
Part No. xxxxxx
Date of issue: 31th August 2012
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)
Document No. DOCT-0114B
Bit structure of the warnings
42
Absolute Photoelectric Encoders with CANopen Interface
Programmable Parameters
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.
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.
The value is divided into the profile version part and the Software version part. Each part is divided in upper version and lower version.
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.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
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.
43
Absolute Photoelectric Encoders with CANopen Interface
Troubleshooting
Object 650Ah: Module identification
This object shall provide the manufacturer-specific offset value, the manufacturer-specific minimum and maximum position value.
Object 650Bh: Serial number
This object contains the serial number of the device. The serial number is also supported in object 1018h subindex 4h.
6
Troubleshooting
6. 1
Power on – Encoder doesn’t respond
Problem:
The bus is active but the installed encoder transmitted no boot up message.
Possible solution:
Malfunction of the position value during transmission
Problem:
During the transmission of the position value occasional malfunction occurs. The CAN bus can
be temporary in the bus off state also.
Possible solution:
Check, if the last bus node has switched on the terminal resistor. If the last bus node is an encoder the terminal resistor is situated in the bus cover.
6. 3
Too much ERROR-Frames
Problem:
The bus load is too high in case of too much error frames.
Possible solution:
Check if all bus node has the same baud rate. If one node has another baud rate error frames
are produced automatically.
44
Part No. xxxxxx
6. 2
Document No. DOCT-0114B
switch of the PLC
remove the bus cover of the encoder
check the turn-switch for the baud rate
Assemble the bus cover
power on
Date of issue: 31th August 2012
1.
2.
3.
4.
5.
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
6. 4
Limit switches without function
Problem:
The encoder didn’t transmit the bits for the limit switches.
Possible solution:
The limit switch functionality has to be activated once. Please follow the description you can find
in chapter 4.5.
6. 5
Encoder without bus cover
Notice: The changing of baud rate and node number are only valid after a new power up, NMT
Reset or the store parameters command.
7
Appendix: History and Compatibility
History encoder generations
This chapter gives you information about older types of absolute rotary encoder with CANopen
interface. Technical changes and compatibilities between the different types are specified.
Encoders with photoelectric sampling
Since September 2009 Pepperl+Fuchs replaced the first generation of photoelectric CANopen
encoders by the second generation encoders.
To guarantee conformity to CiA standard the encoders had to be changed in a way, that they are
not fully compatible to the old types anymore.
Overview of the incompatibilities:
•
•
•
•
•
7. 1
LED-behaviour
Object 1802h second TPDO
Object 1000h Device Type is not 196h
Restore command
BCD-switch position 9 in the bus cover
Boot-up-time
The encoder line needs less time to send the Boot-Up message after switching on.
• first generation encoders:
• second generation encoders:
Object 1802h
In the past the second PDO could be parameterised by the object 1801h and 1802h. This is not
consistent with the CiA standards and was ended with the introduction of the new encoder generation. This means in the future the second PDO can only be parameterised via object 1801h.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
7. 2
approx. 3000 ms
approx. 250 ms
45
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
7. 3
Objekt 1000h Device Type is not 196h
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:
• Singleturn --> 10196h
• Mutliturn --> 20196h
7. 4
Restore Command
In the past the restore command set the encoder to customised default values The restore command sets the encoder to Pepperl+Fuchs default values, which are defined in the user manual.
Communication parameters like node number and baud rate are not restored.
7. 5
Bus Cover BCD-Switch Setting “9”
The, former undefined, BCD-switch setting “9” in the bus cover is used to set the encoder into a
mode, that ignores the switch setting for baud rate and node number. The parameters can be
modified by SDO messages and LSS, only.
7. 6
C2-C5-Work-around
With little limitations, the second encoder generation will be compatible to the current version. It
will be possible to use the old EDS-file for configuration purposes in the PLC with the new encoders and no errors will occur. Merely the enhanced functions, like velocity- and accelerationoutput, will not be available.
In case for unexpected problems, there is the possibility to set the encoder in a compatibility
mode, that will restore the old C2-C5-behavior.
There are the following procedures to set this mode:
Manually, with the BCD-switch in the bus cover:
1. Remove bus cover from encoder
2. Set node number 97
3. Reconnect bus cover --> Both LEDs will light up red.
4. Remove bus cover again and set back to the needed node number
5. Reconnect bus cover --> C2-C5-Behavior
Via Software:
7. 8
Changes of the CANopen Protocol
The following changes have not be relevant to you because only specific function according to
the newest CANopen specification (DS-301 V4.0) are not supported anymore or are new implemented. If your application don’t use this function, there will be no problem.
