absolute rotary encoder with canopen interface user manual

absolute rotary encoder with canopen interface user manual
ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE
USER MANUAL
Main Features
Programmable Parameters
-
Compact and heavy-duty industrial design
-
Direction of rotation (complement)
-
Interface:
CANopen / CAN
-
Resolution per revolution
-
Housing:
58 mm
-
Total resolution
Preset value
-
Solid/hollow shaft: 6 or 10mm
/ 15mm
-
-
Max. 65536 steps per revolution (16 Bit)
-
Two limit switches and eight cams
-
Max. 16384 revolutions (14 Bit)
-
Baud rate and CAN-identifier
-
Code:
-
Transmission mode: Polled mode, cyclic
-
Velocity and Acceleration Output
Binary
mode, sync mode
-
Electrical Features
Mechanical Structure
-
-
Aluminium flange and housing
Temperature insensitive IR-opto-receiver
asic with integrated signal conditioning
-
Stainless steel shaft
-
Precision ball bearings with sealing or
-
Connection cap: Status indication with
two LEDs
cover rings
-
Layer Setting Services
Code disc made of unbreakable and
-
Polarity inversion protection
durable plastic
-
Over-voltage-peak protection
FRABA Inc.
1800 E State St Suite 148 Hamilton, NJ 08609 USA
Phone: +1 609-750-8705 Fax: +1 609-750-8703
www.posital.com, [email protected]
ABSOLUTE ROTARY ENCO DER
CANOPEN
Table of Contents
General Security Advice ...................................... 4
4.5 Object Descriptions ........................................24
About this Manual ................................................ 4
1. Introduction ...................................................... 5
Object 1000h: Device Type ..................................24
Object 1001h: Error Register................................25
1.1 General CANopen Information ......................... 5
2. Installation ........................................................ 7
Object 1003h: Pre-Defined Error Field .................25
Object 1005h: COB-ID Sync ................................25
2.1 Connection via Connection Cap ....................... 7
2.1.1 Signal Assignment ........................................ 7
Object 1008h: Manufacturer Device Name ..........26
Object 1009h: Manufacturer Hardware Version ...26
2.1.2 Bus Termination in Connection Cap ............. 8
2.1.3 Setting Node Number in Connection Cap ..... 9
Object 100Ah: Manufacturer Software Version ....26
Object 100Ch: Guard Time ..................................26
2.1.4 Setting Baudrate in Connection Cap ........... 10
2.1.5 Status of the connection cap LEDs ............. 10
Object 100Dh: Life Time Factor ...........................26
Object 1010h: Store Parameters ..........................27
2.2 Installation of Connector and Cable encoders 12
2.2.1 Signal Assignment ...................................... 12
Object 1011h: Restore Parameters ......................27
Object 1012h: COB-ID Time Stamp Object ..........27
2.2.2 Setting Node Number.................................. 13
2.2.3 Setting Baud Rate ....................................... 13
Object 1013h: High Resolution Time Stamp ........28
Object 1014h: COB-ID Emergency Object ...........28
2.2.4 Switching the integrated Bus Terminal
Resistor ................................................................ 14
Object 1016h: Consumer Heartbeat Time ............28
Object 1017h: Producer Heartbeat Time ..............28
Object 3002h: Terminal Resistor .......................... 14
3. Configuration ................................................. 15
Object 1018h: Identity Object ...............................29
Object 1020h: Verify configuration .......................29
3.1 Operating Modes ........................................... 15
3.1.1 General ....................................................... 15
Object 1029h: Error behaviour .............................29
st
Object 1800h: 1
TPDO Communication
3.1.2 Mode: Preoperational .................................. 15
3.1.3 Mode: Start - Operational ............................ 15
Parameter ............................................................30
nd
Object 1801h: 2
TPDO Communication
3.1.4 Mode: Stopped ............................................ 15
3.1.5 Reinitialization of the Encoder..................... 16
Parameter ............................................................30
st
Object 1A00h: 1 TPDO Mapping Parameter ......31
3.2 Normal Operating ........................................... 16
3.3 Storing Parameter .......................................... 17
Object 1A01h: 2 TPDO Mapping Parameter......32
Object 1F50h: Download Program Area...............32
3.3.1 List of storable Parameter ........................... 17
3.3.2 Storing Procedure ....................................... 18
Object 1F51h: Program Control ...........................32
Object 2000h: Position Value ...............................33
3.4 Restoring Parameters .................................... 18
3.5 Usage of Layer Setting Services (LSS) .......... 18
Object 2100h: Operating Parameters ...................33
Object 2101h: Resolution per Revolution .............34
Object 1018h: Identity Object (LSS-address) ....... 19
4. Programmable Parameters ........................... 20
Object 2102h: Total Resolution ............................34
Object 2103h: Preset Value .................................35
4.1 Programming example: Preset Value............. 21
4.1.1 Set Encoder Preset Value ........................... 21
Object 2104h: Limit Switch, min. ..........................35
Object 2105h: Limit Switch, max. .........................35
4.2 Communication Profile DS301 specific
objects from 1000h - 1FFFh ................................. 22
Object 2160h: Customer storage .........................36
Object 2200h: Cyclic Timer PDO .........................36
4.3 Manufacturer specific objects 2000h – 5FFFh23
4.4 Application specific objects 6000h – 67FEh ... 23
Object 2300h: Save Parameter with Reset ..........36
Object 3000h: Node Number................................37
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Object 3001h: Baudrate ....................................... 37
Object 6401h: Work area low limit ........................47
Object 3002h: Terminal Resistor .......................... 37
Object 3010h: Speed Control ............................... 38
Object 6402h: Work area high limit ......................47
Object 6500h: Operating status ............................47
Object 3011h: Speed Value ................................. 38
Object 3020h: Acceleration Control ..................... 38
Object 6501h: Single-turn resolution ....................48
Object 6502h: Number of distinguishable
Object 3021h: Acceleration Value ........................ 39
Object 3030h: C2-C5-Behavior ............................ 39
revolutions ............................................................48
Object 6503h: Alarms ...........................................48
Object 4000h: Bootloader Control ........................ 39
Object 6000h: Operating parameters ................... 40
Object 6504h: Supported alarms ..........................48
Object 6505h: Warnings .......................................49
Object 6001h: Measuring units per revolution ...... 40
Object 6002h: Total measuring range in
Object 6506h: Supported warnings ......................49
Object 6507h: Profile and software version ..........50
measuring units.................................................... 41
Object 6003h: Preset value .................................. 41
Object 6508h: Operating time ..............................50
Object 6509h: Offset value ...................................50
Object 6004h: Position value ............................... 41
Object 6030h: Speed Value ................................. 41
Object 650Ah: Module identification .....................51
Object 650Bh: Serial number ...............................51
Programming example: Speed value into PDO.... 42
Object 6040h: Acceleration Value ........................ 43
5. Troubleshooting .............................................52
Appendix A: History and Compatibility ............53
Object 6200h: Cyclic timer ................................... 43
Object 6300h: Cam state register ........................ 43
Appendix B: Glossary ........................................58
Appendix C: List of tables .................................61
Object 6301h: Cam enable register ..................... 43
Object 6302h: Cam polarity register ..................... 44
Appendix D: List of figures ...............................61
Appendix E: Document history .........................61
Object 6400h: Area state register ........................ 46
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General Security Advice
Important Information
This is the safety alert symbol. It is
Read these instructions carefully, and look at the
used to alert you to potential personal
equipment to become familiar with the device
injury
hazards.
Obey
all
safety
before trying to install, operate, or maintain it. The
messages that follow this symbol to avoid
following
possible injury or death.
special
messages
may
this
documentation
or
throughout
appear
on
the
equipment to warn of potential hazards or to call
Please Note
attention to information that clarifies or simplifies
Electrical equipment should be serviced only by
a procedure.
qualified personnel. No responsibility is assumed
by POSITAL for any consequences arising out of
The addition of this symbol to a
the use of this material. This document is not
Danger
intended as an instruction manual for untrained
or Warning
safety
label
indicates that an electrical hazard
persons.
exists, which will result in personal injury if the
instructions are not followed.
About this Manual
Background
Internet http://www.posital.eu
This user manual describes how to install and
e-mail
[email protected]
configure an OCD absolute rotary encoder with
Copyright
CANopen interface.
The company POSITAL GmbH claims copyright
Relate Note
Version date:
on this documentation. It is not allowed to modify,
24. July 2009
Version number: 1.0
Reference number:
to extend, to hand over to a third party and to
copy this documentation without written approval
MBL20090724
by the company POSITAL GmbH. Nor is any
liability assumed for damages resulting from the
Imprint
use of the information contained herein. Further,
POSITAL GmbH
this publication and features described herein are
Carlswerkstrasse 13c
subject to change without notice.
