WV36M/CAN - SIKO GmbH
User manual
Absolute ROTARY ENCODER
with
interface
WV36M/CAN
Table of Contents
1.
General Security Advise .......................................................................................... 5
1.1
About this Manual ........................................................................................................................ 5
2.
Introduction .............................................................................................................. 6
2.1
General CANopen Information .................................................................................................... 6
3.
Installation................................................................................................................ 7
4.
Configuration ........................................................................................................... 8
4.1
4.1.1
4.1.2
4.1.3
4.1.4
4.1.5
4.2
4.3
4.3.1
4.3.2
4.4
4.5
Operating Modes ......................................................................................................................... 8
General ........................................................................................................................................8
Mode: Preoperational ..................................................................................................................8
Mode: Start - Operational ............................................................................................................8
Mode: Stopped ............................................................................................................................8
Reinitialization of the Encoder .....................................................................................................8
Normal Operating ........................................................................................................................ 9
Storing Parameter ....................................................................................................................... 9
List of storable Parameter ...........................................................................................................9
Storing Procedure......................................................................................................................10
Restoring Parameters................................................................................................................ 10
Usage of Layer Setting Services (LSS) ..................................................................................... 10
5.
Programmable Parameters ....................................................................................10
5.1
5.1.1
5.2
5.3
5.4
5.5
5.5.1
5.5.2
5.5.3
5.5.4
5.5.5
5.5.6
5.5.7
5.5.8
5.5.9
5.5.10
5.5.11
5.5.12
5.5.13
5.5.14
5.5.15
5.5.16
5.5.17
5.5.18
5.5.19
5.5.20
5.5.21
Programming example: Preset Value ........................................................................................ 11
Set Encoder Preset Value .........................................................................................................11
Communication Profile DS301 specific objects from 1000h - 1FFFh ....................................... 12
Manufacturer specific objects 2000h – 5FFFh .......................................................................... 13
Application specific objects 6000h – 67FEh .............................................................................. 13
Object Descriptions ................................................................................................................... 14
Object 1000h: Device Type .......................................................................................................14
Object 1001h: Error Register .....................................................................................................14
Object 1003h: Pre-Defined Error Field ......................................................................................14
Object 1005h: COB-ID Sync .....................................................................................................15
Object 1008h: Manufacturer Device Name ...............................................................................15
Object 1009h: Manufacturer Hardware Version ........................................................................15
Object 100Ah: Manufacturer Software Version .........................................................................15
Object 100Ch: Guard Time .......................................................................................................15
Object 100Dh: Life Time Factor ................................................................................................16
Object 1010h: Store Parameters ...............................................................................................16
Object 1011h: Restore Parameters ...........................................................................................16
Object 1012h: COB-ID Time Stamp Object...............................................................................16
Object 1013h: High Resolution Time Stamp .............................................................................17
Object 1014h: COB-ID Emergency Object ................................................................................17
Object 1016h: Consumer Heartbeat Time.................................................................................17
Object 1017h: Producer Heartbeat Time...................................................................................17
Object 1018h: Identity Object ....................................................................................................17
Object 1020h: Verify configuration ............................................................................................18
Object 1029h: Error behavior ....................................................................................................18
st
Object 1800h: 1 Transmit PDO Communication Parameter ...................................................18
nd
Object 1801h: 2 Transmit PDO Communication Parameter...................................................18
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5.5.22
5.5.23
5.5.24
5.5.25
5.5.26
5.5.27
5.5.28
5.5.29
5.5.30
5.5.31
5.5.32
5.5.33
5.5.34
5.5.35
5.5.36
5.5.37
5.5.38
5.5.39
5.5.40
5.5.41
5.5.42
5.5.43
5.5.44
5.5.45
5.5.46
5.5.47
5.5.48
5.5.49
5.5.50
5.5.51
5.5.52
5.5.53
5.5.54
5.5.55
5.5.56
5.5.57
5.5.58
5.5.59
5.5.60
5.5.61
5.5.62
5.5.63
5.5.64
5.5.65
5.5.66
5.5.67
5.5.68
5.5.69
5.5.70
Event Timer ...............................................................................................................................19
st
Object 1A00h: 1 Transmit PDO Mapping Parameter ..............................................................19
nd
Object 1A01h: 2 Transmit PDO Mapping Parameter .............................................................20
Object 1F50h: Download Program Area ...................................................................................20
Object 1F51h: Program Control ................................................................................................20
Object 2000h: Position Value ....................................................................................................20
Object 2100h: Operating Parameters........................................................................................21
Object 2101h: Resolution per Revolution ..................................................................................21
Object 2102h: Total Resolution .................................................................................................21
Object 2103h: Preset Value ......................................................................................................22
Object 2104h: Limit Switch, min. ...............................................................................................22
Object 2105h: Limit Switch, max. ..............................................................................................23
Object 2160h: Customer storage ..............................................................................................23
Object 2200h: Cyclic Timer PDO ..............................................................................................23
Object 2300h: Save Parameter with Reset ...............................................................................23
Object 3000h: Node Number .....................................................................................................24
Object 3001h: Baud rate............................................................................................................24
Object 3002h: Termination Resistor ..........................................................................................24
Object 3010h: Speed Control ....................................................................................................24
Object 3011h: Speed Value ......................................................................................................25
Object 3020h: Acceleration Control ...........................................................................................25
Object 3021h: Acceleration Value .............................................................................................25
Object 4000h: Bootloader Control .............................................................................................25
Object 6000h: Operating parameters ........................................................................................25
Object 6001h: Measuring units per revolution ...........................................................................26
Object 6002h: Total measuring range in measuring units.........................................................26
Object 6003h: Preset value .......................................................................................................26
Object 6004h: Position value .....................................................................................................26
Object 6030h: Speed Value ......................................................................................................27
Object 6040h: Acceleration Value .............................................................................................27
Object 6200h: Cyclic timer ........................................................................................................27
Object 6300h: Cam state register ..............................................................................................27
Object 6301h: Cam enable register ...........................................................................................27
Object 6302h: Cam polarity register ..........................................................................................27
Object 6400h: Area state register ..............................................................................................29
Object 6401h: Work area low limit .............................................................................................30
Object 6402h: Work area high limit ...........................................................................................30
Object 6500h: Operating status .................................................................................................30
Object 6501h: Single-turn resolution .........................................................................................30
Object 6502h: Number of distinguishable revolutions ...............................................................30
Object 6503h: Alarms ................................................................................................................31
Object 6504h: Supported alarms...............................................................................................31
Object 6505h: Warnings ............................................................................................................31
Object 6506h: Supported warnings ...........................................................................................32
Object 6507h: Profile and software version...............................................................................32
Object 6508h: Operating time ...................................................................................................32
Object 6509h: Offset value ........................................................................................................32
Object 650Ah: Module identification ..........................................................................................33
Object 650Bh: Serial number ....................................................................................................33
6.
Diagnosis ................................................................................................................33
6.1.1
Troubleshooting .........................................................................................................................33
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6.1.2
6.1.3
6.1.4
6.1.5
6.1.6
Power on – Encoder doesn't respond .......................................................................................33
Malfunction of the position value during transmission ...............................................................33
Too much ERROR-Frames .......................................................................................................33
Limit switches without function ..................................................................................................34
Baud rate and Node Number changes ......................................................................................34
7.
