User Manual - TR Electronic

User Manual - TR Electronic
Rotary
Encoders
Linear
Encoders
System
Motion
LP
System
LA
System
LMP
System
Cxx-65
• Software/Support CD: 490-01001
- Soft-No.: 490-00408
User Manual
• Additional safety instructions
• Installation
• Commissioning
• Configuration / Parameterization
• Cause of faults and remedies
TR - E - TI - GB - 0016 - 06 02/12/2008
Absolute linear encoder series LA/LP/LMP and
Absolute encoder series Cxx-65 with CANopen interface
Contents
TR-Electronic GmbH
D-78647 Trossingen
Eglishalde 6
Tel.: (0049) 07425/228-0
Fax: (0049) 07425/228-33
E-mail: [email protected]
http://www.tr-electronic.de
Copyright protection
This Manual, including the illustrations contained therein, is subject to copyright
protection. Use of this Manual by third parties in contravention of copyright
regulations is forbidden. Reproduction, translation as well as electronic and
photographic archiving and modification require the written content of the
manufacturer. Offenders will be liable for damages.
Subject to amendments
Any technical changes that serve the purpose of technical progress, reserved.
Document information
Release date/Rev. date:
Document rev. no.:
File name:
Author:
02/12/2008
TR - E - TI - GB - 0016 - 06
TR-E-TI-GB-0016-06.DOC
MÜJ
Font styles
Italic or bold font styles are used for the title of a document or are used for
highlighting.
Courier font displays text, which is visible on the display or screen and software
menu selections.
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> ″ indicates keys on your computer keyboard (such as <RETURN>).
Trademarks
CANopen is a registered trademark of CAN in Automation e.V.
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Contents
Contents
Contents .............................................................................................................................................. 3
Revision index .................................................................................................................................... 6
1 General information ........................................................................................................................ 7
1.1 Applicability ............................................................................................................................. 7
1.2 References ............................................................................................................................. 8
1.3 Abbreviations and definitions.................................................................................................. 9
2 Additional safety instructions........................................................................................................ 10
2.1 Definition of symbols and instructions .................................................................................... 10
2.2 Additional instructions for proper use ..................................................................................... 10
2.3 Organizational measures........................................................................................................ 11
3 Technical data.................................................................................................................................. 12
3.1 Electrical characteristics ......................................................................................................... 12
3.1.1 Rotative Measuring systems................................................................................... 12
3.1.2 Linear Measuring systems...................................................................................... 13
4 CANopen information ..................................................................................................................... 14
4.1 CANopen – Communication profile ........................................................................................ 15
4.2 Process- and Service-Data-Objects ....................................................................................... 16
4.3 Object Dictionary .................................................................................................................... 17
4.4 CANopen default identifier...................................................................................................... 17
4.5 Transmission of SDO messages ............................................................................................ 18
4.5.1 SDO message format ............................................................................................. 18
4.5.2 Read SDO............................................................................................................... 20
4.5.3 Write SDO............................................................................................................... 21
4.6 Network management, NMT................................................................................................... 22
4.6.1 Network management services .............................................................................. 23
4.6.1.1 NMT device control services ..................................................................................................... 23
4.6.1.2 NMT Node / Life guarding services........................................................................................... 24
4.7 Layer management services (LMT) and protocols ................................................................. 25
4.7.1 LMT Modes and Services ....................................................................................... 26
4.7.2 Transmission of LMT services ................................................................................ 27
4.7.2.1 LMT message format ................................................................................................................ 27
4.7.3 Switch mode protocols............................................................................................ 28
4.7.3.1 Switch mode global protocol ..................................................................................................... 28
4.7.3.2 Switch mode selective protocol................................................................................................. 28
4.7.4 Configuration protocols........................................................................................... 29
4.7.4.1 Configure NMT-address protocol .............................................................................................. 29
4.7.4.2 Configure bit timing parameters protocol .................................................................................. 30
4.7.4.3 Activate bit timing parameters protocol ..................................................................................... 31
4.7.4.4 Store configuration protocol ...................................................................................................... 31
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Contents
4.7.5 Inquire LMT address protocols ............................................................................... 32
4.7.5.1 Inquire Manufacturer-Name protocol ........................................................................................ 32
4.7.5.2 Inquire Product-Name protocol ................................................................................................. 32
4.7.5.3 Inquire Serial-Number protocol ................................................................................................. 33
4.7.6 Identification protocols ............................................................................................ 34
4.7.6.1 LMT identify remote slave protocol ........................................................................................... 34
4.7.6.2 LMT identify slave protocol ....................................................................................................... 34
4.8 Device profile .......................................................................................................................... 35
5 Installation / Preparation for start-up ............................................................................................ 36
5.1 Connection.............................................................................................................................. 37
5.2 DIP-switch – settings .............................................................................................................. 37
5.2.1 Bus termination ....................................................................................................... 37
5.2.2 Node-ID................................................................................................................... 37
5.2.3 Baud rate ................................................................................................................ 37
5.3 Shield cover, type with cable outlet ........................................................................................ 38
5.4 Switching on the supply voltage ............................................................................................. 40
5.5 Setting the Node-ID and Baud rate by means of LMT services ............................................ 40
5.5.1 Configuration of the Node-ID, sequence ................................................................ 40
5.5.2 Configuration of the Baud rate, sequence .............................................................. 41
6 Commissioning................................................................................................................................ 42
6.1 CAN – interface ...................................................................................................................... 42
6.1.1 EDS file ................................................................................................................... 42
6.1.2 Bus status ............................................................................................................... 43
7 The communication profile ............................................................................................................ 44
7.1 1st transmit Process-Data-Object (asynchronous) ................................................................ 44
7.2 2nd transmit Process-Data-Object (cyclic) ............................................................................. 44
8 Communication specific standard objects (CiA DS-301)............................................................ 45
8.1 Object 1000h: Device type...................................................................................................... 46
8.2 Object 1001h: Error register ................................................................................................... 46
8.3 Object 1002h: Manufacturer status register ........................................................................... 47
8.4 Object 1003h: Pre-defined error field ..................................................................................... 47
8.5 Object 1004h: Number of PDOs supported............................................................................ 47
8.6 Object 1005h: COB-ID SYNC message ................................................................................. 48
8.7 Object 1008h: Device name ................................................................................................... 49
8.8 Object 1009h: Hardware version ............................................................................................ 49
8.9 Object 100Ah: Software version ............................................................................................. 49
8.10 Object 100Bh: Node-ID......................................................................................................... 49
8.11 Object 100Ch: Guard time .................................................................................................... 50
8.12 Object 100Dh: Life time factor .............................................................................................. 50
8.13 Object 100Eh: COB-ID guarding protocol ............................................................................ 50
8.14 Object 1010h: Store parameters .......................................................................................... 51
8.15 Object 1018h: Identity Object ............................................................................................... 52
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Contents
9 Parameterization and configuration .............................................................................................. 53
9.1 Standardized encoder profile area (CiA DS-406)................................................................... 53
9.1.1 Object 6000h - Operating parameters .................................................................... 54
9.1.1.1 Object 6001h – Measuring units per revolution......................................................................... 54
9.1.1.2 Object 6002h - Total measuring range in measuring units ....................................................... 55
9.1.2 Object 6003h - Preset value ................................................................................... 56
9.1.3 Object 6004h - Position value................................................................................. 56
9.1.4 Object 6200h - Cyclic timer..................................................................................... 57
9.1.5 Measuring system diagnostics................................................................................ 57
9.1.5.1 Object 6500h - Operating status ............................................................................................... 57
9.1.5.2 Object 6501h - Single-Turn resolution, rotative......................................................................... 57
9.1.5.3 Object 6501h - Measuring step, linear ...................................................................................... 58
9.1.5.4 Object 6502h - Number of distinguishable revolutions.............................................................. 58
9.1.5.5 Object 6503h - Alarms .............................................................................................................. 59
9.1.5.6 Object 6504h - Supported alarms ............................................................................................. 60
9.1.5.7 Object 6505h - Warnings .......................................................................................................... 60
9.1.5.8 Object 6506h - Supported warnings.......................................................................................... 60
9.1.5.9 Object 6507h - Profile and software version ........................................................................... 61
9.1.5.10 Object 6508h - Operating time ................................................................................................ 61
9.1.5.11 Object 6509h - Offset value .................................................................................................... 61
9.1.5.12 Object 650Ah - Manufacturer offset value............................................................................... 61
9.1.5.13 Object 650Bh - Serial number................................................................................................. 61
10 Emergency Message ..................................................................................................................... 62
11 Transmission of the measuring system position value ............................................................ 63
12 Causes of faults and remedies .................................................................................................... 65
12.1 Optical displays..................................................................................................................... 65
12.2 SDO Error codes .................................................................................................................. 65
12.3 Emergency Error codes ........................................................................................................ 66
12.3.1 Object 1001h: Error register ................................................................................. 66
12.3.2 Object 1003h: Pre-defined Error field, bits 0 – 15 ................................................ 67
12.4 Alarm messages ................................................................................................................... 67
12.5 Other faults ........................................................................................................................... 68
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Revision index
Revision index
Revision
Date
Index
First release
05/27/97
00
Complete revision and finishing
11/21/97
01
Parameter modification to "CIA Draft Standard Proposal 406, Version 2.0"
02/08/99
02
Internal administrative conditioned revision
02/23/05
03
Correction of the object data types
01/11/06
04
Identity Object 1018 added
10/24/07
05
- General technical modifications, layout modifications
- Implementation of the LMT services, CiA DS-205-1 and DS-205-2
02/12/08
06
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General information
1 General information
The User Manual includes the following topics:
•
Safety instructions in additional to the basic safety instructions defined in the
Assembly Instructions
•
Electrical characteristics
•
Installation
•
Commissioning
•
Configuration / parameterization
•
Causes of faults and remedies
As the documentation is arranged in a modular structure, this User Manual is
supplementary to other documentation, such as product datasheets, dimensional
drawings, leaflets and the assembly instructions etc.
The User Manual may be included in the customer's specific delivery package or it
may be requested separately.