D-51063 Köln
Telefon +49 (0) 221 96213-0
User Annotation
Telefax +49 (0) 221 96213-20
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The POSITAL GmbH welcome all reader to send
document. You can reach us by e-mail at
us
[email protected]
feedback
and
commands
about
this
Single turn encoders specify the absolute position
1. Introduction
for one turn of the shaft i.e. for 360°. After one
This manual explains how to install and configure
turn the measuring range is completed and starts
the OPTOCODE II absolute rotary encoder with
again from the beginning.
CANopen interface applicable for military and
Multi-Turn
industrial applications with CANopen interface.
Linear systems normally need more than one turn
The product is fully compliant with CiA-standards:
of a shaft. A single turn encoder is unsuitable for
DS301V402 CANopen Application Layer
this type of application because of the additional
DR303-1 Cabeling and connector pin assignment
requirement of the number of turns. The principle
DR303-3 CANopen indicator specification
is relatively simple: Several single turn encoders
DS305V200 CANopen Layer Setting Service
are connected using a reduction gear. The first
DS306V1R3 Electronic datasheet specification
stage supplies the resolution per turn, the stages
DS406V32 Device Profile for Encoders
behind supply the number of turns.
There are several types of encoder versions.
Measuring System
The measuring system consists of a light source,
a code disc pivoted in a precision ball bearing
Please refer to the datasheets to find out which is
the best version for your application.
and an opto-electronic scanning device. A LED is
used as a light source which shines through the
code disc and onto the screen behind. The tracks
on the code disk are evaluated by an opto-array
behind the reticle. With every position another
combination of slashes in the reticle is covered by
the dark spots on the code disk and the light
beam on the photo transistor is interrupted. That
way the code on the disc is transformed into
electronic signals. Fluctuations in the intensity of
the light source are measured by an additional
photo transistor and another electronic circuit
compensates for these. After amplification and
conversion the electronic signals are available for
evaluation.
Single-Turn
1.1 General CANopen Information
The CANopen system is used in industrial
applications. It is a multiple access system
(maximum: 127 participants), which means that
all devices can access the bus. In simple terms,
each user checks whether the bus is free, and if it
is the user can send messages. If two users try to
access the bus at the same time, the user with
the higher priority level (lowest ID number) has
permission to send its message.
Users with the lowest priority level must cancel
their data transfer and wait before re-trying to
send their message. Data communication is
carried out via messages. These messages
consist of 1 COB-ID followed by a maximum of 8
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bytes of data. The COB-ID, which determines the
priority of the message, consists of a function
The transmission speed can range from 20kBaud
code and a node number. The node number
up to 1Mbaud 1Mbaud (30m cable for a
corresponds to the network address of the
maximum speed of 1Mbaud, 1000 m cable for a
device. It is unique on a bus. The function code
maximum speed of 10 kbaud). Various software
varies according to the type of message being
tools for configuration and parameter-setting are
sent:
available from different suppliers. It is easy to
align and program the rotary encoders using the
Management messages (LMT, NMT)
EDS (electronic data sheet) configuration file
Messaging and service (SDOs)
provided.
Data exchange (PDOs)
Layer Setting Services (LSS)
Further CAN-information is available at:
Predefined messages (synchronization,
CAN in Automation (CiA) - International Users
emergency messages)
and Manufacturers Group e.V.
Kontumazgarten 3
The
absolute
rotary
encoder
supports
the
DE-90429 Nuremberg
www.can-cia.org/
following operating modes:
Polled mode: The position value is only
(*) Reference:
CAN
given on request.
Industrial Applications
Cyclic mode: The position value is sent
CiA
cyclically (regular, adjustable interval) on
Communication
the bus.
Systems
a
synchronization
DS201..207
V1.1
Profile
Layer
for
CAL-based
for
Industrial
CiA DS301 CANopen Application Layer
SYNC mode: The position value is sent
after
Application
CiA DS406 Device Profile for Encoders
message
(SYNC) is received. The position value
Note: All datasheets and manuals can be
is sent every n SYNCs (n ≥ 1).
downloaded
Other functions (offset values, resolution, etc) can
for
free
from
our
website
www.posital.eu
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
We do not assume responsibility for technical
inaccuracies or omissions. Specifications are
subject to change without notice.
number and speed in bauds are determined via
rotary switches.
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2. Installation
2.1 Connection via Connection Cap
2.1.1 Signal Assignment
The rotary encoder is connected with two or three
RT
ON
cables depending on whether the power supply is
integrated
into
the
bus
cable
or connected
separately. If the power supply is integrated into the
bus cable, one of the cable glands can be fitted with
H G
901
78
L
H
901
23
23
456
456
456
Description
G L
78
901
23
diameters from 6.5 up to 9 mm.
Clamp
+
78
a plug. The cable glands are suitable for cable
Bd
x10
x1
Ground
+
24 V Supply voltage
-
0 V Supply voltage
G
CAN Ground
L
CAN Low
H
CAN High
G*
CAN Ground
Tab. 1 Signal Assignment Connection Cap
L*
CAN Low
H*
CAN High
* are not connected, if terminal resistor is ON
(see next page)
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Bus Connection
RT
The connection cap fulfills the function of a T-
ON
coupler. From there the wiring must be done
according to the drawing on the left side. Please
note the assignment of incoming and outgoing bus
signals.
+
-
G L
H G
L
An
H
activated
bus
termination
resistor will lead into a separation of
Bus In
bus in and bus out signals!
Bus Out
Cable Connection
Remove screw, sealing and cone from the cable
gland. Remove 55 mm of the sheath and 50 mm of
the shielding. About 5 mm of the wires should be
de-isolated. Put screw, and sealing on the cable.
The cone should be mounted under the shielding
according to the figure 3. Put the whole cable into
Fig. 1 Connection cap bus in and bus out
the cable gland and tighten the screw.
2.1.2 Bus Termination in Connection Cap
If the encoder is connected at the end or beginning
55 mm
50 mm
5 mm
5 mm
of the bus the termination resistor must be switched
on. The termination resistor is switched on when
the switch is in the ON position.
Separation of Bus In and Bus Out
Fig. 2 Cable preparation
signals if termination resistor is
activated.
There is a resistor provided in the connection cap,
which must be used as a line termination on the last
device.
Resistor:
Fig. 3 Cable connection
RT
ON
Last Device
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ON
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2.1.3 Setting Node Number in Connection Cap
The setting of the node number is done by
RT
turning the BCD rotary switches in the connection
ON
cap. Possible (valid) addresses lie between 0 and
89 whereby every address can only be used
once. Two LEDs on the backside of the
connection cap show the operating status of the
G L
78
L
H
901
23
78
H G
901
23
456
456
456
Device address 0...89
23
BCD coded rotary switches
x1
901
78
+
encoder.
Bd
x10
x1
Setting CAN-node number
x10 Address reserved 90…99
xBd
Setting of the baud-rate
The
CANopen
Encoder
adds
internal 1 to the adjusted device
address.
two turn-switches you can see in the picture on
To set the node number the customer can easily
the
remove the connection cap for installation by
Protocol Definition via BCD address switches
removing two screws at the backside of the
x1
encoder. The meaning and the positioning of the
x10 Recovery of C2-C5-Behvior
x1
right
side.
Device address 97
Device address 98
x10 Protocol selection according to DS301-V3
x1
Device address 99
x10 Protocol selection according to DS301-V4
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2.1.4 Setting Baudrate in Connection Cap
The adjusting of the baudrate is adjusted by one
Baudrate in kBit/s
BCD coded rotary switches
turn switch in the connection cap. The following
20
0
baudrates are possible:
50
1
100
2
125
3
250
4
500
5
800
6
1000
7
reserved
8
Sets SDO and LSS mode
9
Tab. 2 Baud rate Assignment Connection Cap
2.1.5 Status of the connection cap LEDs
The LED behaviour was designed in accordance to the CiA normative DR 303-3 CANopen indicator specification.