Appendix: Glossary ................................................................................................35
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1.
General Security Advise
Important Information
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, or maintain it. The following special messages may appear throughout this
documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical
hazard exists, which will result in personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards.
Obey all safety messages that follow this symbol to avoid possible injury or death.
Please Note
Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by
SIKO for any consequences arising out of the use of this material. This document is not intended as
an instruction manual for untrained people.
1.1
About this Manual
Background
This user manual describes how to install and configure an WV36M/CAN absolute rotary encoder with
CANopen interface.
Imprint
SIKO GmbH
Weihermattenweg 2
D-79256 Buchenbach
Telephone
+49 (0) 7661 394-0
Telefax
+49 (0) 7661 394-388
Internet http:// www.siko-global.com
e-mail [email protected]
Copyright
The company SIKO GmbH claims copyright on this documentation. It is not allowed to modify, to
extend, to hand over to a third party and to copy this documentation without written approval by the
company SIKO GmbH. Nor is any liability assumed for damages resulting from the use of the
information contained herein. Further, this publication and features described herein are subject to
change without notice.
User Annotation
The SIKO GmbH welcomes all readers to send us feedback and commands about this document. You
can reach us by e-mail at [email protected]
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2.
Introduction
This manual explains how to install and configure WV36M/CAN absolute rotary encoder with
CANopen interface applicable for both military and industrial applications with CANopen interface. The
products are fully compliant with standard DS406.
Measuring System
Magnetic rotary encoder determine positions using the Hall effect sensor technology developed for the
automotive mass market. A permanent magnet fixed to the shaft generates a magnetic field that is
sampled by the Hall sensor, which translates the measured value into a unique absolute position
value.
To register revolutions even when no voltage is applied, energy from the turning of the shaft must
suffice for proper operation. An innovative, patented technology makes this feasible even at low
rotational speeds and through long standstill periods – a Wiegand wire ensures that the magnetic field
can only follow the turning of the shaft in discrete steps. A coil wound on the Wiegand wire receives
only brief, strong voltage spikes, which prompt the reliable recognition of each revolution.
Typical Applications:




2.1
Packing Machines
Mobile Machines
Wind Mills
Medical Equipment
General CANopen Information
The CANopen system is used in industrial applications. It is a multiple access system (maximum: 127
participants), which means that all devices can access the bus. In simple terms, each 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 COBID 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:





Management messages (LMT, NMT)
Messaging and service (SDOs)
Data exchange (PDOs)
Layer Setting Services (LSS)
Predefined messages (synchronization, emergency messages)
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) is 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 by their
corresponding object dictionary entries.
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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.
Further information is available at:
CAN in Automation (CiA) International Users and Manufacturers Group e. V.
Kontumazgarten 3
DE-90429 Nuremberg
(*) Reference: CAN Application Layer for Industrial Applications
CiA Draft Standard 201 ... 207, Version 1.1
CAL-based Communication Profile for Industrial Systems
CiA Draft Standard 301
CiA Draft Standard 305 Layer Setting Services
CiA Draft Standard 406 Device Profile for Encoders
Note: All datasheets and manuals can be downloaded for free from our website www.siko.de
We do not assume responsibility for technical inaccuracies or omissions. Specifications are
subject to change without notice.
3.
Installation
Setting Node Number via SDO Objects
The node number has to be adjusted via SDO objects. The default node-ID is 32 (20H). To set the
node number, object 3000h has to be written. For further information regard chapter 5.5 Object
Dictionary.
Setting Baud Rate via SDO Objects
The baud rate has to be adjusted via SDO objects. The default baud rate is 125 kbaud. To set baud
rate object 3001h has to be written. For further information please regard chapter 5.5 Object
Dictionary.
Setting Node Number via LSS
The node number can also be adjusted via Layer Setting Services (LSS). For further information
regard chapter 4.5.
Setting Baud Rate via LSS
The baud rate can also be adjusted via Layer Setting Services (LSS). The default baud rate is
125 kbaud. For further information regard chapter 4.5.
Bus Termination
If the encoder is the last device in the bus you can use the internal termination resistor which can be
enabled with an SDO object.
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4.
Configuration
The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder
with CANopen interface.
4.1
Operating Modes
4.1.1
General
The encoder accesses the CAN network after power up 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.
4.1.2
Mode: Preoperational
To set a node to pre-operational mode, the master must send the following message:
Identifier
0h
0h
Byte 0
80 h
80 h
Byte 1
00
NN
Description
NMT-PreOp, all nodes
NMT-PreOp, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
4.1.3
Mode: Start - Operational
To put one or all nodes in the operational state, the master have to send the following message:
Identifier
0h
0h
Byte 0
01 h
01 h
Byte 1
00
NN
Description
NMT-Start, all nodes
NMT-Start, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to operational mode.
4.1.4
Mode: Stopped
To put one or all nodes in the stopped state, the master have to send the following message:
Identifier
0h
0h
Byte 0
02 h
02 h
Byte 1
00
NN
Description
NMT-Stop, all nodes
NMT-Stop, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode.
4.1.5
Reinitialization of the Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
NN
0h
0h
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Command
82 h
81 h
Index
00
NN
Date: 03.02.2015
Description
Reset Communication
Reset Node
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NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode.
After reinitialization, the encoder accesses the bus in pre-operational mode.
4.2
Normal Operating
Polled Mode
Cyclic Mode
Sync Mode
By a remote-transmission-request telegram the connected host calls for the
current process value. The encoder reads the current position value,
calculates eventually set-parameters and sends back the obtained process
value by the same identifier.
The encoder transmits cyclically - without being called by the host - the
current process value. The cycle time can be programmed in milliseconds
for values between 1 ms and 65536 ms.
After receiving a sync telegram by the host, the encoder answers with the
current process value. If more than one node number (encoder) shall
answer after receiving a sync telegram, the answer telegrams of the nodes
will be received by the host in order of their node numbers. The
programming of an offset-time is not necessary. If a node should not
answer after each sync telegram on the CAN network, the parameter sync
counter can be programmed to skip a certain number of sync telegrams
before answering again.
Tab. 1: CAN Transmission Mode Description
4.3
Storing Parameter
4.3.1
List of storable Parameter
Object Index
1005h
100Ch
100Dh
1016h
1017h
1020h
1800h
1801h
1A00h
1A01h
2100h
2101h
2102h
2103h
2104h
2105h
2160h
2200h
3000h
3001h
3002h
6000h
6001h
6002h
6003h
6200h
Object Description
COB-ID Sync
Guard Time
Life Time Factor
Consumer Heartbeat Time
Producer Heartbeat Time
Verify configuration
Communication parameter PDO 1
Communication parameter PDO 2
Transmit PDO1 Mapping Parameter
Transmit PDO2 Mapping Parameter
Operating Parameters
Resolution per Revolution
Total Resolution
Preset Value
Limit Switch, min.
Limit Switch, max.