1.1 Applicability
This User Manual applies exclusively to the following measuring system models with
CANopen interface:
•
•
•
•
•
•
LA
LP
LMP
CE-65, CEV-65
CS-65, CES-65
CK-65
The products are labelled with affixed nameplates and are components of a system.
The following documentation therefore also applies:
•
•
•
the operator's operating instructions specific to the system,
this User Manual,
and the assembly instructions
– TR-ECE-BA-DGB-0046, for rotative measuring systems
– TR-ELA-BA-DGB-0004, for linear measuring systems
which is enclosed when the device is delivered
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General information
1.2 References
1.
ISO 11898: Road Vehicles Interchange of Digital Information - Controller Area
Network (CAN) for high-speed Communication, November 1993
2.
Robert Bosch GmbH, CAN Specification 2.0 Part A and B, September 1991
3.
CiA DS-201
V1.1, CAN in the OSI Reference Model, February 1996
4.
CiA DS-202-1
V1.1, CMS Service Specification, February 1996
5.
CiA DS-202-2
V1.1, CMS Protocol Specification, February 1996
6.
CiA DS-202-3
V1.1, CMS Encoding Rules, February 1996
7.
CiA DS-203-1
V1.1, NMT Service Specification, February 1996
8.
CiA DS-203-2
V1.1, NMT Protocol Specification, February 1996
9.
CiA DS-204-1
V1.1, DBT Service Specification, February 1996
10.
CiA DS-204-2
V1.1, DBT Protocol Specification, February 1996
11.
CiA DS-205-1
V1.1, LMT Service Specification, February 1996
12.
CiA DS-205-2
V1.1, LMT Protocol Specification, February 1996
CiA DS-206
V1.1, Recommended Layer Naming Conventions,
February 1996
CiA DS-207
V1.1, Application Layer Naming Conventions, February 1996
CiA DS-301
V3.0, CANopen Communication Profile based on CAL,
October 1996
CiA DS-406
V2.0, CANopen Profile for Encoder, May 1998
13.
14.
15.
16.
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General information
1.3 Abbreviations and definitions
LA
Linear-Absolute Measuring System, type with tube-housing
LP
Linear-Absolute Measuring System, type with profile-housing
LMP
Linear-Absolute Measuring System, type with profile-housing
CE, CEV
Absolute Encoder with optical scanning unit, Solid Shaft
CK
Absolute Encoder with optical scanning unit, Integrated Claw Coupling
CS, CES
Absolute Encoder with optical scanning unit, Blind Shaft
EC
European Community
EMC
Electro Magnetic Compatibility
ESD
Electro Static Discharge
IEC
International Electrotechnical Commission
VDE
German Electrotechnicians Association
CAN specific
CAL
CAN Application Layer. The application layer for CAN-based
networks as specified by CiA in Draft Standard 201 ... 207.
CAN
Controller Area Network. Data link layer protocol for serial
communication as specified in ISO 11898.
CiA
CAN in Automation international manufacturer and user organization e.V.: non-profit association for Controller Area Network (CAN).
CMS
CAN-based Message Specification. One of the service elements of
the application layer in the CAN Reference Model.
COB
Communication Object. (CAN Message) A unit of transportation in a
CAN Network. Data must be sent across a Network inside a COB.
COB-ID
COB-Identifier. Identifies a COB uniquely in a Network. The identifier determines the priority of that COB in the MAC sub-layer too.
DBT
Distributor. One of the service elements of the application in the
CAN Reference Model. It is the responsibility of the DBT to
distribute COB-ID´s to the COB´s that are used by CMS.
EDS
Electronic-Data-Sheet
LMT
Layer Management. One of the service elements of the application
in the CAN Reference Model. It serves to configure parameters of
each layer in the CAN Reference Model.
NMT
Network Management. One of the service elements of the
application in the CAN Reference Model. It performs initialization,
configuration and error handling in a CAN network.
PDO
Process Data Object. Object for data exchange between several
devices.
SDO
Service Data Object. Peer to peer communication with access to
the Object Dictionary of a device.
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Additional safety instructions
2 Additional safety instructions
2.1 Definition of symbols and instructions
means that death, serious injury or major damage to property
could occur if the stated precautions are not met.
WARNING !
means that minor injuries or damage to property can occur if
the stated precautions are not met.
CAUTION !
indicates important information's or features and application tips
for the product used.
2.2 Additional instructions for proper use
The measurement system is designed for operation with CANopen networks
according to the International Standard ISO/DIS 11898 and 11519-1 up to max.
1 Mbit/s. The profile corresponds to the "CANopen Device Profile for Encoder CiA
DS-406 V2.0A".
The technical guidelines for the structure of the CANopen network from the CAN User
Organization CiA are always to be observed in order to ensure safe operation.
Proper use also includes:
•
observing all instructions in this User Manual,
•
observing the assembly instructions. The "Basic safety instructions" in
particular must be read and understood prior to commencing work.
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Additional safety instructions
2.3 Organizational measures
•
This User Manual must always kept accessible at the site of operation of the
measurement system.
•
Prior to commencing work, personnel working with the measurement system
must have read and understood
-
the assembly instructions, in particular the chapter "Basic safety
instructions",
-
and this User Manual, in particular the chapter "Additional safety
instructions".
This particularly applies for personnel who are only deployed occasionally,
e.g. at the parameterization of the measurement system.
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Technical data
3 Technical data
3.1 Electrical characteristics
3.1.1 Rotative Measuring systems
Supply voltage: ................................. 11…27 V DC, twisted in pairs and shielded
Current consumption without load:... < 400 mA
* Total resolution: ............................. ≤ 25 bit
* Number of steps / revolution: ....... ≤ 8.192
Number of revolutions: .................... ≤ 4.096
CANopen: ..........................................
Bus connection:............................
CAN Specification 2.0 A:..............
Device Profile for Encoder: ..........
Node-ID:.......................................
Baud rate:.....................................
Output code:.................................
Transmission:...............................
Terminating resistor: ....................
EN 50325-4
ISO 11898-1, ISO 11898-2
11-Bit Identifier
CiA DS 406
1…64, by means of DIP-switches
20 kbit/s, 125 kbit/s, 500 kbit/s, 1 Mbit/s, DIP-switches
Binary
twisted in pairs and shielded copper cable
121 ohm, adjustable by means of DIP-switches
Special features:............................... Programming of the following parameters
via the CAN-BUS:
- Code sequence
- Number of measuring steps per revolution
- Measuring range in steps
- Preset value
EMC:................................................... DIN EN 61000-6-2/DIN EN 61000-4-2/DIN EN 61000-4-4
* parameterizable via CANopen
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Technical data
3.1.2 Linear Measuring systems
Supply voltage: ................................. 19…27 V DC, twisted in pairs and shielded
Current consumption without load:... < 350 mA
Measuring principle: ........................ magnetostrictive
* Resolution: ..................................... 0.01 mm / 0.005 mm, see nameplate
Output capacity: ............................... ≤ 24 bit
Cycle time internally, LA-41/LA-65/LP-38
≤ 0.75 m ......................................
≤ 1.00 m ......................................
≤ 1.50 m ......................................
≤ 2.00 m ......................................
≤ 2.50 m ......................................
≤ 3.00 m ......................................
1.4 ms
1.8 ms
2.7 ms
3.6 ms
4.5 ms
5.4 ms
Cycle time internally, LA-46/LMP-30/LP-46
≤ 1.00 m ......................................
≤ 1.50 m ......................................
≤ 2.00 m ......................................
≤ 2.50 m ......................................
> 2.50 m ......................................
1.0 ms
1.5 ms
2.0 ms
2.5 ms
3.0 ms
CANopen: ..........................................
Bus connection:............................
CAN Specification 2.0 A:..............
Device Profile for Encoder: ..........
1 Node-ID: ....................................
1
Baud rate: ..................................
Output code:.................................
Transmission:...............................
Terminating resistor: ....................
EN 50325-4
ISO 11898-1, ISO 11898-2
11-Bit Identifier
CiA DS 406
1…64, by means of DIP-switches
20 kbit/s, 125 kbit/s, 500 kbit/s, 1 Mbit/s, DIP-switches
Binary
twisted in pairs and shielded copper cable
121 ohm, adjustable by means of DIP-switches or jumper
Special features:............................... Programming of the following parameters
via the CAN-BUS:
- Code sequence
- Measuring range in steps
- Preset value
EMC:................................................... DIN EN 61000-6-2/DIN EN 61000-4-2/DIN EN 61000-4-4
* parameterizable via CANopen
1 LMP-30, LA-41 without DIP-switches: programmable with LMT services acc. to CiA DS 205-1 and 205-2
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CANopen information
4 CANopen information
CANopen was developed by the CiA and is standardized since at the end of 2002 in
the European standard EN 50325-4.
As communication method CANopen uses the layers 1 and 2 of the CAN standard
which was developed originally for the use in road vehicles (ISO 11898-2). In the
automation technology these are extended by the recommendations of the CiA
industry association with regard to the pin assignment and transmission rates.
In the area of the application layer CiA has developed the standard CAL (CAN
Application Layer).
Figure 1: CANopen classified in the ISO/OSI reference model
In case of CANopen at first the communication profile as well as a "Build instructions"
for device profiles was developed, in which with the structure of the object dictionary
and the general coding rules the common denominator of all device profiles is defined.
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CANopen information
4.1 CANopen – Communication profile
The CANopen communication profile (defined in CiA DS-301) regulates the devices
data exchange. Here real time data (e.g. position value) and parameter data (e.g.
code sequence) will be differentiated. To the data types, which are different from the
character, CANopen assigns respectively suitable communication elements.
Figure 2: Communication profile
Special Function Object (SFO)
-
Synchronization (SYNC)
Emergency (EMCY) Protocol
Network Management Object (NMO)
e.g.
-
Life / Node-Guarding
Boot-Up,…
Error Control Protocol
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CANopen information
4.2 Process- and Service-Data-Objects
Process-Data-Object (PDO)
Process-Data-Objects manage the process data exchange, e.g. the cyclical
transmission of the position value.