LED grün
green
Err
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LED grün
/green
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CAN Run LED
State
Description
Flickering
AutoBitrate/ LSS
The auto-bitrate detection is in progress or LSS services are in
progress (alternately flickering with run LED)1
Blinking
PREOPERATIONAL The device is in state PREOPERATIONAL
Single flash
STOPPED
Double flash
Triple flash
The device is in state STOPPED
Reserved for further use
Program/ Firmware A software download is running on the device
download
On
OPERATIONAL
The device is in state OPERATIONAL
Tab.3: CAN Run LED states
ERR LED
State
Description
Off
No error
The device is in working condition
Flickering
AutoBitrate/ LSS
The auto-bitrate detection is in progress or LSS services are in
progress (alternately flickering with run LED)1
Blinking
Invalid
General configuration error
Configuration
Single flash
Double flash
Triple flash
Warning limit
At least one of the error counters of the CAN controller has
reached
reached or exceeded the warning level (too many error frames)
Error control
A guard event (NMT-slave or NMT-master) or a heartbeat event
event
(heartbeat consumer) has occurred
Sync error
The sync message has not been received within the configured
communication cycle period time out (see object dictionary entry
1006h)
Quadruple
Event-timer
An expected PDO has not beenreceived before the event-timer
flash
error
elapsed
On
Bus off
The CAN controller is bus off
Tab.4: CAN Error LED states
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2.2 Installation of Connector and Cable encoders
The new OCD-II-encoders with cable or connector exit fulfil all connection cap features, like:
Node Number Addressing
Baud Rate Setting
Terminal Resistor
2.2.1 Signal Assignment
The POSITAL absolute rotary with cable- and connector-exit were designed in accordance to CiA normative
DR303-1 Cabeling and connector pin assignment.
Signal
5
pin
round
connector pin 9 pin D-Sub connector open cable
number (male / female)
pin number
Signal
Pin
Pin
CAN Ground
1
3
green
24 V supply voltage
2
9
white
0 V supply voltage
3
6
brown
CAN High
4
7
yellow
CAN Low
5
2
pink
Tab.5 Signal Assignment Connector / Cable
5 pin M12 connector female/male
3
4
4
5
2
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9 pin D-Sub-connector
3
5
1
1
2
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2.2.2 Setting Node Number
If the device has a connector, a cable exit or the
node number span from 1 to 127 can be
BCD-rotary-switch in the connection cap is set to
addressed. The default node number is 32. To
“9”, the node number has to be set via SDO
set node number object 3000h has to be written.
objects. An advantage of setting the node
For further information regard chapter 5.5 Object
number via software is, that the whole CANopen
Dictionary.
Object 3000h: Node Number
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Node Number
Unsigned 8
1Fh
rw
Yes
NOTE: To avoid the node number 0, one will be added to the value of this object!
E.g.: 1Fh+1h = 20h = 32 (dec)
Setting Node Number via LSS
If the device has a connector, a cable exit or the
Setting Services (LSS). For further information
BCD-rotary-switch in the connection cap is set to
regard chapter 4.5
“9”, the node number can be adjusted via Layer
2.2.3 Setting Baud Rate
If the device has a connector, a cable exit or the
Baudrate in kBit/s Byte
BCD-rotary-switch in the connection cap is set to
20
00h
“9”, the baud rate has to be adjusted via SDO
50
01h
objects. The default baud rate is 20 kBaud. To
100
02h
set baud rate object 3001h has to be written. For
125
03h
further information please regard chapter 5.5
250
04h
500
05h
800
06h
1000
07h
Object Dictionary.
Eight different baud rates are provided. To adjust
the baud rate only one byte is used.
Object 3001h: Baudrate
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Version 11/09
Baudrate
Unsigned 8
UMUS-OCD-CA
0h
rw
yes
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ABSOLUTE ROTARY ENCO DER
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Setting Baud Rate via LSS
If the device has a connector, a cable exit or the
Setting Services (LSS). The default baud rate is
BCD-rotary-switch in the connection cap is set to
20 kBaud. For further information regard chapter
“9”, the node number can be adjusted via Layer
4.5.
2.2.4 Switching the integrated Bus Terminal Resistor
Object 3002h: Terminal Resistor
This object allows the control of an internal terminal resistor. This resistor can be switched galvanically
isolated via an a Photo-MOS-relay.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Terminal resistor
BOOL
0h
rw
yes
If an encoder with connector or cable is used,
device in the bus, the user can set object 3002h
there is the possibility to set a termination resistor
to “one” and the internal termination will be
inside the encoder. If the encoder is the last
switched
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3. Configuration
The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with
CANopen interface.
3.1 Operating Modes
3.1.1 General
The encoder accesses the CAN network after
preoperational
mode.
powerup in pre-operational mode:
entails reduced activity on the network, which
BootUp Message: 700 hex + Node Number
simplifies the checking of the accuracy of the
It is recommended that the parameters can be
sent/received SDOs. It is not possible to send or
changed by the user when the encoder is in
receive
PDOs
in
Pre-operational
pre-operational
mode
mode.
3.1.2 Mode: Preoperational
To set a node to pre-operational mode, the master must send the following message:
Identifier
Byte 0
Byte 1
Description
0h
80 h
00
NMT-PreOp, all nodes
0h
80 h
NN
NMT-PreOp, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode. The preoperational mode can be used for configuration purposes, in this state no Proces Data Objects (PDOs) can
be sent by the encoder.
3.1.3 Mode: Start - Operational
To put one or all nodes in the operational state, the master have to send the following message:
Identifier
Byte 0
Byte 1
Description
0h
01 h
00
NMT-Start, all nodes
0h
01 h
NN
NMT-Start, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to operational mode. This mode is used
for normal operation and the encoder can provide the position value as PDO.
3.1.4 Mode: Stopped
To put one or all nodes in the stopped state, the master have to send the following message:
Identifier
Byte 0
Byte 1
Description
0h
02 h
00
NMT-Stop, all nodes
0h
02 h
NN
NMT-Stop, NN
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NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode.
3.1.5 Reinitialization of the Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
NN
Command
Index
Description
0h
82 h
00
Reset Communication
0h
81 h
NN
Reset Node
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode.
After reinitialization, the encoder accesses the bus in pre-operational mode.
3.2 Normal Operating
Polled Mode
By a remote-transmission-request telegram the connected host calls for the current
process value. The encoder reads the current position value, calculates eventually setparameters and sends back the obtained process value by the same identifier.
Cyclic Mode
The encoder transmits cyclically - without being called by the host - the current process
value. The cycle time can be programmed in milliseconds for values between 1 ms and
65536 ms.
Sync Mode
After receiving a sync telegram by the host, the encoder answers with the current
process value. If more than one node number (encoder) shall answer after receiving a
sync telegram, the answer telegrams of the nodes will be received by the host in order
of their node numbers. The programming of an offset-time is not necessary. If a node
should not answer after each sync telegram on the CAN network, the parameter sync
counter can be programmed to skip a certain number of sync telegrams before
answering again.
Tab. 6 CAN Transmission Mode Description
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3.3 Storing Parameter
3.3.1 List of storable Parameter
Object Index
Object Description
1005h
COB-ID Sync
100Ch
Guard Time
100Dh
Life Time Factor
1016h
Consumer Heartbeat Time
1017h
Producer Heartbeat Time
1020h
Verify configuration
1800h
Communication parameter PDO 1
1801h
Communication parameter PDO 2
1A00h
Transmit PDO1 Mapping Parameter
1A01h
Transmit PDO2 Mapping Parameter
2100h
Operating Parameters
2101h
Resolution per Revolution
2102h
Total Resolution
2103h
Preset Value
2104h
Limit Switch, min.
2105h
Limit Switch, max.
2160h
Customer Storage
2200h
Cyclic Timer
3000h
Node Number
3001h
Baud rate
3002h
Terminal Resistor
3030h
C2-C5-Behavior
6000h
Operating Parameter
6001h
Steps per Revolution
6002h
Total Resolution
6003h
Preset Value
6200h
Cyclic Timer
Tab. 7 List of Storable Parameters
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3.3.2 Storing Procedure
The parameter settings can be stored in a non-
by the parameter memory transfer.
2
volatile E PROM. The parameter settings are
The stored parameters are copied
stored in RAM when being programmed. When
after a RESET (Power on, NMT-
all the parameters are set and proved, they can
Reset) from the E PROM to the RAM (volatile
2
be transferred in one burn cycle to the E PROM
2
memory).
Storing without Reset
By
using
the
object
1010h
from
the
communication profile related object dictionary
you can store the parameters into the non-volatile
memory
without
a
reset.
Storing with Reset
By using the object 2300h from the manufacturer
storing the parameters a reset of the device is
specific object dictionary you can store the
performed.
parameters into the non-volatile memory. After
3.4 Restoring Parameters
The default parameters can be restored by using
following
the object 1011h from communication profile
parameters are equal for every type of CANopen
telegram
is
used.