Customer Storage
Cyclic Timer
Node Number
Baud rate
Termination Resistor
Operating Parameter
Steps per Revolution
Total Resolution
Preset Value
Cyclic Timer
Tab. 2: List of Storable Parameters
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4.3.2
Storing Procedure
2
The parameter settings can be stored in a non-volatile E PROM. The parameter settings are
stored in RAM when being programmed. When all the parameters are set and proved, they
2
can be transferred in one burn cycle to the E PROM by the parameter memory transfer. The
2
stored parameters are copied after a RESET (Power on, NMT-Reset) from the E PROM to
the RAM (volatile memory).
Storing without Reset
By using the object 1010h from the communication profile related object dictionary you can store the
parameters into the non-volatile memory without a reset.
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.
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 non-volatile memory programmed parameters are not overwritten.
Only after a new store command the default parameters are stored in the non-volatile 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 non-volatile memory.
4.5
Usage of Layer Setting Services (LSS)
To configure the encoder via LSS the encoder will be the LSS slave device and the control has to
support LSS master device functionality.
The LSS master device requests services, that are performed by the LSS slave devices (encoder).
The LSS master device requests the LSS address (vendor-id, product-code, revision-number, serialnumber) from the LSS slave device. After receiving this information the control can unequivocally
identify the encoder and the node number and baud rate can be set.
5.
Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org).
Command
Function
22h
Domain Download
23h, 27h, 2Bh, 2Fh (*) Domain Download
Telegram
Request
Request
60h
Domain Download
40h
Domain Upload
43h, 47h, 4Bh, 4Fh (*) Domain Upload
Confirmation
Request
Reply
80 h
Reply
Warning
Description
Parameter to Encoder
Parameter to Encoder (Bytes
indicated)
Parameter received
Parameter request
Parameter to Master (Bytes
indicated)
Transmission error
Tab. 3: General Command Byte Description
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(*)The value of the command byte depends on the data length of the called parameter:
Command
23h
27h
2Bh
2Fh
43h
47h
4Bh
4Fh
Data length
4 Byte
3 Byte
2 Byte
1 Byte
4 Byte
3 Byte
2 Byte
1 Byte
Data type
Unsigned 32
Unsigned 24
Unsigned 16
Unsigned 8
Unsigned 32
Unsigned 24
Unsigned 16
Unsigned 8
Tab. 4: Detailed Command Byte Description
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 subindices. The overall layout of the standard object dictionary is shown beside:
Index (hex)
Object
0000
not used
0001-001F
Static Data Types
0020-003F
Complex Data Types
0040-005F
Manufacturer Specific Data Types
0060-0FFF
Reserved for further use
1000-1FFF
Communication Profile Area
2000-5FFF
Manufacturer Specific Profile Area
6000-9FFF
Standardized Device Profile Area
A000-FFFF
Reserved for further use
Tab. 5: Overview Object Dictionary
5.1
Programming example: Preset Value
If a CANopen device is connected and configured with the right baud rate 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.
5.1.1
Set Encoder Preset Value
Master to Encoder with Node Number 1.
Setting Preset Value (Value 1000)
Identifier DLC Command
Index
NN 1
Download
6003h
601
8
22
03
60
Answer of the Encoder
Identifier DLC Command
NN 1
Download
581
8
43
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Index
6003h
03
60
Subindex
00
Subindex
00
Page 11 of 36
Service/Process data
Byte 4 Byte 5 Byte 6 Byte 7
00
10
00
00
Service/Process data
Byte 4 Byte 5 Byte 6 Byte 7
00
00
00
00
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Read Preset Value from the Encoder
Identifier DLC Command
Index
NN 1
Download
6003h
601
8
40
03
60
Subindex
00
Answer of the Encoder
Identifier DLC Command
NN 1
Download
581
8
43
Index
6003h
03
60
Subindex
Save Preset Values
Identifier DLC Command
NN 1
Download
601
8
22
Index
1010h
10
10
Subindex
5.2
00
01
Service/Process data
Byte 4 Byte 5 Byte 6 Byte 7
00
00
00
00
Service/Process data
Byte 4 Byte 5 Byte 6 Byte 7
00
10
00
00
Service/Process data
Byte 4 Byte 5 Byte 6 Byte 7
73
61
76
65
Communication Profile DS301 specific objects from 1000h - 1FFFh
In this manual we refer to the communication profile DS301 V4.02.
Page
Hand-Book
14
14
14
15
15
15
15
15
16
16
16
16
17
17
17
17
17
18
18
18
18
19
19
20
20
Object Description
1000h
1001h
1003h
1005h
1008h
1009h
100Ah
100Ch
100Dh
1010h
1011h
1012h
1013h
1014h
1016h
1017h
1018h
1020h
1029h
1800h
1801h
1A00h
1A01h
1F50h
1F51h
Device type
Error register
Pre-defined error field
COB-ID SYNC-message
Device name
Hardware version
Software version
Guard Time
Life Time Factor
Store parameters
Restore default parameters
COB-ID Time Stamp
High Resolution Time Stamp
COB-ID Emergency
Consumer Heartbeat Time
Producer Heartbeat Time
Identity Object
Verify Configuration
Error Behaviour
Communication parameter PDO 1
Communication parameter PDO 2
Transmit PDO1 Mapping Parameter
Transmit PDO2 Mapping Parameter
Download Program Area
Program Control
Page
DS301
95
96
97
99
101
101
102
102
103
103
105
108
109
109
111
112
113
115
125
137
137
142
142
Page
DS406
8
8
9
9
11
11
12
Tab. 6: Object Dictionary 1000h-1FFFh
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5.3
Manufacturer specific objects 2000h – 5FFFh
Page
Hand-Book
20
20
21
21
22
22
22
23
23
23
23
23
24
24
24
24
25
25
Object Description
2000h
2100h
2101h
2102h
2103h
2104h
2105h
2160h
2200h
2300h
3000h
3001h
3002h
3010h
3011h
3020h
3021h
4000h
Position Value
Operating Parameters
Resolution per Revolution
Total Resolution
Preset Value
Limit Switch, min.
Limit Switch, max.
Customer Storage
Cyclic Timer
Save Parameter with reset
Node Number
Baud rate
Termination Resistor
Speed Control
Speed Value
Acceleration Control
Acceleration Value
Bootloader Control
Tab. 7: Object Dictionary 2000-5FFF
5.4
Application specific objects 6000h – 67FEh
In this manual we refer to the communication profile DS406 V3.2.
Object Description
6000h
6001h
6002h
6003h
6004h
6030h
6040h
6200h
6300h
6301h
6302h
6400h
6401h
6402h
6500h
6501h
6502h
6503h
6504h
Operating Parameters
Measuring units per revolution
Total measuring range in measuring units
Preset value
Position Value
Speed Value
Acceleration Value
Cyclic Timer
Cam state register
Cam enable register
Cam polarity register
Area state register
Work area low limit
Work area high limit
Operating status
Single-turn resolution
Number of distinguishable revolutions
Alarms
Supported alarms
WV36M/CAN
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Object Description
6505h
6506h
6507h
6508h
6509h
650Ah
650Bh
Warnings
Supported warnings
Profile and software version
Operating time
Offset value
Module identification
Serial number
Page
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Tab. 8: Object Dictionary 6000h-6FFFh
5.5
Object Descriptions
In the following chapter you will find detailed information of the object dictionary related to the encoder
device.