The process data exchange with the CANopen PDOs is "CAN pure", therefore without
protocol overhead. All broadcast characteristics of CAN remain unchanged. A
message can be received and evaluated by all devices at the same time.
From the measuring system the two transmitting process data objects 1800h for
asynchronous (event-driven) position transmission and 1802h for the synchronous
(upon request) position transmission are used.
Service-Data-Object (SDO)
Service-Data-Objects manage the parameter data exchange, e.g. the non-cyclical
execution of the Preset function.
For parameter data of arbitrary size with the SDO an efficient communication
mechanism is available. For this between the configuration master and the connected
devices a service data channel for the parameter communication is available. The
device parameters can be written with only one telegram handshake into the object
dictionary of the devices or can be read out from this.
Important characteristics of the SDO and PDO
CiA DS-301 CANopen
Data Types Communication Profile
PDO
? Real-time data
? Identifier with high priority
? max. 8 bytes
? Format defined before
? CAN pure
? no Acknowledgement
SDO
? System parameter
? Identifier with low priority
? Data fragmented in
several telegrams
? Data addressed via Index
? acknowledged services
Figure 3: Comparison of PDO/SDO characteristics
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CANopen information
4.3 Object Dictionary
The object dictionary structures the data of a CANopen device in a clear tabular
arrangement. It contains all device parameters as well as all current process data,
which are accessible thereby also about the SDO.
Figure 4: Structure of the Object Dictionary
4.4 CANopen default identifier
CANopen devices can be used without configuration in a CANopen network. Just the
setting of a bus address and the baud rate is required. From this node address the
identifier allocation for the communication channels is derived.
COB-Identifier = Function Code + Node-ID
10
0
1
2
3
4
Function Code
1
2
3
4
5
6
7
Node-ID = Adjustment of the address switches + 1
Examples
Object
Function Code
COB-ID
Index Communication Parameter
NMT
0000bin
0
–
SYNC
0001bin
80h
1005
PDO1 (tx)
0011bin
181h – 1FFh
1800h
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CANopen information
4.5 Transmission of SDO messages
The transmission of SDO messages is done by the CMS “Multiplexed Domain”
protocol (CIA DS202-2).
With SDOs objects from the object dictionary can be read or written. It is an
acknowledged service. The so-called SDO client specifies in its request the
parameter, the access method (read/write) and if necessary the value. The so-called
SDO server performs the write or read access and answers the request with a
response. In the error case an error code gives information about the cause of error.
Transmit-SDO and Receive-SDO are distinguished by their function codes.
The measuring system (slave) corresponds to the SDO server and uses the following
function codes:
Function codes
COB-ID
Meaning
11 (1011 bin)
12 (1100 bin)
0x580 + Node ID
0x600 + Node ID
Slave → SDO Client
SDO Client → Slave
Table 1: COB-IDs for Service Data Object (SDO)
4.5.1 SDO message format
The data field with max. 8 byte length of a CAN message is used by a SDO as
follows:
CCD
Byte 0
Index
Byte 1
Low
Byte 2
High
Sub-Index
Byte 3
Data
Byte 4
Byte 5
Byte 6
Byte 7
Table 2: SDO message
The command code (CCD) identifies whether the SDO is to be read or written. In
addition with a writing order, the number of bytes which can be written is encoded in
the CCD.
At the SDO response the CCD reports whether the request was successful. In the
case of a reading order the CCD gives additionally information about the number of
bytes, which could be read:
CCD
Meaning
Valid for
0x23
0x2B
0x2F
0x60
0x80
0x40
0x43
0x4B
0x4F
Write 4 bytes
Write 2 bytes
Write 1 byte
Writing successfully
Error
Reading request
4 byte data read
2 byte data read
1 byte data read
SDO Request
SDO Request
SDO Request
SDO Response
SDO Response
SDO Request
SDO response upon reading request
SDO response upon reading request
SDO response upon reading request
Table 3: SDO command codes
In the case of an error (SDO response CCD = 0x80) the data field contains a 4-byte
error code, which gives information about the error cause. Meaning of the error codes
see table Table 10 on page 65.
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CANopen information
Segment Protocol, Data segmentation
Some objects contain data which are larger than 4 bytes. To be able to read these
data, the "Segment Protocol" must be used.
As a usual SDO service, at first the read operation is started with the command
code = 0x40. About the response the number of data segments and the number of
bytes to be read is reported. With following reading requests the individual data
segments can be read. A data segment consists respectively of 7 bytes.
Example of reading a data segment:
Telegram 1
CCD
Meaning
Valid for
0x40
Reading request, initiation
1 data segment available
The number of bytes which can be read is indicated in
the bytes 4 to 7.
SDO Request
0x41
SDO Response
Telegram 2
CCD
Meaning
Valid for
0x60
Reading request
No further data segment available.
The bytes 1 to 7 contain the requested data.
SDO Request
0x01
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CANopen information
4.5.2 Read SDO
Initiate Domain Upload
Request Protocol format:
COB-Identifier = 600h + Node-ID
Read SDO´s
Byte
0
1
Contents
Code
40h
2
3
SubIndex
Index
Low
4
High
5
6
7
Data 0 Data 1 Data 2 Data 3
Byte
0
0
0
0
6
7
The Read SDO telegram has to be send to the slave.
The slave answers with the following telegram:
Response Protocol format:
COB-Identifier = 580h + Node-ID
Read SDO´s
Byte
0
1
Contents
Code
4xh
2
3
SubIndex
Index
Low
4
High
5
Data 0 Data 1 Data 2 Data 3
Byte
Data
Data
Data
Data
Format Byte 0:
MSB
LSB
7
6
5
4
0
1
0
0
3
2
n
1
0
1
1
n = number of data bytes (bytes 4-7) that does not contain data
If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH".
If byte 0 = 80h the transfer has been aborted.
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CANopen information
4.5.3 Write SDO
Initiate Domain Download
Request Protocol format:
COB-Identifier = 600h + Node-ID
Write SDO´s
Byte
0
1
Contents
Code
2xh
2
3
SubIndex
Index
Low
4
High
6
7
Data 0 Data 1 Data 2 Data 3
Byte
Format Byte 0:
MSB
5
0
0
0
0
6
7
LSB
7
6
5
4
0
0
1
0
3
2
n
1
0
1
1
n = number of data bytes (bytes 4-7) that does not contain data.
If only 1 data byte (Data 0) contains data the value of byte 0 is "2FH".
The Write SDO telegram has to be send to the slave.
The slave answers with the following telegram:
Response Protocol format:
COB-Identifier = 580h + Node-ID
Read SDO´s
Byte
0
Contents
Code
60h
1
2
Index
Low
High
3
SubIndex
Byte
4
5
Data 0 Data 1 Data 2 Data 3
0
0
0
0
If byte 0 = 80h the transfer has been aborted.
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CANopen information
4.6 Network management, NMT
The network management supports a simplified Boot-Up of the net. With only one
telegram for example all devices can be switched into the Operational condition.
After Power on the measuring system is first in the "Pre-Operational" condition (2).
Power ON or Hardware Reset
(1)
Initialization
(2)
(11)
(14)
Pre-Operational
(7)
(13)
(4)
(3)
(10)
(5)
Stopped
(6)
(12)
(8)
(9)
Operational
Figure 5: Boot-Up mechanism of the network management
State
Description
(1)
At Power on the initialization state is entered autonomously
(2)
Initialization finished - enter PRE-OPERATIONAL automatically
(3),(6)
Start_Remote_Node --> Operational
(4),(7)
Enter_PRE-OPERATIONAL_State --> Pre-Operational
(5),(8)
Stop_Remote_Node
(9),(10),(11)
Reset_Node
(12),(13),(14)
Reset_Communication
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CANopen information
4.6.1 Network management services
The network management (NMT) has the function to initialize, start, stop and monitor
nodes of a CANopen network.
NMT services are initiated by a NMT master, which identifies individual nodes (NMT
slave) about their Node-ID. A NMT message with the Node ID 0 refers to all NMT
slaves.
The measuring system corresponds to a NMT slave.
4.6.1.1 NMT device control services
The NMT services for device control use the COB-ID 0 and get thus the highest
priority.
By the data field of the CAN message only the first two bytes are used:
CCD
Node ID
Byte 0
Byte 1
The following commands are defined:
CCD Meaning
State
-
At Power on the initialization state is entered autonomously
(1)
-
Initialization finished - enter PRE-OPERATIONAL automatically
(2)
Start Remote Node
0x01 Node is switched into the OPERATIONAL state and the normal
net-operation is started.
(3),(6)
Stop Remote Node
Node is switched into the STOPPED state and the
0x02
communication is stopped. An active connecting monitoring
remains active.
(5),(8)
Enter PRE-OPERATIONAL
0x80 Node is switched into the PRE-OPERATIONAL state. All
messages can be used, but no PDOs.
(4),(7)
Reset Node
Set values of the profile parameters of the object on default
0x81
values.
Afterwards
transition
into
the
RESET
COMMUNICATION state.
(9),(10),
(11)
Reset Communication
Node is switched into the RESET COMMUNICATION state.
0x82
Afterwards transition into the INITIALIZATION state, first state
after Power on.
(12),(13),
(14)
Table 4: NMT device control services
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CANopen information
4.6.1.2 NMT Node / Life guarding services
With the Node/Life guarding a NMT master can detect the failure of a NMT slave
and/or a NMT slave can detect the failure of a NMT master:
•
Node Guarding and Life Guarding:
With these services a NMT master monitors a NMT slave
At the Node Guarding the NMT master requests the state of a NMT slave in regular
intervals. The toggle bit 27 in the “Node Guarding Protocol” toggles after each request:
Example:
0x85, 0x05, 0x85 … --> no error
0x85, 0x05, 0x05 … --> error
Additionally if the Life Guarding is active, the NMT slave requests the state of a NMT
master in regular intervals, otherwise the slave changes into the PRE-OPERATIONAL
state.
The NMT services for Node/Live
1110 bin: COB-ID 0x700+Node ID.
Index
guarding
use
the
function
code
Description
0x100C Guard Time [ms]
0x100D Life Time Factor
At termination of the time interval
Life Time = Guard Time x Life Time Factor [ms]
the NMT slave expects a state request by the master.