The
restored
related object dictionary. The already in the non-
encoder and might not fit with the status after
volatile memory programmed parameters are not
delivery. Please check the restored parameters
overwritten. Only after a new store command the
before you store them to the non-volatile
default parameters are stored in the non-volatile
memory.
memory. To restore the default parameter the
3.5 Usage of Layer Setting Services (LSS)
The integrated Layer Setting Service functionality
slave capability by a CANopen device with LSS
is designed according to the CiA normative
master capability via the CAN network. In case of
DS305V200 CANopen Layer Setting Service:
the OCD-II-series, the encoder will be the LSS
General Description:
slave device and the PLC (control) has to support
These services and protocols can be used to
LSS master device functionality. The LSS-
inquire
several
functionality of the OCD-II-series is limited to the
parameters of the physical, data link layer, and
following parameters of the application layer,
application layer on a CANopen device with LSS
namely node number and baud rate.
or
Version 11/09
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change
settings
of
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Object 1018h: Identity Object (LSS-address)
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of entries
Unsigned 8
4
ro
no
1
Vendor ID
Unsigned 32
42h
ro
no
2
Product Code
Unsigned 32
43h 41h
ro
no
3
Revision Number
Unsigned 32
10000h
ro
no
4
Serial Number
Unsigned 32
ro
no
Tab. 8: Identity Object
The LSS master device requests services, that
Table 10. After receiving this information the
are performed by the encoder (LSS slave
control can unequivocally identify the encoder
devices). The LSS master device requests the
and the node number and baud rate can be set.
LSS address from the LSS slave device. The
The exact procedure varies in detail, coursed by
LSS address is defined in object 1018h Identity
the different PLC tools.
Object, it consists of vendor-id, product-code,
revision-number and serial-number as shown in
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4. Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org)
Command
Function
Telegram
Description
22h
Domain Download
Request
Parameter to Encoderr
23h, 27h, 2Bh, 2Fh (*)
Domain Download
Request
60h
Domain Download
Confirmation
Parameter received
40h
Domain Upload
Request
Parameter request
43h, 47h, 4Bh, 4Fh (*)
Domain Upload
Reply
80 h
Warning
Reply
Parameter to Encoder (Bytes
indicated)
Parameter to Master (Bytes
indicated)
Transmission error
(*)The value of the command byte depends on the data length of the called parameter.
Tab. 9 General Command Byte Description
Command
Data length
Data type
Command
Data length
Data type
43h
4 Byte
Unsigned 32
23h
4 Byte
Unsigned 32
47h
3 Byte
Unsigned 24
27h
3 Byte
Unsigned 24
4Bh
2 Byte
Unsigned 16
2Bh
2 Byte
Unsigned 16
4Fh
1 Byte
Unsigned 8
2Fh
1 Byte
Unsigned 8
Tab. 10 Detailed Command Byte Description
Object Dictionary
The data transmission according to CAL is realized
Index (hex)
Object
exclusively by object oriented data messages. The
0000
not used
objects are classified in groups by an index record.
0001-001F
Static Data Types
Each index entry can be subdivided by sub-indices. The
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
overall layout of the standard object dictionary is shown
beside:
Tab. 11 Overview Object Dictionary
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4.1 Programming example: Preset Value
If a CANopen device is connected and configured by the turning switches with the right baudrate and also
configured to a unused node number, it will start up into the pre-operational mode and send a bootup
massage to the master. The RUN LED of the device is now blinking.
4.1.1 Set Encoder Preset Value
Master to Encoder with Node Number 1
Setting Preset Value (Value 1000)
Identifier
DLC
NN 1
601
8
Command
Index
Download
6003h
22
03
Command
Index
Download
6003h
43
03
Subindex
60
Service/Process data
Byte 4
Byte 5
Byte 6
Byte 7
00
00
10
00
00
Subindex
Service/Process data
Answer of the Encoder
Identifier
DLC
NN 1
581
8
60
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
00
Subindex
Service/Process data
Read Preset Value from the Encoder
Identifier
DLC
NN 1
601
8
Command
Index
Download
6003h
40
03
Command
Index
Download
6003h
43
03
Command
Index
Download
1010h
22
10
60
Byte 4
Byte 5
Byte 6
Byte 7
00
00
00
00
00
Subindex
Service/Process data
Answer of the Encoder
Identifier
DLC
NN 1
581
8
60
Byte 4
Byte 5
Byte 6
Byte 7
00
00
10
00
00
Subindex
Service/Process data
Save Preset Values
Identifier
DLC
NN 1
601
Version 11/09
8
10
01
UMUS-OCD-CA
Byte 4
Byte 5
Byte 6
Byte 7
73
61
76
65
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CANOPEN
4.2 Communication Profile DS301 specific objects from 1000h - 1FFFh
In this manual we refer to the communication profile DS301 V4.02
Object Description
Page
Page
Hand-
DS301
Page
DS406
Book
1000h
Device type
22
86
8
1001h
Error register
22
87
8
1003h
Pre-defined error field
22
88
1005h
COB-ID SYNC-message
23
89
1006h
ComCyclePeriode
23
90
1008h
Device name
24
91
1009h
Hardware version
24
91
100Ah
Software version
24
91
100Ch Guard Time
24
92
100Dh Life Time Factor
24
92
1010h
Store parameters
25
92
1011h
Restore default parameters
25
94
1012h
COB-ID Time Stamp
26
97
1013h
High Resolution Time Stamp
26
98
1014h
COB-ID Emergency
26
98
1016h
Consumer Heartbeat Time
26
100
1017h
Producer Heartbeat Time
27
101
1018h
Identity Object
27
101
1020h
Verify Configuration
117
1029h
Error Behaviour
133
9
1800h
Communication parameter PDO 1
28
111
9
1801h
Communication parameter PDO 2
28
111
11
1A00h
Transmit PDO1 Mapping Parameter
30
112
11
1A01h
Transmit PDO2 Mapping Parameter
30
112
12
1F50h
Download Program Area
1F51h
Program Control
Tab. 12 Object Dictionary 1000h-1FFFh
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4.3 Manufacturer specific objects 2000h – 5FFFh
Object Description
Page
Hand-Book
2000h
Position Value
31
2100h
Operating Parameters
31
2101h
Resolution per Revolution
31
2102h
Total Resolution
33
2103h
Preset Value
34
2104h
Limit Switch, min.
34
2105h
Limit Switch, max.
33
2160h
Customer Storage
35
2200h
Cyclic Timer
35
2300h
Save Parameter with reset
35
3000h
Node Number
36
3001h
Baudrate
36
3010h
Speed Control
37
3011h
Speed Value
37
3020h
Acceleration Control
37
3021h
Acceleration Value
37
4000h
Bootloader Control
38
Tab. 13 Object Dictionary 2000-5FFF
4.4 Application specific objects 6000h – 67FEh
In this manual we refer to the communication profile DS406 V3.2
Object Description
Page
Hand-Book
Page
DS406
6000h
Operating Parameters
38
17
6001h
Measuring units per revolution
38
18
6002h
Total measuring range in measuring units
39
19
6003h
Preset value
39
19
6004h
Position Value
40
20
6030h
Speed Value
40
25
6040h
Acceleration Value
40
26
6200h
Cyclic Timer
40
28
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6300h
Cam state register
40
30
6301h
Cam enable register
41
32
6302h
Cam polarity register
41
33
6400h
Area state register
44
6401h
Work area low limit
44
6402h
Work area high limit
44
6500h
Operating status
45
63
6501h
Single-turn resolution
45
64
6502h
Number of distinguishable revolutions
45
65
6503h
Alarms
46
65
6504h
Supported alarms
46
66
6505h
Warnings
47
67
6506h
Supported warnings
47
68
6507h
Profile and software version
48
69
6508h
Operating time
48
70
6509h
Offset value
49
70
650Ah
Module identification
49
71
650Bh
Serial number
49
72
Tab. 14 Object Dictionary 6000h-6FFFh
4.5 Object Descriptions
In the following chapter you will find detailed information of the object dictionary related to the
encoderdevice.
Object 1000h: Device Type
The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit field
which describes the device profile that is used and a second 16-bit field which gives additional information
about optional functionality of the device. The additional information parameter is device profile specific.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
N/A
ro
no
OCD absolute rotary encoder single turn: 10196h
OCD absolute rotary encoder multi turn: 20196h
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Object 1001h: Error Register
This object is used by the device to display internal faults. When a fault is detected, the corresponding bit is
therefore activated.
The following errors are supported:
Bit
Description
Comments
0
Generic Error
The generic error is signaled at any error situation.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
-
Unsigned 8
N/A
ro
no
Object 1003h: Pre-Defined Error Field
The object holds the errors that have occurred on the device and have been signaled via the Emergency
Object.