5.5.1
Object 1000h: Device Type
The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit
field which describes the device profile that is used and a second 16-bit field which gives additional
information about optional functionality of the device. The additional information parameter is device
profile specific.
Subindex Description
0
-
Data Type
Default Value
Access
Unsigned 32
N/A
ro
Restore after
BootUp
no
WV36M/CAN single turn: 10196h
WV36M/CAN multi turn: 20196h
5.5.2
Object 1001h: Error Register
This object is used by the device to display internal faults. When a fault is detected, the corresponding
bit is therefore activated.
The following errors are supported:
Bit
0
Description
Generic Error
Subindex Description
0
5.5.3
-
Comments
The generic error is signaled at any error situation.
Data Type
Default Value
Access
Unsigned 8
N/A
ro
Restore after
BootUp
no
Object 1003h: Pre-Defined Error Field
The object holds the errors that have occurred on the device and have been signaled via the
Emergency Object.



The error code is located in the least significant word
Additional Information is located in the most significant word
Subindex 0 contains the number of recorded errors
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Subindex Description
0
Number of recorded
errors
Most recent errors
Second to last error
1
2
…
10
Data Type
Default Value
Access
Unsigned 8
0
rw
Restore after
BootUp
no
Unsigned 32
Unsigned 32
-
ro
ro
no
no
Restore after
BootUp
no
Clearing Error Log
The error log can be cleared by writing 0 to subindex 0 of object 1003.
5.5.4
Object 1005h: COB-ID Sync
This object contains the synchronization message identifier.
Subindex Description
0
5.5.5
-
Data Type
Default Value
Access
Unsigned 32
80000080h
rw
Data Type
Default Value
Access
String
-
ro
Object 1008h: Manufacturer Device Name
This object contains the device name.
Subindex Description
0
5.5.6
-
Restore after
BootUp
no
Object 1009h: Manufacturer Hardware Version
This object contains the article name of the circuit board.
Subindex Description
0
-
Data Type
Default Value
Access
String
-
ro
Restore after
BootUp
no
There is one actual version of circuit boards for WV36M/CAN.
5.5.7
Object 100Ah: Manufacturer Software Version
This object contains the manufacturer software version. The new encoder line 2008 starts with version
4.00.
Subindex Description
0
5.5.8
-
Data Type
Default Value
Access
String
4.00
ro
Restore after
BootUp
no
Object 100Ch: Guard Time
This object contains the guard time in milliseconds.
Subindex Description
0
WV36M/CAN
-
Date: 03.02.2015
Data Type
Default Value
Unsigned 16
0
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5.5.9
Object 100Dh: Life Time Factor
This object contains the life time factor parameters. The life time factor multiplied with the guard time
gives the life time for the node guarding protocol.
Subindex Description
0
-
Data Type
Default Value
Access
Unsigned 8
0
rw
Restore after
BootUp
yes
5.5.10 Object 1010h: Store Parameters
This object is used to store device and CANopen related parameters to non-volatile memory.
Subindex Description
0
1
Number of sub indices
Store all parameters
Data Type
Default Value
Access
Unsigned 8
Unsigned 32
2
"save"
ro
rw
Restore after
BootUp
no
no
Storing procedure
To save the parameters to non-volatile memory the access signature "save" has to be sent to the
corresponding subindex of the device.
Most significant word
E
v
65h
76h
ASCII
Hex value
Least significant word
a
s
61h
73h
5.5.11 Object 1011h: Restore Parameters
This object is used to restore device and CANopen related parameters to factory settings.
Subindex Description
0
1
Number of sub indices
Restore all parameters
Data Type
Default Value
Access
Unsigned 8
Unsigned 32
2
"load"
ro
rw
Restore after
BootUp
no
no
Storing procedure
To save the parameters to non-volatile memory the access signature "load" has to be sent to the
corresponding subindex of the device.
Most significant word
D
a
64h
61h
ASCII
Hex value
Least significant word
o
l
6Fh
6Ch
Note: The restoration of parameters will only be taken into account after a power up or reset
command. Please check all parameters before you store them to the non-volatile memory.
5.5.12 Object 1012h: COB-ID Time Stamp Object
This object contains the COB-ID of the Time Stamp object.
Subindex Description
0
WV36M/CAN
-
Date: 03.02.2015
Data Type
Default Value
Access
Unsigned 32
100h
rw
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5.5.13 Object 1013h: High Resolution Time Stamp
This object contains a time stamp with a resolution of 1µs.
Subindex Description
0
-
Data Type
Default Value
Access
Unsigned 32
0
rw
Restore after
BootUp
no
5.5.14 Object 1014h: COB-ID Emergency Object
This object contains the EMCY emergency message identifier.
Subindex Description
0
-
Data Type
Default Value
Unsigned 32
80h + Node ID
Access Restore after
BootUp
rw
no
5.5.15 Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only
monitor one corresponding device. If the time is set to 0 the monitoring is not active. The value of this
object must be higher than the corresponding time (object 1017) of the monitored device.
Subindex Description
0
1
Number of indices
Consumer heartbeat
time
Data Type
Default Value
Unsigned 8
Unsigned 32
1
0
Access Restore after
BootUp
ro
no
rw
yes
The context of subindex 1 is as follows:
Bit
Value
31 to 24
0h (reserved)
23 to 16
Address of monitored device
15 to 0
Monitoring time (ms)
5.5.16 Object 1017h: Producer Heartbeat Time
The object contains the time interval in milliseconds in which the device has to produce the a
heartbeat message.
Subindex Description
0
-
Data Type
Default Value
Unsigned 16
0
Access Restore after
BootUp
rw
yes
5.5.17 Object 1018h: Identity Object
This object contains the device information.
Subindex
0
1
2
3
4
WV36M/CAN
Description
Number of entries
Vendor ID
Product Code
Revision Number
Serial Number
Date: 03.02.2015
Data Type
Default Value
Access
Unsigned 8
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
4
195h
ro
ro
ro
ro
ro
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100h
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no
no
no
no
no
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5.5.18 Object 1020h: Verify configuration
This object indicates the downloaded configuration date and time.
Subindex
0h
1h
2h
Description
Number of entries
Configuration date
Configuration time
Data Type
Default Value
Access
Unsigned 8
Unsigned 32
Unsigned 32
2h
ro
rw
rw
Restore
after BootUp
no
no
no
5.5.19 Object 1029h: Error behavior
This object indicates the error behavior.
Subindex
0h
1h
Description
Data Type
Default Value
Access
Number of entries
Communication error
Unsigned 8
Unsigned 8
1h
ro
rw
Restore after
BootUp
no
no
5.5.20 Object 1800h: 1st Transmit PDO Communication Parameter
st
This object contains the communication parameter of the 1 transmit PDO.
Subindex
Description
Data Type
Default Value
Access
ro
rw
Restore after
BootUp
yes
yes
rw
rw
yes
yes
rw
yes
0
1
Number of sub indices
COB-ID
Unsigned 8
Unsigned 32
2
3
4
5
Transmission Mode
Inhibit Time
Not available
Event Timer
Unsigned 8
Unsigned 32
5
180h + Node
ID
FE
0
Unsigned 32
64h or 0
5.5.21 Object 1801h: 2nd Transmit PDO Communication Parameter
This object contains the communication parameter of the 2
nd
transmit PDO.