Guard Time = 0: No monitoring active
Life Time = 0: Life guarding disabled
Table 5: Parameter for NMT services
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CANopen information
4.7 Layer management services (LMT) and protocols
2
The LMT-services and protocols, documented in CiA DS-205-1 and DS-205-2, are
used to inquire or to change the settings of certain parameters of the local layers of a
LMT slave by a LMT master via the CAN network.
Following parameters are supported:
Node-ID
Baud rate
LMT-address
Thus it isn’t necessary to adjust the Node-ID or Baud rate by means of DIP-switches.
Access to the LMT slave is made thereby by its LMT address, consisting of:
–
–
–
Manufacturer-Name
Product-Name
Serial-Number
The measuring system supports the following services:
Switch mode services
●
Switch mode selective
●
Switch mode global
Configuration services
●
Configure NMT-address
●
Configure bit timing parameters
●
Activate bit timing parameters
●
Store configured parameters
Inquiry services
●
Inquire LMT-address
Identification services
●
LMT identify remote slave
●
LMT identify slave
2 available only in case of LMP-30 and LA-41 without DIP-switches
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CANopen information
4.7.1 LMT Modes and Services
By means of LMT Modes the behavior of a LMT slave is defined. The state behavior is
controlled by LMT COBs produced by the LMT master.
The LMT Modes support the following states:
LMT operation: In this state, all services are supported as defined below
LMT configuration: In this state, all services are supported as defined below
Figure 6: LMT Modes
State behavior of the supported services
Services
Switch mode global
Switch mode selective
Activate bit timing parameters
Configure bit timing parameters
Configure NMT-address
Store configured parameters
Inquire LMT-address
LMT identify remote slave
LMT identify slave
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Operation
Configuration
Yes
Yes
No
No
No
No
No
Yes
Yes
Yes
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
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CANopen information
4.7.2 Transmission of LMT services
By means of LMT services, the LMT master requests services to be performed by the
LMT slave. Communication between LMT master and LMT slave is made by means of
implemented LMT protocols.
Similar as in the case of SDO transmitting, also here two COB-IDs for sending and
receiving are used:
COB-ID
Meaning
0x7E4
0x7E5
LMT slave → LMT master
LMT master → LMT slave
Table 6: COB-IDs for LMT services
4.7.2.1 LMT message format
The data field with max. 8 byte length of a CAN message is used by a LMT service as
follows:
CS
Byte 0
Data
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Table 7: LMT message
Byte 0 contains the Command-Specifier (CS), afterwards 7 byte data are following.
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CANopen information
4.7.3 Switch mode protocols
4.7.3.1 Switch mode global protocol
The given protocol has implemented the Switch mode global service and controls
the state behavior of the LMT slave. By means of the LMT master all LMT slaves in the
network can be switched into Operation Mode or Configuration Mode.
LMT-Master --> LMT-Slave
0
COB-ID
0x7E5
1
CS
04
2
3
4
5
6
7
Reserved by CiA
Mode
0 = Operation mode
1 = Configuration mode
4.7.3.2 Switch mode selective protocol
The given protocol has implemented the Switch mode selective service and
controls the state behavior of the LMT slave. By means of the LMT master only this LMT
slave in the network can be switched into Configuration Mode, whose LMT address
attributes equals the LMT address.
LMT-Master --> LMT-Slave
COB-ID
0x7E5
0
1
CS
01
LSB
0
1
2
3
4
6
7
Manufacturer-Name
COB-ID
0x7E5
CS
02
LSB
0
1
COB-ID
0x7E5
CS
03
MSB
2
3
4
5
6
7
Product-Name
MSB
2
3
4
5
6
7
Serial-No.
LSB
MSB
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CANopen information
4.7.4 Configuration protocols
4.7.4.1 Configure NMT-address protocol
The given protocol has implemented the Configure NMT-address service. By
means of the LMT master the Node-ID of a single LMT slave in the network can be
configured. Only one device is to be switched into Configuration Mode. For storage
of the new Node-ID the Store configuration protocol must be transmitted to
the LMT slave.
LMT-Master --> LMT-Slave
COB-ID
0x7E5
0
1
CS
17
Node-ID
1…127
2
3
4
5
6
7
6
7
Reserved by CiA
LMT-Slave --> LMT-Master
COB-ID
0x7E4
0
1
2
CS
17
Error Code
Spec. Error
Error Code
0:
1…254:
255:
3
4
5
Reserved by CiA
Protocol successfully completed
reserved
application specific error occurred
Specific Error
if Error Code = 255 --> application specific error occurred,
otherwise reserved by CiA
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CANopen information
4.7.4.2 Configure bit timing parameters protocol
The given protocol has implemented the Configure bit timing parameters
service. By means of the LMT master the Baud rate of a single LMT slave in the
network can be configured. Only one device is to be switched into
Configuration
Mode.
For
storage
of
the new Baud rate the
Store configuration protocol must be transmitted to the LMT slave.
LMT-Master --> LMT-Slave
COB-ID
0x7E5
0
1
2
CS
19
Table Selector
0
Table Index
0…7
0
1
2
CS
19
Error Code
Spec. Error
3
4
5
6
7
6
7
Reserved by CiA
LMT-Slave --> LMT-Master
COB-ID
0x7E4
3
4
5
Reserved by CiA
Table Selector
0:
Standard CiA Baud rate table
Table Index
0:
1:
2:
3:
4:
5:
6:
7:
1 Mbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
50 kbit/s
20 kbit/s
10 kbit/s
Error Code
0:
1:
2…254:
255:
Protocol successfully completed
selected Baud rate not supported
reserved
application specific error occurred
Specific Error
if Error Code = 255 --> application specific error occurred,
otherwise reserved by CiA
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CANopen information
4.7.4.3 Activate bit timing parameters protocol
The given protocol has implemented the Activate bit timing parameters
service. The protocol activates the Baud rate which was configured about the
Configure bit timing parameters protocol and is performed with all LMT
slaves in the network which are in the Configuration Mode.
LMT-Master --> LMT-Slave
0
COB-ID
0x7E5
1
CS
21
2
3
4
5
6
7
Reserved by CiA
Switch Delay [ms]
LSB
MSB
Switch Delay
The parameter Switch Delay defines the length of two delay periods (D1, D2)
with equal length. These are necessary to avoid operating the bus with differing
Baud rate parameters.
After the time D1 and an individual processing duration, the switching internally in
the LMT slave is performed. After the time D2 the LMT slave responses with CANmessages and the new configured Baud rate.
It is necessary:
Switch Delay > longest occurring processing duration of a LMT slave
4.7.4.4 Store configuration protocol
The given protocol has implemented the Store configuration service. By
means of the LMT master the configured parameters of a single LMT slave in the
network can be stored into the non-volatile memory. Only one device is to be switched
into Configuration Mode.
LMT-Master --> LMT-Slave
0
COB-ID
0x7E5
1
2
3
4
5
6
7
5
6
7
Reserved by CiA
CS
23
LMT-Slave --> LMT-Master
COB-ID
0x7E4
0
1
2
CS
23
Error Code
Spec. Error
Error Code
0:
1:
2…254:
255:
3
4
Reserved by CiA
Protocol successfully completed
Store configuration not supported
reserved
application specific error occurred
Specific Error
if Error Code = 255 --> application specific error occurred,
otherwise reserved by CiA
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CANopen information
4.7.5 Inquire LMT address protocols
4.7.5.1 Inquire Manufacturer-Name protocol
The given protocol has implemented the Inquire LMT address service. By means
of the LMT master the Manufacturer-Name of a single LMT slave in the network can be
read-out. Only one device is to be switched into Configuration Mode.
LMT-Master --> LMT-Slave
0
COB-ID
0x7E5
1
2
3
4
5
6
7
5
6
7
M6
M7
Reserved by CiA
CS
36
LMT-Slave --> LMT-Master
0
COB-ID
0x7E4
CS
36
1
M1
2
3
M2
4
Manufacturer-Name (ASCII)
M3
M4
M5
Manufacturer-Name = „TR-ELEC“
M1…M7 =
0x54, 0x52, 0x2D, 0x45, 0x4C, 0x45, 0x43
4.7.5.2 Inquire Product-Name protocol
The given protocol has implemented the Inquire LMT address service. By
means of the LMT master the Product-Name of a single LMT slave in the network can
be read-out. Only one device is to be switched into Configuration Mode.
LMT-Master --> LMT-Slave
0
COB-ID
0x7E5
1
2
3
4
5
6
7
5
6
7
P6
P7
Reserved by CiA
CS
37
LMT-Slave --> LMT-Master
COB-ID
0x7E4
0
1
2
CS
37
P1
P2
Product-Name =
P1…P7 =
3
Product-Name (ASCII)
P3
P4
P5
„LMP30“ or “LA_41”
0x4C, 0x4D, 0x50, 0x33, 0x30, 0x00, 0x00 or
0x4C, 0x41, 0x5F, 0x34, 0x31, 0x00, 0x00
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CANopen information
4.7.5.3 Inquire Serial-Number protocol
The given protocol has implemented the Inquire LMT address service. By
means of the LMT master the Serial-No. of a single LMT slave in the network can be
read-out. Only one device is to be switched into Configuration Mode.
LMT-Master --> LMT-Slave
0
COB-ID
0x7E5
1
2
3
4
5
6
7
5
6
7
S6
S7
Reserved by CiA
CS
38
LMT-Slave --> LMT-Master
0
COB-ID
0x7E4
CS
38
1
S1
Serial-No. =
S1…S7 =
2
3
S2
e.g. LMP-30: „32200044 0021“ or LA-41: „30400044 0021“
32, 20, 00, 44, 00, 21, 00 or
30, 40, 00, 44, 00, 21, 00
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Serial-No. (BCD)
S3
S4
S5
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CANopen information
4.7.6 Identification protocols
4.7.6.1 LMT identify remote slave protocol
The given protocol has implemented the LMT identify remote slaves service.
By means of the LMT master LMT slaves in the network can be identified within a
certain range. All LMT slaves with matching Manufacturer-Name, Product-Name and
Serial-No. Range, response with the LMT identify slave protocol.