The error code is located in the least significant word
Additional Information is located in the most significant word
Subindex 0 contains the number of recorded errors
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of recorded errors
Unsigned 8
0
rw
no
1
Most recent errors
Unsigned 32
-
ro
no
2
Second to last error
Unsigned 32
-
ro
no
Access
Restore after
…
10
Clearing Error Log
The error log can be cleared by writing 0 to subindex 0 of object 1003.
Object 1005h: COB-ID Sync
This object contains the synchronization message identifier.
Subindex
Description
Data Type
Default Value
BootUp
0
Version 11/09
-
Unsigned 32
UMUS-OCD-CA
80000080h
rw
no
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Object 1008h: Manufacturer Device Name
This object contains the device name.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
String
-
ro
no
Default Value
Access
Restore after
Object 1009h: Manufacturer Hardware Version
This object contains the article name of the circuit board.
Subindex
Description
Data Type
BootUp
0
-
String
-
ro
no
There are two actual version of circuit boards for OCD:
POS026
Object 100Ah: Manufacturer Software Version
This object contains the manufacturer software version. The new encoder line 2008 starts with version 4.00.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
String
4.00
ro
no
Default Value
Access
Restore after
Object 100Ch: Guard Time
This object contains the guard time in milliseconds.
Subindex
Description
Data Type
BootUp
0
-
Unsigned 16
0
rw
yes
Object 100Dh: Life Time Factor
This object contains the life time factor parameters. The life time factor multiplied with the guard time gives
the life time for the node guarding protocol.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Version 11/09
-
Unsigned 8
UMUS-OCD-CA
0
rw
yes
26
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Object 1010h: Store Parameters
This object is used to store device and CANopen related parameters to non volatile memory.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
no
1
Store all parameters
Unsigned 32
“save”
rw
no
Storing procedure
To save the parameters to non volatile memory the access signature “save” has to be sent to the
corresponding subindex of the device.
Most significant word Least significant word
ASCII
E
v
a
s
Hex value
65h
76h
61h
73h
Object 1011h: Restore Parameters
This object is used to restore device and CANopen related parameters to factory settings.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
no
1
Restore all parameters
Unsigned 32
“load”
rw
no
Storing procedure
To save the parameters to non volatile memory the access signature “load” has to be sent to the
corresponding subindex of the device.
Most significant word Least significant word
ASCII
D
a
o
l
Hex value
64h
61h
6Fh
6Ch
Note: The restoration of parameters will only be taken into account after a power up or reset command.
Please check all parameters before you store them to the non volatile memory.
Object 1012h: COB-ID Time Stamp Object
This object contains the COB-ID of the Time Stamp object.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Version 11/09
-
Unsigned 32
UMUS-OCD-CA
100h
rw
no
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Object 1013h: High Resolution Time Stamp
This object contains a time stamp with a resolution of 1µs.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
0
rw
no
Access
Restore after
Object 1014h: COB-ID Emergency Object
This object contains the EMCY emergency message identifier.
Subindex
Description
Data Type
Default Value
BootUp
0
-
Unsigned 32
80h + Node ID
rw
no
Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only monitor
one corresponding device. If the time is set to 0 the monitoring is not active. The value of this object must be
higher that the corresponding time (object 1017) of the monitored device.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of indices
Unsigned 8
1
ro
no
1h
Consumer heartbeat time
Unsigned 32
0
rw
yes
The context of subindex 1 is as follows:
Bit
31 to 24
23 to 16
15 to 0
Value
0h (reserved)
Address of monitored Monitoring time (ms
device
Object 1017h: Producer Heartbeat Time
The object contains the time intervall in milliseconds in which the device has to produce the a heartbeat
message.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Version 11/09
-
Unsigned 16
UMUS-OCD-CA
0
rw
yes
28
ABSOLUTE ROTARY ENCO DER
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Object 1018h: Identity Object
This object contains the device information. For further information, please see chapter 4.5 Layer Setting
Services.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of entries
Unsigned 8
4
ro
no
1h
Vendor ID
Unsigned 32
42h
ro
no
2h
Product Code
Unsigned 32
43h 41h
ro
no
3h
Revision Number
Unsigned 32
10000h
ro
no
4h
Serial Number
Unsigned 32
ro
no
Access
Restore after
Object 1020h: Verify configuration
This object indicates the downloaded configuration date and time.
Subindex
Description
Data Type
Default Value
BootUp
0h
Number of entries
Unsigned 8
1h
Configuration date
2h
Configuration time
2h
ro
no
Unsigned 32
rw
no
Unsigned 32
rw
no
Access
Restore after
Object 1029h: Error behaviour
This object indicates the error behavior.
Subindex
Description
Data Type
Default Value
BootUp
0h
Number of entries
Unsigned 8
1h
Communication error
Unsigned 8
Version 11/09
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1h
ro
no
rw
no
29
ABSOLUTE ROTARY ENCO DER
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st
Object 1800h: 1 TPDO Communication Parameter
st
This object contains the communication parameter of the 1 transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
5
ro
yes
1
COB-ID
Unsigned 32
180h + Node ID
rw
yes
2
Transmission Mode
Unsigned 8
FE
rw
yes
3
Inhibit Time
Unsigned 32
0
rw
yes
4
Not available
5
Event Timer
Unsigned 32
64h or 0
rw
yes
Object 1801h: 2
nd
TPDO Communication Parameter
This object contains the communication parameter of the 2
nd
transmit PDO. NOTE: In the older encoder line
C2 and C5 the second PDO was configured via object 1802!
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
5
ro
yes
1
COB-ID
Unsigned 32
280h + Node ID
rw
yes
2
Transmission Mode
Unsigned 8
1
rw
yes
3
Inhibit Time
Unsigned 32
0
rw
yes
4
Not available
5
Event Timer
Unsigned 32
0
rw
yes
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Transmission Mode
The transmission mode can be configured as described below:
Transmission Mode
Transfer
Value
Cyclic
Acyclic
(decimal)
0
1-240
241-251
Synchro
Asynchr
RTR
nous
onous
only
X
X
Notes
Send
X
PDO on
first
Sync message
following an event
X
Send PDO every x Sync messages
reserved
252
X
X
253
X
Receive SYNC message and send PDO
on Remote Request
Update data and send PDO on Remote
Request
254
X
Send PDO on event
255
X
Send PDO on event
Inhibit Time
For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If data is
changed, the PDO sender checks whether an "inhibit time" has expired since the last transmission. A new
PDO transmission can only take place if the "inhibit time" has expired. The "inhibit time" is useful for
asynchronous transmission (transmission mode 254 and 255), to avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and 255). If the
data changes before the "event timer" expires, a temporary telegram is sent. If a value > 0 is written in this
16-bit field, the transmit PDO is always sent after the "event timer" expires. The value is written in subindex
5 of a transmit PDO. The data transfer also takes place with no change to data. The range is between 165536 ms.
st
Object 1A00h: 1 TPDO Mapping Parameter
st
This object contains the mapping parameter of the 1 transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
yes
1
1st mapped object
Unsigned 32
60040020h
rw
yes
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Object 1A01h: 2
nd
TPDO Mapping Parameter
This object contains the mapping parameter of the 2
Subindex
Description
nd
transmit PDO.
Data Type
Default Value
Access
Restore after
BootUp
0
1
Number of sub indices
2
nd
mapped object
Unsigned 8
2
ro
yes
Unsigned 32
60040020h
rw
yes
Object 1F50h: Download Program Area
This is a special bootloader object, that has functionality for single turn encoders without connection cap
only. (see Bootloader chapter)
Use this entry to download your Intel hex file with the programming data. Detailed information about Domain
download and Block transfer in CiA Draft Standard 301 Application Layer and communication Profile.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
1h
Unsigned 8
2h
DOMAIN
ro
Yes
wo
yes
Object 1F51h: Program Control
This is a special bootloader object, that has functionality for single turn encoders without connection cap
only (see Bootloader chapter).
This array controls the programs residing at index 0x1F50.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of program control Unsigned 8
entries
1h
Unsigned 32
2h
ro
yes
rw
yes
Sub-index 1h and higher control the memory block functionality. They can have the following values:
for writing:
1 - start downloaded program
4 - erase flash
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Object 2000h: Position Value
This object contains the position value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Position Value
Unsigned 32
-
ro
n.a.