7. 9
Changes of entries in object dictionary
Relevant changes applies to the boot-up message, as well as some entries in the CANopen object index not used by the common user. A complete list of these objects you can find in the following table.
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Part No. xxxxxx
Version History of Bus Cover
In particular the design of the bus cover is improved. Easier installation due to a new type of
screw terminals inside of the bus cover. On the back of the bus cover two multicolor LEDs are
implemented for easy diagnosis.
The terminal resistor is hooked up via a slide switch. Thus continuative bus connection will be
cut off. The localisation of accidentally switched on terminal resistors wil be made easier. The
device address and the baudrate will be adjusted via BCD switches. This made the installation
easier.
Date of issue: 31th August 2012
7. 7
Document No. DOCT-0114B
1. Set object 3030h subindex 1h to „ONE“ via SDO-command
2. Hard- or Software RESET
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
7. 10 Changing transmit PDO communication parameter
In the new encoder generation the polling isn’t supported anymore if the PDO is disabled. According to CANopen specification DS301- V4.0 it is necessary to set the cyclic time (object entry
[2200h]) to 0 and left the PDO switched on to poll the encoder. Important! If the PDO is switched
off no communication is possible.
Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
7. 11 Polling in Pre-Operational state
The old generation has accepted polling requests in pre-operational state, but wasn’t correct according to CANopen standard. In the manual for the old encoder was a hint, that the polling request is not allowed in pre-operational state, because it is not defined in the CANopen standard.
So be aware that the new encoder is in general not accepting poll requests in preoperational
state independent of configuration of the behavior as new or old encoder.
7. 12 Changes in boot-up sequence
If the old encoder generation is connected to the supply voltage or a NMT message (reset node,
reset communication) is sent to the encoder, a boot-up message appears. The telegram structure looks like this: identifier: 80hex + node number, data length 0 bytes.
This message was not defined by the specification DS301 V3.0, but vendor specific used by
some manufactures to show that the device is ‘alive’.
According to DS301 V4.0 the new rotary encoder generation doesn’t support this message anymore. In place of the old message a common valid boot-up message is defined.
The structure looks like this:
identifier: 700hex + node number, data length 1 byte
This boot-up message also appears if the command ‘reset node’ and ‘reset communication’ is
sent to the encoder.
7. 13 Handling of spare parts
Boot-up message new encoder and old bus cover. To use the new encoder generation as spare
part for the old encoder generation, the new encoder recognize the old bus cocer type and supports the specification DS301-V3.0 automatically as well as the appropriate boot-up message.
7. 14 Changing of the default BootUp message of the B1 version
To get the same boot-up behavior of the old encoder generation if you use the new encoder generation and the new bus cover type there will be following solution:
The needed protocol type will be activated via a defined device address. Please use the follow-
47
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
ing configuration sequence:
1. Setting the needed address (see table below).
2. Connect the bus cover to the encoder.
3. Switch on supply voltage.
4. Wait until both LEDs light up red.
5. Switch off supply voltage.
6. Remove bus cover.
7. Set up the correct device address. (0- 89)
8. Connect the bus cover to the encoder.
9. Switch on supply voltage. --> Normal operation.
Date of issue: 31th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Beside 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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Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
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Date of issue: 31th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
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Date of issue: 31 th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
51
Date of issue: 31th August 2012
Part No. xxxxxx
Document No. DOCT-0114B
Absolute Photoelectric Encoders with CANopen Interface
Appendix: History and Compatibility
52
FACTORY AUTOMATION –
SENSING YOUR NEEDS
Worldwide Headquarters
Pepperl+Fuchs GmbH
68307 Mannheim · Germany
Tel. +49 621 776-0
E-mail: [email protected]
USA Headquarters
Pepperl+Fuchs Inc.
Twinsburg, Ohio 44087 · USA
Tel. +1 330 4253555
E-mail: [email protected]
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Pepperl+Fuchs Pte Ltd.
Company Registration No. 199003130E
Singapore 139942
Tel. +65 67799091
E-mail: [email protected]
www.pepperl-fuchs.com
Subject to modifications
Copyright PEPPERL+FUCHS • Printed in Germany
TDOCT-0114B_ENG
xxxxxx
09/2012
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