LMT-Master --> LMT-Slave
0
1
COB-ID
0x7E5
CS
05
LSB
0
1
COB-ID
0x7E5
CS
06
LSB
0
1
CS
07
LSB
0
1
COB-ID
0x7E5
COB-ID
0x7E5
CS
08
2
3
4
5
6
7
Manufacturer-Name
MSB
2
3
4
5
6
7
Product-Name
MSB
2
3
4
5
6
7
Serial-No. LOW
MSB
2
3
4
5
6
7
Serial-No. HIGH
LSB
MSB
4.7.6.2 LMT identify slave protocol
The given protocol has implemented the LMT identify slave service. All LMT
slaves with matching LMT attributes given in the LMT identify remote slaves
protocol, response with this protocol.
LMT-Slave --> LMT-Master
0
COB-ID
0x7E4
CS
09
1
2
3
4
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5
6
7
Reserved by CiA
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CANopen information
4.8 Device profile
The CANopen device profiles describe the "what" of the communication. In the profiles
the meaning of the transmitted data is unequivocal and manufacturer independently
defined. So the basic functions of each device class
e.g. for encoder: CiA DS-406
can be responded uniformly. On the basis of these standardized profiles CANopen
devices can be accessed in an identical way over the bus. Therefore devices which
support the same device profile are exchangeable with each other.
You can obtain further information on CANopen from the CAN in Automation Userand Manufacturer Association:
CAN in Automation
Am Weichselgarten 26
DE-91058 Erlangen
Tel. +49-9131-69086-0
Fax +49-9131-69086-79
Website: www.can-cia.org
e-mail: [email protected]
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Installation / Preparation for start-up
5 Installation / Preparation for start-up
The CANopen system is wired in bus topology with terminating resistors (120 ohms)
at the beginning and at the end of the bus line. If it is possible, drop lines should be
avoided. The cable is to be implemented as shielded twisted pair cable and should
have an impedance of 120 ohms and a resistance of 70 mΩ/m. The data transmission
is carried out about the signals CAN-H and CAN-L with a common GND as data
reference potential. Optionally also a 24 V supply voltage can be carried.
In a CANopen network max. 127 slaves can be connected. 3 The measuring system
supports the Node-ID range from 1-64. The transmission rate can be adjusted via DIPswitches and supports the baud rates 20 kbit/s, 125 kbit/s, 500 kbit/s and 1 Mbit/s.
The length of a CANopen network is depending on the transmission rate and is
represented in the following:
Cable cross section
2
0.25 mm – 0.34 mm
2
20 kbit/s
125 kbit/s
500 kbit/s
1 Mbit/s
2500 m
500 m
100 m
25 m
The
-
ISO 11898,
-
the recommendations of the CiA DR 303-1
(CANopen cabling and connector pin assignment)
-
and other applicable standards and guidelines are to be observed to insure
safe and stable operation!
In particular, the applicable EMC directive and the shielding and grounding guidelines
must be observed!
3 LMP-30, LA-41 without DIP-switches: programmable with LMT services acc. to CiA DS 205-1 and 205-2
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Installation / Preparation for start-up
5.1 Connection
The connection can be made with device specific pin assignment which is enclosed
when the device is delivered.
For the supply shielded cables with twisted core pairs have to be used !
5.2 DIP-switch – settings
●
The switch position is read-in only in the power-on state, therefore following
modifications can be not recognized!
●
LMP-30, LA-41 without DIP-switches: Node-ID and Baud rate programmable with
LMT services according to CiA DS 205-1 and 205-2.
5.2.1 Bus termination
If the measuring system is the last slave in the CAN segment, the bus is to be
terminated with the termination switch or a jumper, see pin assignment.
5.2.2 Node-ID
The Node-ID 1…64 is adjusted by means of DIP-switches, see pin assignment. The
adjusted address may be assigned only once in the CAN bus.
5.2.3 Baud rate
The baud rate 20 kbit/s, 125 kbit/s, 500 kbit/s or 1 Mbit/s is adjusted by means of
DIP-switches, see pin assignment.
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Installation / Preparation for start-up
5.3 Shield cover, type with cable outlet
The shield cover is connected with a special EMC cable gland, whereby the cable
shielding is fitted on the inside.
Cable gland assembly, variant A
Pos. 1
Pos. 2
Pos. 3
Pos. 5
1.
2.
3.
4.
5.
6.
7.
Nut
Seal
Contact bush
Screw socket
Cut shield braid / shield foil back to dimension "X".
Slide the nut (1) and seal / contact bush (2) + (3) over the cable.
Bend the shield braining / shield foil to 90° (4).
Slide seal / contact bush (2) + (3) up to the shield braining / shield foil.
Assemble screw socket (5) on the housing.
Push seal / contact bush (2) + (3) flush into the screw socket (5).
Screw the nut (1) to the screw socket (5).
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Installation / Preparation for start-up
Cable gland assembly, variant B
Pos. 1
Pos. 2
Pos. 3
Pos. 4
Nut
Clamping ring
Inner O-ring
Screw socket
1. Cut shield braid / shield foil back to dimension "X" + 2mm.
2. Slide the nut (1) and clamping ring (2) over the cable.
3. Bend the shield braining / shield foil to approx. 90°.
4. Push clamping ring (2) up to the shield braid / shield foil and wrap the
braiding back around the clamping ring (2), such that the braiding goes
around the inner O-ring (3), and is not above the cylindrical part or the torque
supports.
5. Assemble screw socket (4) on the housing.
6. Insert the clamping ring (2) in the screw socket (4) such that the torque
supports fit in the slots in the screw socket (4).
7. Screw the nut (1) to the screw socket (4).
1
2
3
4
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Installation / Preparation for start-up
5.4 Switching on the supply voltage
After the connection and all settings have been carried out, the supply voltage can be
switched on.
After power on and finishing the initialization, the measuring system goes into the
PRE-OPERATIONAL state. In case of rotative measuring systems this status is
acknowledged by the Boot-Up message “COB-ID 0x700+Node ID”. If the measuring
system detects an internal error, an emergency message with the error code will be
transmitted (see chapter "Emergency Message", page 62).
In the PRE-OPERATIONAL state first only a parameter setting about Service-DataObjects is possible. But it is possible to configure PDOs with the help of SDOs. If the
measuring system was transferred into the OPERATIONAL state, also a transmission
of PDOs is possible.
5.5 4 Setting the Node-ID and Baud rate by means of LMT services
5.5.1 Configuration of the Node-ID, sequence
Assumption:
-
LMT address unknown
only one LMT slave should be in the network
the Node-ID 12 dec. shall be adjusted
Procedure:
!
Perform service 04 Switch mode global protocol,
Mode = 1, to switch the LMT slave into Configuration Mode.
!
Perform service 17 Configure Node-ID protocol, Node-ID = 12.
--> Wait for acknowledgement and check successfully execution,
--> Error Code = 0.
Perform service 23 Store configuration protocol.
--> Wait for acknowledgement and check successfully execution,
--> Error Code = 0.
Switch the supply voltage of the LMT slave OFF and then ON again. Now the
new configuration is activated.
!
!
4 available only in case of LMP-30 and LA-41 without DIP-switches
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Installation / Preparation for start-up
5.5.2 Configuration of the Baud rate, sequence
Assumption:
-
LMT address unknown
only one LMT slave should be in the network
the Baud rate 125 kbit/s shall be adjusted
Procedure:
!
!
!
!
!
!
Perform NMT service Stop Remote Node (0x02), to switch the LMT slave into
Stopped state. The LMT slave shouldn’t sent any CAN-messages
--> Heartbeat switched off.
Perform service 04 Switch mode global protocol,
Mode = 1, to switch the LMT slave into Configuration Mode.
Perform service 19 Configure bit timing parameters protocol,
Table Selector = 0, Table Index = 4
--> Wait for acknowledgement and check successfully execution,
--> Error Code = 0.
Perform service 21 Activate bit timing parameters protocol, to
switch the new Baud rate active.
Perform service 23 Store configuration protocol.
--> Wait for acknowledgement and check successfully execution,
--> Error Code = 0.
Switch the supply voltage of the LMT slave OFF and then ON again. Now the
new configuration is activated.
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Commissioning
6 Commissioning
6.1 CAN – interface
The CAN-Bus-Interface is defined by the international norm ISO/DIS 11898 and
specifies the two lowest layers of the ISO/DIS CAN Reference Model.
The CAN-BUS-Interface with the BUS-Driver PCA82C251 is galvanic isolated of the
measuring system electronic and becomes the power over internal DC/DC-converter.
There is no external power supply necessary for the CAN-BUS-Driver.
The conversion of the measuring system information to the CAN message format
(CAN 2.0A) is done by the CAN-controller SJA1000. The function of the CANcontroller is controlled by a watchdog.
The CANopen Communication Profile (CIA standard DS 301) is a subset of CAN
Application Layer (CAL) and describes, how the services are used by devices. The
CANopen Profile allows the definition of device profiles for decentralized I/O.
The measuring system with CANopen-protocol support the Device Profile for Encoder
(CIA Draft Standard Proposal 406, Version 2.0). The measuring systems support
the extended functions in Class C2 .
The communication functionality and objects, which are used in the encoder profile,
are described in a EDS-File (Electronic Data Sheet).
When using a CANopen Configuration Tool (e.g.: CANSETTER), the user can read
the objects of the measuring system (SDOs) and program the functionality.
The selection of transmission rate and node number is done by hardware (switches).
6.1.1 EDS file
The EDS (electronic datasheet) contains all information on the measuring systemspecific parameters and the measuring system’s operating modes. The EDS file is
integrated using the CANopen network configuration tool to correctly configure or
operate the measuring system.
The EDS file has the file name
– "CE_CANOP.EDS", for rotative measuring systems
– "LA_CANOP.EDS", for linear measuring systems
The file is on the Software/Support CD:
Order number: 490-01001, Soft-No.: 490-00408.