Object 2100h: Operating Parameters
As operating parameters the code sequence (Complement) can be selected and the limit switches can be
turned on or off.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Operating Parameters
Unsigned 8
0h
rw
yes
The parameter code sequence (Complement) determines the counting direction, in which the output process
value increases or decreases (CW = Clockwise, CCW = Counterclockwise). The code sequence is
determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min. and Max. can be turned on or
off in Index 2100h. Optional an event triggered PDO can be activated. Remark: This function produces a
PDO with every change of the position value. Due to this, there will be generated a large amount of PDOs
and a heavy bus load.
Bit 0
Code
Code
Bit 1
sequence
Limit switch, Bit 2
Limit
min.
max.
switch, Bit 3
Event
triggered
PDO
0
CW
increasing
0
off
0
off
0
off
1
CCW
increasing
1
on
1
on
1
on
Calculation Example: Target: Absolute rotary encoder with direction CCW decreasing, both limit switches
disabled and event-triggered PDOs enabled.
Bitmatrix:
Bit 0 = 1
Direction decreasing (CCW)
Bit 1 = 0
Limit switch min. disabled
Bit 2 = 0
Limit switch max. disabled
Bit 3 = 1
Event triggered
Result = 1001h
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ABSOLUTE ROTARY ENCO DER
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Object 2101h: Resolution per Revolution
This object contains the desired steps per revolution of the encoder.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Resolution per Revolution
Unsigned 32
see type sign
rw
yes
If the desired value exceeds the hardware resolution of the encoder, the code will not be transmitted
stepwise. So it is important, to keep the parameter in the possible value range.
Object 2102h: Total Resolution
This object contains the desired total resolution of the encoder.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Total Resolution
Unsigned 32
see type sign
rw
yes
This parameter is used to program the desired number of measuring units over the total measuring range.
This value must not exceed the total resolution of the absolute rotary encoder, which is printed on the type
sign of the encoder.
Attention:
Following formula letter will be used:
PGA
Physical total resolution of the encoder
(see type sign)
PAU
Physical resolution per revolution
(see type sign)
GA
Total resolution
(customer parameter)
AU
Resolution per revolution
(customer parameter)
Please use the following formula to calculate the total resolution of the encoder:
If the desired resolution per revolution is less than the really physical resolution per revolution of the
encoder, then the total resolution must be entered as follows:
Total resolution:
Calculation example:
Customer handicap: AU = 2048
Encoder type sign:
PGA=24 bit, PAU=12bit
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Object 2103h: Preset Value
The preset value is the desired position value, which should be reached at a certain physical position of the
axis. The position value is set to the desired process value by the parameter preset. The preset value must
not exceed the parameter total resolution to avoid run-time errors. If the parameter value exceeds the total
resolution of the encoder a SDO “Out of range” message is generated.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Preset Value
Unsigned 32
0
rw
yes
Object 2104h: Limit Switch, min.
Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit
process value is set to high. Both programmed values must not exceed the parameter total resolution to
avoid run-time errors. If the parameter value exceeds the total resolution of the encoder a SDO “Out of
range” message is generated.
Bit 30 = 1:
Limit Switch, Min. reached or passed under
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Limit Switch, min.
Unsigned 32
0
rw
yes
The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value reaches or passes
under the value of the limit switch:
Status
Function bits
Bit
Process value
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0
1
X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
Object 2105h: Limit Switch, max.
Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit
process value is set to high. Both programmed values must not exceed the parameter total resolution to
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:
Subindex
Limit Switch, Max. reached or passed beyond
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Version 11/09
Limit Switch, max.
Unsigned 32
UMUS-OCD-CA
0
rw
yes
35
ABSOLUTE ROTARY ENCO DER
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The limit switch, max sets Bit 31=1 with the next message telegram, if the process value reaches or passes
under the value of the limit switch:
Status
Function bits
Bit
Process value
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
1
0
X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
Object 2160h: Customer storage
This object provides for the customer the possibility to store any value. Attention: The values, written to
these objects, will be stored in volatile memory, only.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
4h
ro
1h
Customer Storage1
Unsigned 32
rw
2h
Customer Storage2
Unsigned 32
rw
3h
Customer Storage3
Unsigned 32
rw
4h
Customer Storage4
Unsigned 32
rw
Object 2200h: Cyclic Timer PDO
This object contains cyclic time of the event timer in ms (of PDO 1).
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Event Time in ms
Unsigned 16
0h
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)
Object 2300h: Save Parameter with Reset
With this object all parameters can be stored in the non volatile memory. After storing the parameters a reset
is executed.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Version 11/09
Access code
Unsigned 32
UMUS-OCD-CA
55AAAA55h
wo
no
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ABSOLUTE ROTARY ENCO DER
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Object 3000h: Node Number
This object contains the node number of the device. The POSITAL standard node number is 32.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Node Number
Unsigned 8
1Fh
rw
Yes
Access
Restore after
NOTE: To avoid the node number 0, one will be added to the value of this object!
E.g.: 1Fh+1h = 20h = 32 (dec)
Object 3001h: Baudrate
This object contains the baudrate of the device.
Subindex
Description
Data Type
Default Value
BootUp
0
Baudrate
Unsigned 8
-
rw
yes
Eight different baud rates are provided. To adjust the baud rate only one byte is used.
Baudrate in kBit/s
Byte
20
00h
50
01h
100
02h
125
03h
250
04h
500
05h
800
06h
1000
07h
Object 3002h: Terminal Resistor
This object allows the control of an internal terminal resistor. This resistor can be switched galvanically
isolated via a Photo-MOS-relay.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Version 11/09
Terminal resistor
BOOL
UMUS-OCD-CA
0h
rw
yes
37
ABSOLUTE ROTARY ENCO DER
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Object 3010h: Speed Control
This object contains the speed control. The speed measurement is disabled by default.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
2h
ro
1h
Enable Speed
Unsigned 8
0h
rw
yes
2h
Speed modus
Unsigned 8
0h
rw
yes
Data Type
Default Value
Access
Restore after
Object 3011h: Speed Value
This object contains speed value.
Subindex
Description
BootUp
0h
Speed value
INTEGER32
romap
no
Speed-modus setting
Delay [msec]
Accuracy [steps/sec], relative
0
5
+/-32; 3.5%
1
50
+/-16; 1.0%
2
500
+/-8; 0.3%
Tab. 15 Delay and accuracy
Object 3020h: Acceleration Control
This object contains the acceleration control. The acceleration measurement is disabled by default.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
2h
Ro
1h
Enable Acceleration
Unsigned 8
0h
rw
Yes
2h
Acceleration modus
Unsigned 8
0h
rw
yes
Version 11/09
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Object 3021h: Acceleration Value
This object contains acceleration value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Acceleration Value
INTEGER32
romap
Acceleration-modus setting
Delay [msec]
Accuracy [steps/sec²]
0
40
+/-1‟024
1
120
+/-512
2
750
+/-128
Tab. 16 Delay and accuracy
Object 3030h: C2-C5-Behavior
This object allows to switch back in an backward compatibility mode. To switch back, the security code
“47111147h“ has to be written to Subindex 0h. After this the Subindex 1h Enable C2-C5-Behavior can be
written to ONE. This modus should only be used for fully compatible replacement of C2- or C5-encoders.
For further information, concerning compatibility, have a look at Apendix B
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Security code
Unsigned 32
47111147h
ro
1h
Enable C2-C5-Behavior
BOOL
0h
rw
yes
Object 4000h: Bootloader Control
This object controls the Bootloader functionality. Writing the security code to this object causes erasing the
EEPROM and application information in the flash memory and resets the device. After a power-up, the
Bootloader checks the user application and detects no more information. The Bootloader starts up with a
pre-defined CANopen node ID of 1 (0x1) and a fixed CAN baud rate of 125 kbits.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Bootloader Control
Unsigned32
wo
ATTENTION:
Activating the boot loader courses a deep reset of the device. If the encoder enters boot loader mode, only a
minimum object amount will remain, to assure basic communication. The device does not behave like an
encoder anymore and waits for new programming.
Firmware updates have to be done in close cooperation with the CAN product manager of POSITAL.
Version 11/09
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Object 6000h: Operating parameters
This object shall indicate the functions for code sequence, commissioning diagnostic control
and scaling function control.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Operating Parameter
Unsigned 16
0h
rw
yes
Code sequence: The code sequence defines, whether increasing or decreasing position values are output,
in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft.
Scaling function control: With the scaling function the encoder numerical value is converted in software to
change the physical resolution of the encoder. The measuring units per revolution (object 6001h) and total
measuring range in measuring units (object 6002h) are the scaling parameters. The scaling function bit is
set in the operating parameters. If the scaling function bit is set to zero, the scaling function is disabled.