Note: In the OCD versions C2 and C5 the second PDO was configured via object 1802!
Subindex Description
Data Type
Default Value
Access
ro
rw
Restore after
BootUp
yes
yes
rw
rw
yes
yes
rw
yes
0
1
Number of sub indices
COB-ID
Unsigned 8
Unsigned 32
2
3
4
5
Transmission Mode
Inhibit Time
Not available
Event Timer
Unsigned 8
Unsigned 32
5
280h + Node
ID
1
0
Unsigned 32
0
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Transmission Mode
The transmission mode can be configured as described below:
Transfer
Value
(decimal)
0
Transmission Mode
Cyclic Acyclic Synchr Asynch
onous ronous
X
X
1-240
241-251
252
X
RTR
only
Send PDO on first Sync message
following an event
Send PDO every x Sync messages
X
reserved
X
X
253
Receive SYNC message and send
PDO on Remote Request
Update data and send PDO on
Remote Request
Send PDO on event
Send PDO on event
X
254
255
Notes
X
X
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.
5.5.22 Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and 255). If
the data changes before the "event timer" expires, a temporary telegram is sent. If a value > 0 is
written in this 16-bit field, the transmit PDO is always sent after the "event timer" expires. The value is
written in subindex 5 of a transmit PDO. The data transfer also takes place with no change to data.
The range is between 1-65536 ms.
5.5.23 Object 1A00h: 1st Transmit PDO Mapping Parameter
st
This object contains the mapping parameter of the 1 transmit PDO.
Subindex Description
0
1
Number of sub indices
1st mapped object
Data Type
Default Value
Access
Unsigned 8
Unsigned 32
1
60040020h
rw
rw
Restore after
BootUp
yes
yes
The following procedure shall be used for re-mapping TPDO1 or TPDO2:
1. Set NMT state to Pre-operational.
2. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 1 => PDO does not exist / is
not valid.
3. Set TPDO mapping parameter Object 1A00h or 1A01h sub-index 00h to 00h.
4. Modify mapping by changing the values of the corresponding sub-indices. Only Objects with Access
romap are mappable.
5. Enable mapping by setting sub-index 00h to the number mapped objects.
6. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 0 => PDO exist / is valid.
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5.5.24 Object 1A01h: 2nd Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 2
Subindex Description
0
1
Number of sub indices
nd
2 mapped object
nd
transmit PDO.
Data Type
Default Value
Access
Unsigned 8
Unsigned 32
1
60040020h
rw
rw
Restore after
BootUp
yes
yes
The following procedure shall be used for re-mapping TPDO1 or TPDO2:
1. Set NMT state to Pre-operational.
2. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 1 => PDO does not exist / is
not valid.
3. Set TPDO mapping parameter Object 1A00h or 1A01h sub-index 00h to 00h.
4. Modify mapping by changing the values of the corresponding sub-indices. Only Objects with Access
romap are mappable.
5. Enable mapping by setting sub-index 00h to the number mapped objects.
6. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 0 => PDO exist / is valid.
5.5.25 Object 1F50h: Download Program Area
This is a special object that has functionality for the bootloader feature. (see Bootloader chapter)
Use this entry to download your Intel hex file with the programming data. Detailed information about
Domain download and Block transfer in CiA Draft Standard 301 Application Layer and communication
Profile.
Subindex Description
0h
1h
Number of sub indices
Data Type
Default Value
Access
Unsigned 8
DOMAIN
2h
ro
wo
Restore after
BootUp
yes
yes
5.5.26 Object 1F51h: Program Control
This is a special bootloader object, to update the firmware (see Bootloader chapter).
This array controls the programs residing at index 0x1F50.
Subindex Description
0h
Number of program
control entries
1h
Data Type
Default Value
Access
Unsigned 8
2h
ro
Restore after
BootUp
yes
rw
yes
Unsigned 32
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
5.5.27 Object 2000h: Position Value
This object contains the position value.
Subindex Description
0
WV36M/CAN
Position Value
Date: 03.02.2015
Data Type
Default Value
Access
Unsigned 32
-
ro
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5.5.28 Object 2100h: Operating Parameters
As operating parameters the code sequence (Complement) can be selected and the limit switches can
be turned on or off.
Subindex Description
0
Operating Parameters
Data Type
Default Value
Unsigned 8
0h
Access Restore after
BootUp
rw
yes
The parameter code sequence (Complement) determines the counting direction, in which the output
process value increases or decreases (CW = Clockwise, CCW = Counterclockwise). The code
sequence is determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min. and Max.
can be turned on or off in Index 2100h.
Bit 0
0
1
Code
sequence
CW
CCW
Code
Bit 1
increasing
increasing
0
1
Limit
Bit 2 Limit switch, Bit 3 Event triggered
switch, min.
max.
PDO
off
0
off
0
off
on
1
on
1
on
Calculation Example: Target: Absolute rotary encoder with direction CCW increasing, limit switch min
enabled and limit switch max disabled.
Bitmatrix:
Bit 0 = 1
Bit 1 = 1
Bit 2 = 0
Result = 011b = 3h
Direction increasing CCW
Limit switch min. enabled
Limit switch max. disabled
5.5.29 Object 2101h: Resolution per Revolution
This object contains the desired steps per revolution of the encoder.
Subindex
0
Description
Resolution per
Revolution
Data Type
Default Value
Unsigned 32
see type sign
Access Restore after
BootUp
rw
yes
n
If the desired value exceeds the hardware resolution of the encoder or is not a value of 2 , it will be
out of range. Only values in the power of two are valid, otherwise the error code "06090030h: Value
range of parameter exceeded" will appear.
5.5.30 Object 2102h: Total Resolution
This object contains the desired total resolution of the encoder.
Subindex Description
0
Total Resolution
Data Type
Default Value
Unsigned 32
see type sign
Access Restore after
BootUp
rw
yes
This parameter is used to program the desired number of measuring units over the total measuring
range. This value must not exceed the total resolution of the absolute rotary encoder, which is printed
on the type sign of the encoder.
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Attention:
Following formula letter will be used:
PGA
PAU
GA
AU
Physical total resolution of the encoder
Physical resolution per revolution
Total resolution
Resolution per revolution
(see type sign)
(see type sign)
(customer parameter)
(customer parameter)
Please use the following formula to calculate the total resolution of the encoder:
If the desired resolution per revolution is less than the really physical resolution per revolution of the
encoder, then the total resolution must be entered as follows:
Total resolution:
Calculation example:
Customer handicap: AU = 2048
Encoder type sign:
PGA=24 bit, PAU=12bit
If the total resolution of the encoder is less than the physical total resolution, the parameter total
resolution must be a multiple of the physical total resolution.
k

GA
5.5.31 Object 2103h: Preset Value
The preset value is the desired position value, which should be reached at a certain physical position
of the axis. The position value is set to the desired process value by the parameter preset. The preset
value must not exceed the parameter total resolution to avoid run-time errors. If the parameter value
exceeds the total resolution of the encoder a SDO “Out of range” message is generated.