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Commissioning
6.1.2 Bus status
Depending on the device type the bus status is indicated by means of a green LED:
= ON
= OFF
= FLASHING
No supply voltage, hardware error
OK, OPERATIONAL
No allocation to a master
Corresponding measures in case of an error see chapter “Optical displays”,
page 65.
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The communication profile
7 The communication profile
Two process data objects (PDO) are implemented in the device. One is used for
asynchronous transmission and the other one for the cyclic transmission functions.
The output position value is transmitted in binary code:
COB-ID
11 Bit
Output Position Value
Byte 0
7
2 to 2
0
Byte 1
15
2 to 2
8
Byte 2
Byte 3
23
31
2 to 2
16
2 to 224
7.1 1st transmit Process-Data-Object (asynchronous)
This PDO transmit the position value of the measuring system in an asynchronous
way. The cyclic timer is stored in index 6200h.
Index
Sub-Index Comment
Default value
Attr.
1800h
0
number of supported entries
3
ro
1
COB-ID used by PDO 1
180h + Node-ID
ro
2
transmission type
254
ro
3
inhibit time
0
rw
0
number of mapped objects
1
ro
1
Position value
60040020h
ro
1A00h
7.2 2nd transmit Process-Data-Object (cyclic)
This PDO transmit the position value of the measuring system in a cyclic way (on
request). Request by remote frame and/or sync telegrams.
Index
Sub-Index Comment
Default value
Attr.
1802h
0
number of supported entries
3
ro
1
COB-ID used by PDO 2
280 + Node-ID
ro
2
transmission type
1
ro
3
inhibit time
0
rw
0
number of mapped objects
1
ro
1
Position value
60040020h
ro
1A02h
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Communication specific standard objects (CiA DS-301)
8 Communication specific standard objects (CiA DS-301)
Following table gives an overview on the supported indices in the Communication
Profile Area:
M = Mandatory
O = Optional
Index (h)
Object
Name
Type
Attr.
M/O
Page
1000
VAR
Device type
Unsigned32
ro
M
46
1001
VAR
Error register
Unsigned8
ro
M
46
1002
VAR
Manufacturer status register
Unsigned32
ro
O
47
1003
ARRAY
Pre-defined error field
Unsigned32
rw
O
47
1004
ARRAY
Number of supported PDO´s
Unsigned32
ro
O
47
1005
VAR
COB-ID SYNC message
Unsigned32
rw
O
48
5
1008
VAR
Device name
Vis-String
const
O
49
5
1009
VAR
Hardware version
Vis-String
const
O
49
5
100A
VAR
Software version
Vis-String
const
O
49
100B
VAR
Node-ID
Unsigned32
ro
O
49
100C
VAR
Guard time
Unsigned16
rw
O
50
100D
VAR
Life time factor
Unsigned8
rw
O
50
100E
VAR
COB-ID guarding protocol
Unsigned32
ro
O
50
1010
ARRAY
Store parameters
Unsigned32
rw
O
51
6
ARRAY
Identity Objekt
Unsigned32
ro
O
52
1018
Table 8: Communication specific standard objects
5 segmented reading
6 available only in case of LMP-30
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Communication specific standard objects (CiA DS-301)
8.1 Object 1000h: Device type
Contains information about the 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 (Device Profile Number 406 = 196h) and a second 16 bit
field which gives information on the type of encoder.
Unsigned32
Device Type
Device Profile Number
Byte 0
Encoder Type
Byte 1
196h
Byte 2
7
2 to 2
0
Byte 3
215 to 28
Encoder Type
Code
Definition
01
Single-Turn absolute rotary encoder
02
Multi-Turn absolute rotary encoder
08
Absolute linear encoder
09
Absolute linear encoder with cyclic coding
8.2 Object 1001h: Error register
This object contains the error register for the device. If an alarm bit is set (object
6503), bit 5 is set in the error register.
Unsigned8
Bit
Meaning
0
generic error, rotative measuring systems only
1
0
2
0
3
0
4
0
5
device profile specific
6
0
7
0
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Communication specific standard objects (CiA DS-301)
8.3 Object 1002h: Manufacturer status register
This object is not used by the measuring system, by read access the value is always "0".
8.4 Object 1003h: Pre-defined error field
This object saves the measuring system error occurred last and displays the error via
the Emergency object. Each new error overwrites an error which was stored before in
sub-index 1. Sub-index 0 contains the number of the occurred errors. Meaning of the
error codes see Table 11, page 67.
Index
Sub-Index
Comment
Type
1003h
0
number of errors
Unsigned8
1
standard error field
Unsigned32
Sub-index 0: The entry at sub-index 0 contains the number of errors that have
occurred and recorded in sub-index 1.
Sub-index 1: The error are composed of a 16 bit error code and a 16 bit additional
error information.
Unsigned32
Standard Error Field
Byte 0
Byte 1
Byte 2
Error code
Byte 3
Additional Information
8.5 Object 1004h: Number of PDOs supported
This object contains information about the maximum number of PDOs supported by
the measuring system.
Index
Sub-Index
Comment
Type
1004h
0
number of PDOs supported
Unsigned32
1
number of synchronous PDOs
Unsigned32
2
number of asynchronous PDOs
Unsigned32
-
Sub-index 0 describes the total number of PDOs supported (synchronous and
asynchronous).
-
Sub-index 1 describes the number of synchronous PDOs supported by the
measuring system.
-
Sub-index 2 describes the number of asynchronous PDOs supported by the
measuring system.
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Communication specific standard objects (CiA DS-301)
Number of PDOs
Byte 0
Byte 1
Byte 2
Transmit PDOs
Byte 3
Receive PDOs
Sub-index 0: Transmit PDOs = 2, Receive PDOs = 0
Sub-index 1: Transmit PDOs = 1, Receive PDOs = 0
Sub-index 2: Transmit PDOs = 1, Receive PDOs = 0
8.6 Object 1005h: COB-ID SYNC message
This object defines the COB-ID of the Synchronization Object (SYNC). Further, it
defines whether the device consumes the SYNC or whether the device generates the
SYNC. However, the measuring system supports only the processing of SYNCmessages and uses the 11-bit identifier.
Unsigned32
MSB
LSB
31
30
29
28-11
10-0
1
0
0
0
00 1000 0000
Bit 31
Bit 30
Bit 29
Bit 28 –11
Bit 10 – 0
= 1, Device processes the SYNC message
= 0, Device does not generate the SYNC message
= 0, 11-bit ID ( CAN 2.0A )
=0
= 11-bit SYNC-COB-IDENTIFIER, default value = 080H
If a SYNC-telegram with the identifier, defined in this object (080H), and data
length = 0 has been received by the device, the position value of the measuring
system is transmitted by the 2nd Transmit PDO (object 1802h), non-recurrent
triggering.
Object
Function Code
COB-ID
SYNC
0001
80h
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Communication specific standard objects (CiA DS-301)
8.7 Object 1008h: Device name
Contains the manufacturer device name (visible string),
transmission via “Segment Protocol”.
8.8 Object 1009h: Hardware version
Contains the manufacturer hardware version (visible string),
transmission via “Segment Protocol”.
8.9 Object 100Ah: Software version
Contains the manufacturer software version (visible string),
transmission via “Segment Protocol”.
8.10 Object 100Bh: Node-ID
This object contains the Node-ID (device address).
7
The value is selected by means of 6 DIP-switches and cannot be changed using
SDO services.
Unsigned32
Node_ID
Byte 0
Byte 1
Byte 2
Byte 3
Node-ID
reserved
reserved
reserved
The value range is: 1 - 64.
The Node-ID is the selected hardware address by the DIP-switches + 1, see chapter
"Node-ID", page 37.
7 LMP-30, LA-41 without DIP-switches: programmable with LMT services acc. to CiA DS 205-1 and 205-2
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Communication specific standard objects (CiA DS-301)
8.11 Object 100Ch: Guard time
The objects at index 100CH and 100DH include the guard time in milli-seconds and
the life time factor. The life time factor multiplied with the guard time gives the live time
for the Node Guarding Protocol. Default value = 0.
Unsigned16
Guard Time
Byte 0
7
2 to 2
Byte 1
0
215 to 28
8.12 Object 100Dh: Life time factor
The life time factor multiplied with the guard time gives the life time for the node
guarding protocol. Default value = 0.
Unsigned8
Life Time Factor
Byte 0
27 to 20
8.13 Object 100Eh: COB-ID guarding protocol
The identifier is used for the node guarding and the life guarding procedure.
Unsigned32
MSB
31
LSB
30
reserved
29
0
28-11
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
10-0
11 bit Identifier
Bit 10 - 0 = 11 bit identifier, value = 700h + Node-ID
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Communication specific standard objects (CiA DS-301)
8.14 Object 1010h: Store parameters
This object supports the saving of parameters in non volatile memory (EEPROM).
Index
Sub-Index
Comment
Type
1010h
0
largest supported Sub-Index
Unsigned8
1
save all parameters
Unsigned32
Sub-Index0 (only read):
The entry at sub-index 0 contains the largest Sub-Index that is
supported. Value = 1.
Sub-Index1:
Contains the save command.
Unsigned32
MSB
LSB
Bits
31-2
1
0
Value
=0
0
1
By read access the device provides information about its saving capability.
Bit 0 = 1, the device saves parameters only on command. That means, if parameters
have been changed by the user and no "Store Parameter Command" had been
executed, at the next power on, the parameters will have there old values.
In case of write access the device stores the parameters to the non volatile memory.
This procedure takes approx. 3s. In this time the measuring system isn't accessible at
the bus.
In order to avoid storage of parameters by mistake, storage is only executed when a
specific signature is written to the object. The signature is "save".
Unsigned32
MSB
LSB
e
v
a
s
65h
76h
61h
73h
On reception of the correct signature, the device stores the parameters. If the storing
failed, the device responds with abort domain transfer, error class 6, error code 6
(hardware fault). See also object 6503h.
If a wrong signature is written, the device refuses to store and responds with abort
domain transfer, error class 8, error code 0.
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Communication specific standard objects (CiA DS-301)
8.15 Object 1018h: Identity Object
8
This object provides general identification information of the CANopen device.