Bit structure for the operating parameters
Bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Use
MS
MS
MS
MS
R
R
R
R
R
R
R
R
MD
SFC 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 availabe)
CS:
Code sequence (0 = CW, 1 = CCW)
Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h.
Object 6001h: Measuring units per revolution
This object shall indicate the number of distinguishable steps per revolution.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Measuring units per revolution
Unsigned 32
see type sign
rw
yes
Hardwired with 2101h.
Version 11/09
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ABSOLUTE ROTARY ENCO DER
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Object 6002h: Total measuring range in measuring units
This object shall indicate the number of distinguishable steps over the total measuring range.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Total measuring steps
Unsigned 32
see type sign
rw
yes
Access
Restore after
Object 6003h: Preset value
This object indicates the preset value for the output position value
Subindex
Description
Data Type
Default Value
BootUp
0h
Preset Value
Unsigned 32
0h
rw
yes
Default Value
Access
Restore after
Object 6004h: Position value
This object contains the process value of the encoder.
Subindex
Description
Data Type
BootUp
0h
Process Value
Unsigned 32
-
romap
yes
Default Value
Access
Restore after
Hardwired with Object 2000h.
Object 6030h: Speed Value
This object contains the speed value of the encoder.
Subindex
Description
Data Type
BootUp
0h
Number of sub indices
Unsigned 8
1h
ro
1h
Speed value channel1
Integer 16
-
romap
yes
If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.
The customer can use the 3010h (32 bit) object.
Version 11/09
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Programming example: Speed value into PDO
How to map the speed into TPDO2:
(Hint: SDO: 0x600 + Node number.
The following values are all in hex and the Nodenumber is "1"
DLC (Data length) = 8 ,
22 means "write",
This example is written in intel-format (LSB...MSB), depending on your
tool, it could be, that Motorola-format (MSB..LSB) is used and the
direction of the Bytes have to be changed.)
1. The TPDO2 has to be enabled by setting the Transmission type (1801Sub2)
to FE:
601 8 22 01 18 02 FE 00 00 00
2. The Event Timer has to be changed from 0x00 to the desired value (e.g.:
100 ms --> 0x64)
601 8 22 01 18 05 64 00 00 00
3. The TPDO mapping Parameter 0 (1A01) has to be disabled, by setting the
Number of entries (1A01Sub0) to 0:
601 8 22 01 1A 00 00 00 00 00
4. Then the
mappedObj1,
data length
601 8 22 01
disabled TPDO mapping Parameter 0 Subindex 1, namely
can be written. The Speed values is Object 6030Sub1 and the
is 16Bit --> 10:
1A 01 10 01 30 60
5. The TPDO mapping Parameter 0 (1A01) has to be enabled, by setting the
Number of entries (1A01Sub0) to 1, again:
601 8 22 01 1A 00 01 00 00 00
6. Finally the Speed has to be enabled by setting "Enable Speed" (3010Sub1):
601 8 22 10 30 01 01 00 00 00
7. To save this configuration please write 73 61 76 65 to 1010:
601 8 22 10 10 01 73 61 76 65
8. Send the NMT-message, to get into "Operational Mode":
00 2 01 00
Summarization:
601 8 22 01 18
601 8 22 01 18
601 8 22 01 1A
601 8 22 01 1A
601 8 22 01 1A
601 8 22 10 30
601 8 22 10 10
00 2 01 00
Version 11/09
02
05
00
01
00
01
01
FE
64
00
10
01
01
73
00
00
00
01
00
00
61
00
00
00
30
00
00
76
00
00
00
60
00
00
65
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ABSOLUTE ROTARY ENCO DER
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Object 6040h: Acceleration Value
This object contains the acceleration value of the encoder.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
1h
ro
1h
Acceleration value channel1
Integer 16
-
romap
yes
Object 6200h: Cyclic timer
This object contains the value of the event timer of the corresponding TPDOs. The value can be changed
between 1-65538 ms.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Cyclic Time
Unsigned 16
64h
rw
yes
The object 6200h is hard-wired to the objects 1800h subindex 5h and 2200h and provide the cycle time for
the cyclic mode. (See chapter Cycle Time and Event Timer)
Object 6300h: Cam state register
This object contains the cam state register. The subindices 1h to FEh contain the cam state of channel 1 to
254.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
1h
ro
1h
Cam state channel 1
Unsigned 8
4h
romap
yes
Data Type
Default Value
Access
Restore after
Object 6301h: Cam enable register
This object contains the cam enable register
Subindex
Description
BootUp
0h
Number of sub indices
Unsigned 8
1h
Cam enable channel 1
Unsigned 8
Version 11/09
UMUS-OCD-CA
1h
ro
rw
yes
43
ABSOLUTE ROTARY ENCO DER
CANOPEN
Object 6302h: Cam polarity register
This object contains the cam enable register
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
1h
ro
1h
Cam polarity channel 1
Unsigned 8
0h
rw
yes
List of Cam objects
6310h
Cam1 low limit
rw
0h
VAR
Highest sub-index supported
1h
VAR
Cam1 low limit channel1
rw
Cam2 low limit
rw
6311h
U32 ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam2 low limit channel1
rw
Cam3 low limit
rw
6312h
U32 ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam3 low limit channel1
rw
Cam4 low limit
rw
6313h
U8
0h
VAR
Highest sub-index supported
1h
VAR
Cam4 low limit channel1
rw
Cam5 low limit
rw
6314h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam5 low limit channel1
rw
Cam6 low limit
rw
6315h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam6 low limit channel1
rw
Cam7 low limit
rw
6316h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam7 low limit channel1
rw
Cam8 low limit
rw
6317h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam8 low limit channel1
rw
Cam1 high limit
rw
6320h
Version 11/09
UMUS-OCD-CA
U8
ro
ro
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
44
ABSOLUTE ROTARY ENCO DER
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0h
VAR
Highest sub-index supported
1h
VAR
Cam1 high limit channel1
rw
Cam2 high limit
rw
6321h
U8
0h
VAR
Highest sub-index supported
1h
VAR
Cam2 high limit channel1
rw
Cam3 high limit
rw
6322h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam3 high limit channel1
rw
Cam4 high limit
rw
6323h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam4 high limit channel1
rw
Cam5 high limit
rw
6324h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam5 high limit channel1
rw
Cam6 high limit
rw
6325h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam6 high limit channel1
rw
Cam7 high limit
rw
6326h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam7 high limit channel1
rw
Cam8 high limit
rw
6327h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam8 high limit channel1
rw
Cam1 hyteresis
rw
6330h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam1 hyteresis channel1
rw
Cam2 hyteresis
rw
6331h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam2 hyteresis channel1
rw
Cam3 hyteresis
rw
6332h
U8
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam3 hyteresis channel1
rw
Cam4 hyteresis
rw
6333h
0h
Version 11/09
VAR
Highest sub-index supported
UMUS-OCD-CA
U8
ro
U8
ro
ro
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
0x1
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ABSOLUTE ROTARY ENCO DER
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1h
VAR
6334h
Cam4 hyteresis channel1
rw
Cam5 hyteresis
rw
0h
VAR
Highest sub-index supported
1h
VAR
Cam5 hyteresis channel1
rw
Cam6 hyteresis
rw
6335h
U8
0h
VAR
Highest sub-index supported
1h
VAR
Cam6 hyteresis channel1
rw
Cam7 hyteresis
rw
6336h
U8
ro
ro
0h
VAR
Highest sub-index supported
1h
VAR
Cam7 hyteresis channel1
rw
Cam8 hyteresis
rw
6337h
0h
VAR
Highest sub-index supported
1h
VAR
Cam8 hyteresis channel1
U8
U8
0x1
0x1
ro
0x1
ro
0x1
rw
Object 6400h: Area state register
This object contains the area state register
The object provides the actual area status of the encoder position. Figure 9 specifies the
object structure and Table 106 specifies the value definition.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
1h
Work area state channel
Unsigned 8
1h
ro
romap
yes
7
6
5
4
3
2
1
0
R
r
r
r
r
Range
Range
Out
underflow
overflow
range
MSB
of
LSB
Signal
Value
Definition
out of range
0
Position between low and high limit
1
Position out of range (refer to module
identification object, 650Ah) is reached
range overflow
Version 11/09
0
No range overflow
1
Position is lower than the position value set in object
UMUS-OCD-CA
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ABSOLUTE ROTARY ENCO DER
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6402h „work area low limit“
range underflow
0
No range underflow
1
Position is higher than the position value set in
object 6401h „work area high limit“
r
0
Reserved
Object 6401h: Work area low limit
This object indicates the position value, at which bit 2 of the according work area state
channel in object 6400h shall flag the underflow of the related work area.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Integer 32
1h
ro
1h
Work area low limit channel 1
Integer 32
0h
rw
yes
This object is hardwired with 2104h (Limit Switch Min).