Subindex Description
0
Preset Value
Data Type
Default Value
Unsigned 32
0
Access Restore after
BootUp
rw
yes
5.5.32 Object 2104h: Limit Switch, min.
Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit
process value is set to high. Both programmed values must not exceed the parameter total resolution
to avoid run-time errors. If the parameter value exceeds the total resolution of the encoder a SDO "Out
of range" message is generated.
Bit 30 = 1:
Limit Switch, Min. reached or passed under
Subindex Description
0
Limit Switch, min.
Data Type
Default Value
Unsigned 32
0
Access Restore after
BootUp
rw
yes
The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value reaches or
passes under the value of the limit switch:
Function Status Process value
bits
Bit
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 1 X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
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5.5.33 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
Subindex
0
Description
Limit Switch, max.
Data Type
Default Value
Access
Unsigned 32
0
rw
Restore
after BootUp
yes
The limit switch, max sets Bit 31=1 with the next message telegram, if the process value reaches or
passes under the value of the limit switch:
Function Statu Process value
sbits
Bit
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1 0 X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
5.5.34 Object 2160h: Customer storage
This object provides for the customer the possibility to store any value.
Subindex
0h
1h
2h
3h
4h
Description
Number of sub indices
Customer Storage1
Customer Storage2
Customer Storage3
Customer Storage4
Data Type
Default Value
Access
Unsigned 8
Unsigned 32
Unsigned 32
Unsigned 32
Unsigned 32
4h
ro
rw
rw
rw
rw
Restore
after BootUp
5.5.35 Object 2200h: Cyclic Timer PDO
This object contains cyclic time of the event timer in ms (of PDO 1).
Subindex Description
0h
Event Time in ms
Data Type
Default Value
Unsigned 16
0h
Access Restore after
BootUp
ro
yes
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).
5.5.36 Object 2300h: Save Parameter with Reset
With this object all parameters can be stored in the non-volatile memory. After storing the parameters
a reset is executed.
Subindex Description
0
WV36M/CAN
Access code
Date: 03.02.2015
Data Type
Default Value
Unsigned 32
55AAAA55h
Page 23 of 36
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5.5.37 Object 3000h: Node Number
This object contains the node number of the device. The standard node number is 32.
Subindex Description
0
Node Number
Data Type
Default Value
Unsigned 8
1Fh
Access Restore after
BootUp
rw
yes
Note: To avoid the node number 0, one will be added to the value of this object!
E.g.: 1Fh+1h = 20h = 32 (dec)
5.5.38 Object 3001h: Baud rate
This object contains the baud rate of the device.
Subindex
0
Description
Data Type
Default Value
Baud rate
Unsigned 8
-
Access Restore after
BootUp
rw
yes
Eight different baud rates are provided. To adjust the baud rate only one byte is used.
Baudrate in kBit/s
20
50
100
125
250
500
800
1000
Byte
00h
01h
02h
03h
04h
05h
06h
07h
5.5.39 Object 3002h: Termination Resistor
Subindex Description
0
Termination Resistor
Data Type
Default Value
Access
Unsigned 8
-
rw
Restore after
BootUp
yes
By writing 01h to this object the internal galvanic isolated termination resistor is activated. Note that
the resistor is only activated when the device is powered. If you have more CAN nodes on the Bus be
sure to power them approx. 700 ms after the device with the programmed termination Resistor.
5.5.40 Object 3010h: Speed Control
This object contains the speed control. The speed measurement is disabled by default.
Subindex
0h
1h
2h
WV36M/CAN
Description
Data Type
Default Value
Access
Number of sub indices
Enable Speed
Speed modus
Unsigned 8
Unsigned 8
Unsigned 8
2h
0h
0h
ro
rw
rw
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5.5.41 Object 3011h: Speed Value
This object contains speed value.
Subindex Description
0h
Speed value
Data Type
Default Value
Unsigned 8
Access
romap
Restore after
BootUp
no
5.5.42 Object 3020h: Acceleration Control
This object contains the acceleration control. Acceleration output is not supported by this device. This
object is present only for compatibility reasons.
Subindex Description
0h
1h
2h
Number of sub indices
Enable Acceleration
Acceleration modus
Data Type
Default Value
Access
Unsigned 8
Unsigned 8
Unsigned 8
2h
0h
0h
ro
rw
rw
Restore after
BootUp
yes
yes
5.5.43 Object 3021h: Acceleration Value
Acceleration output is not supported by this device. This object is present only for compatibility
reasons.
Subindex
0h
Description
Data Type
Acceleration Value
Integer 32
Default Value
Access Restore after
BootUp
romap
5.5.44 Object 4000h: Bootloader Control
This object controls the Bootloader functionality (see Bootloader chapter). Writing the security code to
this object causes erasing the EEPROM and application information in the flash memory and resets
the device. After a power-up, the Bootloader checks the user application and detects no more
information. The Bootloader starts up with a pre-defined CANopen node ID of 1 (0x1) and a fixed CAN
baud rate of 125 kbits.
Subindex Description
0h
Bootloader Control
Data Type
Default Value
Unsigned 32
Access Restore after
BootUp
wo
Note: Activating the Bootloader courses a deep reset of the device. After this only a few
objects are still available, the device does not behave like an encoder and waits for new
programming. That is the reason why the security code is not published in this document.
Please contact SIKO to obtain the code.
5.5.45 Object 6000h: Operating parameters
This object shall indicate the functions for code sequence, commissioning diagnostic control
and scaling function control.
Subindex Description
0h
Operating Parameter
Data Type
Default Value
Unsigned 16
1h
Access Restore after
BootUp
rw
yes
Code sequence: The code sequence defines, whether increasing or decreasing position values are
output, in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view
of the shaft.
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Scaling function control: With the scaling function the encoder numerical value is converted in
software to change the physical resolution of the encoder. The measuring units per revolution (object
6001h) and total measuring range in measuring units (object 6002h) are the scaling parameters. The
scaling function bit is set in the operating parameters. If the scaling function bit is set to zero, the
scaling function is disabled.
Bit structure for the operating parameters
Bit 15
14 13 12 11 10
9
Use MS MS MS MS R
R
R
8
R
7
R
6
R
5
R
4
R
3
MD
2
SFC
1
CD
0
CS
Table Description:
MS:
Manufacturer Specific Function (not available)
R:
Reserved for future use
MD:
Measuring direction (not available)
SFC: Scaling function (0 = disable, 1 = enable)
CD:
Commissioning diagnostic control (not available)
CS:
Code sequence (0 = CW Up, 1 = CCW Up)
Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h.
5.5.46 Object 6001h: Measuring units per revolution
This object shall indicate the number of distinguishable steps per revolution.
Subindex Description
0h
Measuring units per
revolution
Hardwired with 2101h.
Data Type
Default Value
Unsigned 32
see type sign
Access Restore after
BootUp
rw
yes
5.5.47 Object 6002h: Total measuring range in measuring units
This object shall indicate the number of distinguishable steps over the total measuring range.
Subindex Description
0h
Total measuring steps
Data Type
Default Value
Unsigned 32
see type sign
Access Restore after
BootUp
rw
yes
5.5.48 Object 6003h: Preset value
This object indicates the preset value for the output position value.