Index
Sub-Index
Comment
Type
1018h
0
highest sub-index supported
Unsigned32
1
Vendor-ID
Unsigned32
2
Product-Code
Unsigned32
3
Order-No.
Unsigned32
4
Serial-No.
Unsigned32
Sub-index0: The entry at sub-index 0 contains the largest Sub-Index that is supported:
Value = 4.
Sub-index1: Contains the Vendor-ID of the manufacturer. The Vendor-ID for TRElectronic is 212d = 0xD4h.
Sub-index2: Provides information about the product code with
the associated device profile.
Sub-index3: Provides information about the order number.
Sub-index4: Provides information about the serial number.
8 available only in case of LMP-30
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Parameterization and configuration
9 Parameterization and configuration
9.1 Standardized encoder profile area (CiA DS-406)
Each encoder shares the dictionary entries from 6000h to 65FFh. These entries are
common to encoders.
The overview of all common entries is shown below:
M = Mandatory
C2 = Device class C2
Index (h)
Object Name
Data length
Attr.
C2
Page
Parameter
1)
6000
VAR
Operating parameters
Unsigned16
rw
M
54
2)
6001
VAR
Measuring units per revolution
Unsigned32
rw
M
54
2)
6002
VAR
Total measuring range in measuring units Unsigned32
rw
M
55
1)
6003
VAR
Preset value
Unsigned32
rw
M
56
VAR
Position value
Unsigned32
ro
M
56
VAR
Cyclic timer
Unsigned16
rw
M
57
6004
1)
6200
Diagnostics
6500
VAR
Operating status
Unsigned16
ro
M
57
6501
VAR
Single-Turn resolution
Unsigned32
ro
M
57
6502
VAR
Number of distinguishable revolutions
Unsigned16
ro
M
58
6503
VAR
Alarms
Unsigned16
ro
M
59
6504
VAR
Supported alarms
Unsigned16
ro
M
60
6505
VAR
Warnings
Unsigned16
ro
M
60
6506
VAR
Supported warnings
Unsigned16
ro
M
60
6507
VAR
Profile and software version
Unsigned32
ro
M
61
6508
VAR
Operating time
Unsigned32
ro
M
61
6509
VAR
Offset value
Signed32
ro
M
61
Signed32
ro
M
61
Unsigned32
ro
M
61
650A
650B
ARRAY Manufacturer offset value
VAR
Serial number
Table 9: Encoder profile area
1)
2)
is immediately active after a write command and is stored in the EEPROM durably
is only actively and stored durably, if the object "1010, Store parameters" is executed
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Parameterization and configuration
9.1.1 Object 6000h - Operating parameters
The Operating Parameters contain the functions for code sequence and scaling
function control.
Unsigned16
Bit
Function
Bit = 0
Bit = 1
0
Code Sequence
increasing
decreasing
1
Reserved for further use
2
Scaling function control
disabled
enabled
3 - 15 Reserved for further use
Code sequence:
The code sequence defines whether increasing or decreasing position values are
output when the measuring system shaft rotates clockwise or counter clockwise as
seen on the shaft. For linear measuring systems it means increasing or decreasing
position values to the end of the rod.
Scaling function control:
With the scaling function the measuring system numerical value is converted in
software to change the physical resolution of the measuring system.
The parameters "Measuring units per revolution" and "Total measuring range in
measuring units" are the scaling parameters. The scaling function bit is set in the
operating parameters. If the scaling function bit is cleared, the scaling function is
disabled and the two parameters return to their standard values.
Before writing the "Measuring units per revolution" and "Total measuring range in
measuring units" to the measuring system, the scaling function bit has to be set.
After writing the parameters, the Store Parameter command has to be executed to
save the new parameter values.
9.1.1.1 Object 6001h – Measuring units per revolution
The parameter "Measuring units per revolution" sets the number of steps per
revolution.
Unsigned32
Measuring units per revolution
Byte 0
7
2 to 2
0
Byte 1
15
2 to 2
8
Byte 2
Byte 3
23
31
2 to 2
16
2 to 224
lower limit
1 step / revolution
upper limit
8192 steps per revolution (max. value see nameplate)
default
4096
Linear measuring system: Value = “1”, unchangeable
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Parameterization and configuration
9.1.1.2 Object 6002h - Total measuring range in measuring units
WARNING !
Danger of personal injury and damage to property exists if the measuring
system is restarted after positioning in the de-energized state by shifting of the
zero point!
If the number of revolutions is not an exponent of 2 or is >4096, it can occur, if more
than 512 revolutions are made in the de-energized state, that the zero point of the
multi-turn measuring system is lost!
•
Ensure that the Number of revolutions for a multi-turn measuring system is an
exponent of 2 of the group 20, 21, 22…212 (1, 2, 4…4096).
or
• Ensure that every positioning in the de-energized state for a multi-turn measuring
system is within 512 revolutions.
The parameter "Total measuring range in measuring units" sets the number of steps
about the total measuring range.
Unsigned32
Total measuring range in measuring units
Byte 0
7
2 to 2
0
Byte 1
15
2 to 2
8
Byte 2
Byte 3
23
31
2 to 2
16
2 to 224
Rotative measuring system:
lower limit
16 steps
upper limit
33554432 steps (25 bit)
default
16777216
The actual upper limit for the Total measuring range in measuring units to be entered
is dependent on the measuring system version and can be calculated with the formula
below. As the value "0" is already counted as a step, the end value = Total measuring
range in measuring units – 1.
Total measuring range in measuring units = Steps per revolution * Number of revolutions
To calculate, the parameters Steps per revolution and the Number of revolutions
can be read on the measuring system nameplate.
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Parameterization and configuration
Linear measuring system:
lower limit
1 step
upper limit
16 777 216 steps (24 bit)
Standard value:
The given measuring length on the rating plate multiplied with 100 corresponding to
the resolution of 0.01 mm or multiplied with 200 corresponding to the resolution of
0.005 mm
Measuring length
Resolution in mm
Total measuring range in measuring units =
9.1.2 Object 6003h - Preset value
Risk of injury and damage to property by an actual value jump when the Preset
adjustment function is performed!
WARNING !
• The preset adjustment function should only be performed when the measuring
system is at rest, otherwise the resulting actual value jump must be permitted in
the program and application!
The Preset Function can be used to adjust the measuring system to any position
value within a range of 0 to measuring length in increments –1.
The output position value is set to the parameter "Preset value" when writing to this
object.
Unsigned32
Preset value
Byte 0
7
2 to 2
0
Byte 1
15
2 to 2
8
Byte 2
Byte 3
23
31
2 to 2
16
2 to 224
9.1.3 Object 6004h - Position value
The object 6004h "Position value" defines the output position value for the
communication objects 1800h and 1802h.
Unsigned32
Position value
Byte 0
7
2 to 2
0
Byte 1
15
2 to 2
8
Byte 2
Byte 3
23
31
2 to 2
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2 to 224
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Parameterization and configuration
9.1.4 Object 6200h - Cyclic timer
Defines the parameter "Cyclic timer". A Cyclic transmission of the position value is set,
when the cyclic timer is programmed > 0. Values between 1 ms and 65535 ms can be
selected. Default value = 0.
e.g.:
1 ms
256 ms
= 1h
= 100 h
When the measuring system is started with the NODE START Command and the
value of the cyclic timer is > 0, the 1st transmit PDO (object 1800h) transmit the
measuring system position.
9.1.5 Measuring system diagnostics
9.1.5.1 Object 6500h - Operating status
This object contains the operating status of the measuring system. It gives information
on measuring system internal programmed parameters.
Unsigned16
Bit
Function
Bit = 0
Bit = 1
0
Code Sequence
increasing
decreasing
1
Reserved for further use
2
Scaling function control
disabled
enabled
3 - 15 Reserved for further use
9.1.5.2 Object 6501h - Single-Turn resolution, rotative
The object 6501h contains the number of measuring steps per revolution which can
be output by the measuring system.
Unsigned32
Single-Turn resolution
Byte 0
7
2 to 2
0
Standard value:
Byte 1
15
2 to 2
8
Byte 2
Byte 3
23
31
2 to 2
16
2 to 224
4096 = 1000h steps per revolution (depending on capacitymarked on nameplate), if no scaling.
When the scaling function is enabled (object 6000h), the value is the programmed
number of steps per revolution.
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Parameterization and configuration
9.1.5.3 Object 6501h - Measuring step, linear
For linear measuring systems object 6501h indicates the measuring step that is output
by the measuring system. The measuring step is given in nm (0.001µm).
E.g.: 1µm = 00 00 03 E8 h
Unsigned32
Measuring step
Byte 0
7
2 to 2
0
Byte 1
15
2 to 2
8
Byte 2
Byte 3
23
31
2 to 2
16
2 to 224
Standard value: 2710 h = 10 000 = 0.01 mm
9.1.5.4 Object 6502h - Number of distinguishable revolutions
This object contains the number of distinguishable revolutions that the measuring
system can output.
For a Multi-Turn measuring system the number of distinguishable revolutions and the
Single-Turn resolution gives the measuring range according to the formula below. The
maximum number of distinguishable revolutions is 65.536 (16 bits).
Measuring range = Number of distinguishable revolutions x Single-Turn resolution
Standard value: 4096 = 1000h revolutions (depending on capacity - marked
on rating plate), if no scaling.
When scaling function is enabled (object 6000h), the value is the programmed
number of revolutions.
Linear measuring system: Value = “1”, unchangeable
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Parameterization and configuration
9.1.5.5 Object 6503h - Alarms
Additionally to the emergency message, object 6503h provides further alarm
messages. An alarm is set if a malfunction in the measuring system could lead to an
incorrect position value. If an alarm occurs, the according bit is set to logical high until
the alarm is cleared and the measuring system is able to provide an accurate position
value.
Unsigned16
Bit
Function
Bit = 0
Bit = 1
0
Position error
No
Yes
1
Reserved for further use
2
Reserved for further use
3
Reserved for further use
4
Reserved for further use
5
Reserved for further use
6
Reserved for further use
7
Reserved for further use
8
Reserved for further use
9
Reserved for further use
10
Reserved for further use
11
Reserved for further use
12
EE-PROM Error
OK
Error
13
Parameter Error
OK
Error
14
Manufacturer specific functions
15
Manufacturer specific functions
Position error
The bit is set, if the rotative measuring system detects a malfunction of the system or
no magnet is detected in case of a linear measuring system.