Subindex Description
0h
Preset Value
Data Type
Default Value
Unsigned 32
0h
Access Restore after
BootUp
rw
yes
5.5.49 Object 6004h: Position value
This object contains the process value of the encoder.
Subindex Description
0h
Process Value
Hardwired with Object 2000h.
WV36M/CAN
Date: 03.02.2015
Data Type
Default Value
Unsigned 32
-
Page 26 of 36
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5.5.50 Object 6030h: Speed Value
This object contains the speed value of the encoder.
Subindex Description
0h
1h
Number of sub indices
Speed value channel1
Data Type
Default Value
Unsigned 8
Integer 16
1h
-
Access Restore after
BootUp
ro
romap
yes
If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.
The customer can use the 3010h (32 bit) object.
5.5.51 Object 6040h: Acceleration Value
This object contains the acceleration value of the encoder.
Subindex Description
0h
1h
Number of sub indices
Acceleration value
channel1
Data Type
Default Value
Unsigned 8
Integer 16
1h
-
Access Restore after
BootUp
ro
romap
yes
5.5.52 Object 6200h: Cyclic timer
This object contains the value of the event timer of the corresponding TPDOs. The value can be
changed between 1-65538 ms.
Subindex Description
0h
Cyclic Time
Data Type
Default Value
Access
Unsigned 16
64h
rw
Restore after
BootUp
yes
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).
5.5.53 Object 6300h: Cam state register
This object contains the cam state register. The sub indices 1h to FEh contain the cam state of
channel 1 to 254.
Subindex Description
0h
1h
Number of sub indices
Cam state channel 1
Data Type
Default Value
Access
Unsigned 8
1h
4h
ro
romap
Data Type
Default Value
Access
Unsigned 8
Unsigned 8
1h
ro
rw
Unsigned 8
Restore after
BootUp
yes
5.5.54 Object 6301h: Cam enable register
This object contains the cam enable register.
Subindex Description
0h
1h
Number of sub indices
Cam enable channel 1
Restore
after BootUp
yes
5.5.55 Object 6302h: Cam polarity register
This object contains the cam enable register.
Subindex Description
0h
1h
WV36M/CAN
Number of sub indices
Cam polarity channel 1
Date: 03.02.2015
Data Type
Default Value
Access
Unsigned 8
Unsigned 8
1h
0h
ro
rw
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yes
Mod. status 45/15
6310h
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
6311h
6312h
6313h
6314h
6315h
6316h
6317h
6320h
6321h
6322h
6323h
6324h
6325h
6326h
6327h
6330h
WV36M/CAN
List of Cam objects
Cam1 low limit
Highest sub-index supported
Cam1 low limit channel1
Cam2 low limit
Highest sub-index supported
Cam2 low limit channel1
Cam3 low limit
Highest sub-index supported
Cam3 low limit channel1
Cam4 low limit
Highest sub-index supported
Cam4 low limit channel1
Cam5 low limit
Highest sub-index supported
Cam5 low limit channel1
Cam6 low limit
Highest sub-index supported
Cam6 low limit channel1
Cam7 low limit
Highest sub-index supported
Cam7 low limit channel1
Cam8 low limit
Highest sub-index supported
Cam8 low limit channel1
Cam1 high limit
Highest sub-index supported
Cam1 high limit channel1
Cam2 high limit
Highest sub-index supported
Cam2 high limit channel1
Cam3 high limit
Highest sub-index supported
Cam3 high limit channel1
Cam4 high limit
Highest sub-index supported
Cam4 high limit channel1
Cam5 high limit
Highest sub-index supported
Cam5 high limit channel1
Cam6 high limit
Highest sub-index supported
Cam6 high limit channel1
Cam7 high limit
Highest sub-index supported
Cam7 high limit channel1
Cam8 high limit
Highest sub-index supported
Cam8 high limit channel1
Cam1 hysteresis
Highest sub-index supported
Cam1 hysteresis channel1
Date: 03.02.2015
Page 28 of 36
U32
U32
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
U8
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
Art.No. 85655
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
Mod. status 45/15
6331h
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
0h
1h
VAR
VAR
6332h
6333h
6334h
6335h
6336h
6337h
List of Cam objects
Cam2 hysteresis
Highest sub-index supported
Cam2 hysteresis channel1
Cam3 hysteresis
Highest sub-index supported
Cam3 hysteresis channel1
Cam4 hysteresis
Highest sub-index supported
Cam4 hysteresis channel1
Cam5 hysteresis
Highest sub-index supported
Cam5 hysteresis channel1
Cam6 hysteresis
Highest sub-index supported
Cam6 hysteresis channel1
Cam7 hysteresis
Highest sub-index supported
Cam7 hysteresis channel1
Cam8 hysteresis
Highest sub-index supported
Cam8 hysteresis channel1
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
U8
U8
U8
U8
U8
U8
U8
0x1
0x1
0x1
0x1
0x1
0x1
0x1
5.5.56 Object 6400h: Area state register
This object contains the area state register.
The object provides the actual area status of the encoder position. Figure 9 specifies the object
structure and Table 106 specifies the value definition.
Subindex Description
0h
1h
7
R
MSB
Number of sub indices
Work area state channel
6
r
5
r
Signal
out of range
4
r
3
r
Default Value
Access
Unsigned 8
Unsigned 8
1h
ro
romap
2
Range underflow
Value
0
1
range overflow
0
1
range underflow
0
1
r
0
WV36M/CAN
Data Type
Date: 03.02.2015
1
Range overflow
Restore
after BootUp
yes
0
Out of range
LSB
Definition
Position between low and high limit.
Position out of range (refer to module identification object,
650Ah) is reached
No range overflow
Position is lower than the position value set in object 6402h
"work area low limit"
No range underflow
Position is higher than the position value set in object 6401h
"work area high limit"
Reserved
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5.5.57 Object 6401h: Work area low limit
This object indicates the position value, at which bit 2 of the according work area state channel in
object 6400h shall flag the underflow of the related work area.
Subindex
0h
1h
Description
Data Type
Default Value
Access
Number of sub indices
Work area low limit
channel 1
Integer 32
Integer 32
1h
0h
ro
rw
Restore
after BootUp
yes
This object is hardwired with 2104h (Limit Switch Min).
5.5.58 Object 6402h: Work area high limit
This object indicates the position value, at which bit 1 of the according work area state channel in
object 6400h shall flag the overflow of the related work area.
Subindex
0h
1h
Description
Data Type
Default Value
Access
Number of sub indices
Work area high limit
channel 1
Integer 32
Integer 32
1h
0h
ro
rw
Restore
after BootUp
yes
This object is hardwired with 2105h (Limit Switch Max).
5.5.59 Object 6500h: Operating status
This object shall provide the operating status of the encoder. It gives information on encoder internal
programmed parameters.
Subindex Description
0h
Operating status
Data Type
Default Value
Access
Unsigned 16
-
ro
Restore after
BootUp
no
The operating status object corresponds to the value of the object 6000h and 2100h.
5.5.60 Object 6501h: Single-turn resolution
The object contains the physical measuring steps per revolution of the absolute rotary encoder.
Subindex Description
0h
Single Turn Resolution
Data Type
Default Value
Access
Unsigned 32
see type sign
ro
Restore after
BootUp
no
5.5.61 Object 6502h: Number of distinguishable revolutions
This object contains number of revolutions of the absolute rotary encoder.
Subindex Description
0h
WV36M/CAN
Number of Revolutions
Date: 03.02.2015
Data Type
Default Value
Access
Unsigned 16
see type sign
ro
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5.5.62 Object 6503h: Alarms
Additionally to the emergency messages in DS301, 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 till the alarm is cleared and the encoder is able to
provide an accurate position value.
Subindex Description
0h
Alarms
Bit structure of the alarms
Bit 15 14 13 12
Use MS MS MS MS
11
R
10
R
Data Type
Default Value
Access
Unsigned 16
-
romap
9
R
8
R
7
R
6
R
5
R
4
R
3
R
Restore after
BootUp
no
2
R
1
CD
0
PE
Table Description:
MS:
Manufacturer Specific Alarm (not supported)
R:
Reserved for future use
CD:
Commissioning diagnostic control (not supported)
PE:
Position Error (not supported)
5.5.63 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.
Subindex Description
0h
Supported Alarms
Data Type
Default Value
Access
Unsigned 16
1000h
ro
Restore after
BootUp
no
The CA-encoder supports the position error alarm.
5.5.64 Object 6505h: Warnings
This object shall provide the warnings. Warnings indicate that tolerance for certain internal parameters
of the encoder have been exceeded. In contrast to alarm and emergency messages warnings do not
imply incorrect position values. All warnings shall be cleared if the tolerances are again within normal
parameters.
Subindex Description
0h
Warnings
Bit structure of the warnings
Bit 15 14 13 12 11
Use MS MS MS MS R
10
R
Data Type
Default Value
Access
Unsigned 16
-
romap
9
R
8
R
7
R
6
R
5
RP
4
BC
3
OT
Restore after
BootUp
no
2
CP
1
LC
0
FE
Table Description:
MS:
Manufacturer Specific Warnings (not supported)
R:
Reserved for future use
RP:
Reference Point reached/not reached (not supported)
BC:
Battery charge (not supported)
OT:
Operating Time limit (not supported)
CP:
CPU watchdog status (not supported)
LC:
Light control reserve (not supported)
FE:
Frequency warning (not supported)
WV36M/CAN
Date: 03.02.2015
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5.5.65 Object 6506h: Supported warnings
The object provides the supported warnings of the device. Please refer to the bit structure table to find
more details about the supported warnings.
Subindex Description
0h
Supported Warnings
Data Type
Default Value
Access
Unsigned 16
1000h
ro
Restore after
BootUp
no
5.5.66 Object 6507h: Profile and software version
This object provides the implemented encoder device profile version and the manufacturer-specific
software version.
Subindex Description
0h
Profile and Software
Version
Data Type
Default Value
Access
Unsigned 32
04040302h
ro
Restore after
BootUp
no
The value is divided into the profile version part and the Software version part. Each part is divided in
upper version and lower version.
MSB
Software Version 4.4
Upper Software Version Lower Software Version
04
04
LSB
Profile Version 3.2
Upper Profile Version Lower Profile Version
03
02
5.5.67 Object 6508h: Operating time
This object indicates the operating time of the device. Currently the operating time is not supported
and the value of this object will always be FFFFFFFFh.
Subindex Description
0h
Operating time
Data Type
Default Value
Access
Unsigned 32
FFFFFFFFh
ro
Restore after
BootUp
no
5.5.68 Object 6509h: Offset value
This object contains the offset value. It is been calculated by the preset function and shifts the physical
position value with the desired value.
Subindex Description
0h
WV36M/CAN
Offset value
Date: 03.02.2015
Data Type
Default Value
Access
Integer 32
-
ro
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5.5.69 Object 650Ah: Module identification
This object shall provide the manufacturer-specific offset value, the manufacturer-specific minimum
and maximum position value.
Subindex Description
0h
Highest supported
subindex
Manufacturer offset
value
Man. min. position value
Man. max. position
value
1h
2h
3h
Data Type
Default Value
Access
Integer 32
3
ro
Restore after
BootUp
no
Integer 32
-
ro
no
Integer 32
Integer 32
-
ro
ro
no
no
5.5.70 Object 650Bh: Serial number
This object contains the serial number of the device. The serial number is also supported in object
1018h subindex 4h.
Subindex Description
0h
Serial Number
Data Type
Default Value
Access
Unsigned 32
See type sign
ro
6.
Diagnosis
6.1.1
Troubleshooting
6.1.2
Power on – Encoder doesn't respond
Restore after
BootUp
no
Problem:
The bus is active but the installed encoder transmitted no boot up message.
Possible solution:
 The encoders have the default baud rate 125 kbaud. Adapt your PLC setting accordingly.
 Reprogram the encoders baud rate.
 Restart encoder so the new baud rate setting will be valid.
6.1.3
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.
6.1.4
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.
WV36M/CAN
Date: 03.02.2015
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6.1.5
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 at
4.5.
6.1.6
Baud rate and Node Number changes
Notice: The changing of baud rate and node number are only valid after a new power up, NMT Reset
or the store parameters command.
WV36M/CAN
Date: 03.02.2015
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7.
Appendix: Glossary
A
Address
Number, assigned to each node, irrespective of whether it is a master or slave.
The encoder address (non-volatile) is configured in the base with rotary switches
or SDO objects.
APV
Absolute Position Value.
B
Baudrate
Transmission speed formulated in number of bits per second. Bus node Device
that can send and/or receive or amplify data by means of the bus.
Byte
8-bit unit of data = 1 byte.
C
CAL
CAN application layer.
CAN
Controller Area Network or CAN multiplexing network.
CANopen
Application layer of an industrial network based on the CAN bus.
CCW
Counter-clockwise
CiA
CAN In Automation, organization of manufacturers and users of devices that
operate on the CAN bus.
COB
Elementary communication object on the CAN network. All data is transferred
using a COB.
COB-ID
COB-Identifier. Identifies an object in a network. The ID determines the
transmission priority of this object. The COB-ID consists of a function code and a
node number.
CW
Clockwise
E
EDS file
Standardized file containing the description of the parameters and the
communication methods of the associated device.
F
FAQ
WV36M/CAN
Frequently Asked Questions
Date: 03.02.2015
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FC Function code.
Determines the type of message sent via the CAN network.
L
Line terminator
Resistor terminating the main segments of the bus.
LMT
Network management object. This is used to configure the parameters of each
layer in the CAN. Master "Active" device within the network, that can send data
without having received a request. It controls data exchange and communication
management.
N
NMT
Network management object. This is responsible for managing the execution,
configuration and errors in a CAN network.
NN
Node number
P
PCV
Process Value
PDO
Communication object, with a high priority for sending process data.
PV
Preset Value: Configuration value
R
RO
Read Only: Parameter that is only accessible in read mode.
ROMAP
Read Only MAPable: Parameter that can be polled by the PDO.
RW
Read/Write: Parameter that can be accessed in read or write mode.
S
SDO
Communication object, with a low priority for messaging (configuration, error
handling, diagnostics). Slave Bus node that sends data at the request of the
master. The encoders are always slaves.
W
WO
WV36M/CAN
Write Only: Parameter that is only accessible in write mode.
Date: 03.02.2015
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