EE-PROM error, rotative only
The measuring system detects a wrong checksum in the EEProm area or a write
process into the EEProm could not be finished successfully.
Parameter Error, rotative only
The value of a transmitted parameter is out of range. The check will be done after
receiving the Store Parameter command.
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Parameterization and configuration
9.1.5.6 Object 6504h - Supported alarms
Object 6504h contains the information on supported alarms by the measuring system.
Unsigned16
Bit
Function
Bit = 0
Bit = 1
0
Position error
No
Yes
1
Reserved for further use
2
Reserved for further use
3
Reserved for further use
4
Reserved for further use
5
Reserved for further use
6
Reserved for further use
7
Reserved for further use
8
Reserved for further use
9
Reserved for further use
10
Reserved for further use
11
Reserved for further use
12
EE-PROM Error
No
Yes
13
Parameter Error
No
Yes
14
Manufacturer specific functions
15
Manufacturer specific functions
9.1.5.7 Object 6505h - Warnings
This object is not supported.
By read access the value is always "0".
9.1.5.8 Object 6506h - Supported warnings
This object is not supported.
By read access the value is always "0".
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Parameterization and configuration
9.1.5.9 Object 6507h - Profile and software version
This object contains in the 1st 16 bits the profile version which is implemented in the
measuring system. It is combined to a revision number and an index.
e.g.:
Profile version:
Binary code:
Hexadecimal:
1.40
0000 0001 0100 0000
1
40
The 2nd 16 bits contain the software version which is implemented in the measuring
system. Only the last 4 digits are available.
e.g.:
Software version: 5022.01
Binary code:
0010 0010 0000 0001
Hexadecimal:
22
01
The complete software version is contained in object 100Ah, see page 49.
Unsigned32
Profile version
Byte 0
7
2 to 2
0
Software version
Byte 1
15
2 to 2
Byte 2
8
7
2 to 2
0
Byte 3
215 to 28
9.1.5.10 Object 6508h - Operating time
This object is not supported.
The operating time function is not used the operating time value is set to the maximum
value (FF FF FF FF h).
9.1.5.11 Object 6509h - Offset value
This object contains the offset value calculated by the preset function. The offset value
is stored and can be read from the measuring system.
9.1.5.12 Object 650Ah - Manufacturer offset value
This object is not supported.
By read access the offset value is "0".
9.1.5.13 Object 650Bh - Serial number
This object is not supported.
The parameter serial number is not used the value is set to maximum value
FF FF FF FF h.
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Emergency Message
10 Emergency Message
Emergency messages are triggered by the occurrence of a device internal malfunction
and are transmitted from the concerned application device to the other devices with
highest priority.
Emergency Message
Byte
Contents
0
1
Emergency
Error Code
Object 1003h,
Byte 0-1
2
3
4
5
6
7
Error
Register
Object
1001h
0
0
0
0
0
COB-Identifier = 080h + Node-ID
If the measuring system detects an internal error, an emergency message will be
transmitted with the error code of object 1003h (pre-defined error field) and the error
register object 1001h. Additionally to the emergency object the according bit in the
Alarm object 6503h is set.
If the error disappears, the measuring system transmits an emergency message with
error code "0" (reset error / no error) and error register "0".
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Transmission of the measuring system position value
11 Transmission of the measuring system position value
Before the measuring system position can be transferred the measuring system has
to be started with the “Node Start” command.
Node-Start Protocol
COB-Identifier = 0
Byte 0
Byte 1
1
Node-ID
Node Start command with the Node-ID of the measuring system (slave) starts only
this device.
Node Start command with Node-ID = 0 starts all slaves connected to the bus.
After the Node Start command the measuring system transmit the position value one
time with the COB-ID of object 1800h.
Now the measuring system position value can be transmitted in different ways:
1. Asynchronous Transmission
The 1st transmit PDO (object 1800h) transmit the position value of the measuring
system. The cyclic time is defined by the value of the cyclic timer (object 6200H). This
transmission starts automatically after the Node Start command and the value of the
cyclic timer is > 0.
The default value of the COB-ID is 180h + Node-ID.
Object
Function Code
COB-ID
Index Communication Parameter
PDO1 (tx)
0011bin
181h – 1FFh
1800h
In order to stop the transmission of the measuring system position temporarily, the
output can be interrupted by timer value = 0, in object 6200h.
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Transmission of the measuring system position value
2. Cyclic Transmission
The 2nd transmit PDO (object 1802) transmit the position value of the measuring
system on request (remote / sync), non-recurrent triggering.
-
-
The measuring system receives a remote frame with the COB-ID
(default value 280h + Node-ID)
Object
Function Code
COB-ID
Index Communication Parameter
PDO2 (tx)
0101bin
281h – 2FFh
1802h
The measuring system receives a sync telegram with the COB-ID
(default value 080h) defined in object 1005h. All slaves with this SYNC-COBID will transmit the position value.
Object
Function Code
COB-ID
Index Communication Parameter
SYNC
0001bin
80h
1005
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Causes of faults and remedies
12 Causes of faults and remedies
12.1 Optical displays
Green LED
Cause
Remedy
Voltage supply absent or was
fallen below
Off
On
Check voltage supply wiring
-
Does the voltage supply is in the permitted
range?
Bus hood not correctly connected
and screwed on
Check bus hood for correct fitting
Bus hood defective
Replace bus hood
Hardware fault,
measuring system defective
Replace measuring system
No allocation to a master
Flashing
-
-
Adjusted baud rate must agree with the master
baud rate!
-
exchanged CAN lines
-
interrupted CAN lines
-
Check CAN lines
-
duplicated NODE-ID in the
network
-
Make sure that each NODE-ID is present only
once in the network
Measuring system ready for
operation
-
12.2 SDO Error codes
In the case of an error (SDO response CCD = 0x80) the data field contains a 4-byte
error code. By the measuring system the following error codes are supported:
Error code Meaning
0x0600 0006
0x0601 0000
Remedy
EE-PROM error
Unsupported access to an object
Possibly shut-off measuring system voltage then
switch on again. If the error recurs despite this
measure, the measuring system must be replaced.
Check which attribute for the corresponding object
is valid:
- rw: read- and write access
- wo: write only access
- ro: read only access
- Const: read only access
Overview of the objects see Table 8 and Table 9 on
page 45 and 53.
0x0609 0011
Sub-index does not exist
Check which sub-indices the corresponding object
supports.
0x0800 0000
General error
Wrong signature written when storing the
parameters, see Object 1010h: Store parameters,
page 51.
Table 10: SDO Error codes
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Causes of faults and remedies
12.3 Emergency Error codes
Emergency objects are triggered by the occurrence of a device internal error situation,
transmission format see chapter “Emergency Message”, page 62.
The error indication is carried out about the objects
- Error register 0x1001, page 46 and
- Pre-defined error field 0x1003, page 47
12.3.1 Object 1001h: Error register
The error register displays bit coded the error state of the measuring system. Also
several errors at the same time can be displayed by a set bit. The error code of the
error occurred last is stored in object 0x1003, sub-index 1, the number of errors in
sub-index 0. An error is signaled at the moment of the occurrence by an EMCYmessage. By reading of the object 1001h the error stored last in object 0x1003, subindex 0, is cleared. Each further read request clears a further error from the list. With
the clearing of the last error the error register is set back and an EMCY-message with
error code "0x000" is transferred.
Bit
Meaning
0
generic error, rotative measuring systems only
1
0
2
0
3
4
0
0
5
device profile specific
6
0
7
0
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Causes of faults and remedies
12.3.2 Object 1003h: Pre-defined Error field, bits 0 – 15
About the Emergency object only the error occurred last is indicated. For each EMCYmessage which could be deleted an EMCY-report with error code "0x0000" is
transmitted. The result can be taken from object 0x1003. If no more error is present,
the error register indicates also no more error.
The error list in object 0x1003 can be deleted in different ways:
1. Writing a “0” to sub-index 0 in object 0x1003
2. Execution of the NMT-service “Reset Communication”, command 0x82
3. Reading the object 0x1001, after the last error was deleted
Error code Meaning
Remedy
0x0000
reset error / no error
0x8100
Communication errors, which are
triggered by the CAN-controller.
-
Reset node with command 0x81, after that start
the node again with command 0x01.
-
Switch off; switch on again the supply voltage of
the measuring system.
Table 11: Emergency Error codes
12.4 Alarm messages
About the object 6503h additionally to the EMCY-message further alarm messages
are output. The corresponding error bit is deleted, if the error is present no more.
Error
Bit 0 = 1,
Position error
Cause
Remedy
Failure of scanning elements
in the measuring system
Rotative measuring systems:
Possibly shut-off measuring system voltage then
switch on again. If the error recurs despite this
measure, the measuring system must be replaced.
Measuring system has
detected no magnet.
Linear measuring systems:
Slide magnet into measuring range.
Possibly shut-off measuring system voltage then
switch on again. If the error recurs despite this
measure, the measuring system must be replaced.
Bit 12 = 1,
EE-PROM error
Memory area in internal
EE-PROM defective
Bit 13 = 1,
Parameter error
Programmed parameter out
Check min. and max. values of each parameter.
of range.
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Causes of faults and remedies
12.5 Other faults
Fault
Cause
Remedy
Vibrations, impacts and shocks, e.g. on presses, are
Strong vibrations
dampened with "shock modules". If the error recurs despite
these measures, the measuring system must be replaced.
Perhaps isolated flanges and couplings made of plastic
Position skips
Electrical faults
of the measuring
EMC
help against electrical faults, as well as cables with twisted
pair wires for data and supply. Shielding and wire routing
must be performed according to the respective field-bus
system
system construction guidelines.
Extreme axial and
radial load on the
shaft or a defective
scanning unit.
Couplings prevent mechanical stress on the shaft. If the
error still occurs despite these measures, the measuring
system must be replaced.
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