Object 6402h: Work area high limit
This object indicates the position value, at which bit 1 of the according work area state
channel in object 6400h shall flag the overflow of the related work area.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Integer 32
1h
Work area high limit channel Integer 32
1
1h
0h
ro
rw
yes
This object is hardwired with 2105h (Limit Switch Max).
Object 6500h: Operating status
This object shall provide the operating status of the encoder. It gives information on encoder internal
programmed parameters.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Operating status
Unsigned 16
-
ro
no
The operating status object corresponds to the value of the object 6000h and 2100h.
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ABSOLUTE ROTARY ENCO DER
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Object 6501h: Single-turn resolution
The object contains the physical measuring steps per revolution of the absolute rotary encoder.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Single Turn Resolution
Unsigned 32
see type sign
ro
no
Access
Restore after
Object 6502h: Number of distinguishable revolutions
This object contains number of revolutions of the absolute rotary encoder.
Subindex
Description
Data Type
Default Value
BootUp
0h
Number of Revolutions
Unsigned 16
see type sign
ro
no
Object 6503h: Alarms
Additionally to the emergency messages in /CiA301/, this object shall provide further alarm messages. An
alarm shall be set if a malfunction in the encoder could lead to incorrect position value. If an alarm occurs,
the according bit shall indicate the alarm til the alarm is cleared and the encoder is able to provide an
accurate position value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Alarms
Unsigned 16
-
romap
no
Bit structure of the alarms
Bit
15
Use MS
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
MS
MS
MS
R
R
R
R
R
R
R
R
R
R
CD
PE
Table Description:
MS:
Manufacturer Specific Alarm (not supported)
R:
Reserved for future use
CD:
Commissioning diagnostic control (not supported)
PE:
Position Error (not supported)
Object 6504h: Supported alarms
The object shall provide the supported alarms of the device. Please refer to the bit structure table to find
more details about the supported alarms.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Version 11/09
Supported Alarms
Unsigned 16
UMUS-OCD-CA
1000h
ro
no
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ABSOLUTE ROTARY ENCO DER
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The CA-encoder supports the position error alarm.
Object 6505h: Warnings
This object shall provide the warnings. Warnings indicate that tolerance for certain internal parameters of the
encoder have been exceeded. In contrast to alarm and emergency messages warnings do not imply
incorrect position values. All warnings shall be cleared if the tolerances are again within normal parameters.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Warnings
Unsigned 16
-
romap
no
Bit structure of the warnings
Bit
15
Use MS
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
MS
MS
MS
R
R
R
R
R
R
RP
BC
OT
CP
LC
FE
Table Description:
MS:
Manufacturer Specific Warnings (not supported)
R:
Reserved for future use
RP:
Reference Point reached/not reached (not supported)
BC:
Battery charge (not supported)
OT:
Operating Time limit (not supported)
CP:
CPU watchdog status (not supported)
LC:
Light control reserve (not supported)
FE:
Frequency warning (not supported)
Object 6506h: Supported warnings
The object provides the supported warnings of the device. Please refer to the bit structure table to find more
details about the supported warnings.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Supported Warnings
Unsigned 16
1000h
ro
no
Currently there are not supported warnings available for an Optocode absolute rotary encoder.
The CA-encoder supports the manufacture specific warning (Bit 12).
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Object 6507h: Profile and software version
This object provides the implemented encoder device profile version and the manufacturer-specific software
version.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Profile and Software Version
Unsigned 32
04040302h
ro
no
The value is divided into the profile version part and the Software version part. Each part is divided in upper
version and lower version.
MSB
LSB
Software Version 4.4
Profile Version 3.2
Upper Software Version
Lower Software Version
Upper Profile Version
Lower Profile Version
04
04
03
02
Object 6508h: Operating time
This object indicates the operating time of the device. Currently the operating time is not supported and the
value of this object will always be FFFFFFFFh.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Operatiung time
Unsigned 32
FFFFFFFFh
ro
no
Object 6509h: Offset value
This object contains the offset value. It is been calculated by the preset function and shifts the physical
position value with the desired value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Version 11/09
Offset value
Integer 32
UMUS-OCD-CA
-
ro
no
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Object 650Ah: Module identification
This object shall provide the manufacturer-specific offset value, the manufacturer-specific minimum and
maximum position value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Highest supported subindex
Integer 32
3
ro
no
1h
Manufacturer offset value
Integer 32
-
ro
no
2h
Man. min. position value
Integer 32
-
ro
no
3h
Man. max. position value
Integer 32
-
ro
no
Object 650Bh: Serial number
This object contains the serial number of the device. The serial number is also supported in object 1018h
subindex 4h.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Version 11/09
Serial Number
Unsigned 32
UMUS-OCD-CA
See type sign
ro
no
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Check if all bus node has the same baud rate. If
5. Troubleshooting
one node has another baud rate error frames are
5.1 Power on – Encoder doesn’t respond
produced automatically.
Problem:
The bus is active but the installed encoder
5.4 Limit switches without function
transmitted no boot up message.
Problem:
The encoder didn‟t transmit the bits for the limit
Possible solution:
switches.
-
switch of the PLC
-
remove the connection cap of the encoder
-
check the turn-switch for the baud rate
Possible solution:
-
Assemble the connection cap
The limit switch functionality has to be activated
-
power on
once. Please follow the description you can find at
4.5.
5.2 Malfunction of the position value during
transmission
5.5 Encoder without connection cap
Problem:
Notice: The changing of baud rate and node
During the transmission of the position value
number are only valid after a new power up, NMT
occasional malfunction occurs. The CAN bus can
Reset
or
the
store
parameters
command.
be temporary in the bus off state also.
Possible solution:
Check, if the last bus node has switched on the
terminal resistor. If the last bus node is an encoder
the terminal resistor is situated in the connection
cap.
5.3 Too much ERROR-Frames
Problem:
The bus load is too high in case of too much error
frames.
Possible solution:
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Appendix A: History and Compatibility
History encoder generations
This chapter gives you information about older
3.3 Object 1802h
types of absolute rotary encoder with CANopen
In
interface. Technical changes and compatibilities
parameterised by the object 1801h and 1802h.
between the different types are specified.
This is not consistent with the CiA standards and
the
past
the
second
PDO
could
be
will be ended with the new encoder line. This
Encodergeneration Optocode
means in the future the second PDO can only be
Since September 2009 the second CANopen
parameterised via object 1801h.
encoder
generation,
namely
OPTOCODE-II,
replaces the OPTOCODE encoders.
New versions
To guarantee conformity to CiA standard the
C6,
encoders had to be changed in a way, that they
(CiA-
are not fully compatible to the old types anymore.
Conform)
Overview of the incompatibilities:
CA Mode
COB-ID
1800h
PDO1
Asynchronous
180h
1801h
PDO2
Cyclic
280h
1802h
PDO3
Optional Cyclic 380h
(not
LED-behaviour
Object 1802h second TPDO
used
in
C6)
Object 1000h Device Type is not 196h
Restore command
BCD-switch position 9 in the connection
cap
Old versions
C2
and Mode
COB-ID
C5
3.2 Boot-up-time
1800h
PDO1
Asynchronous
180h
1801h
PDO2
Cyclic
Not
The encoder line needs less time to send the
Boot-Up message after switching on.
used!
1802h
PDO2
Optional Cyclic 280h
(used in C2/C5)
old OCD-series
new OCD-II-series
Ca. 3000ms
Ca. 250 ms
3.4 Objekt 1000h Device Type is not 196h
Object 1000h contains a coded description of
CAN devices. Until now 196h was written to all
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encoder types. According to the standards
possible to use the old EDS-file for configuration
singleturn and multiturn must be distinguished:
purposes in the PLC with the new encoder and
no errors will occur. Merely the enhanced
Singleturn

10196h
functions, like velocity- and acceleration-output,

Mutliturn
will not be available.
20196h
In case for unexpected problems, there is the
possibility to set the CA-encoder in a compatibility
mode, that will restore the old C2-C5-behavior.
3.5 Restore Command
In the past the restore command set the encoder
to
customised
default
values
The
restore
There are the following procedures to set this
mode:
Manual, with the BCD-switch in the
connection cap:
command sets the encoder to POSITAL default
values, which are defined in the user manual.
Communication parameters like node number
o
o
Remove cap from encoder
Set node number 97
and baud rate are not restored.
o
Reconnect connection cap 
Both LEDs will glow in red.
o
Remove connection cap again
and set back to the needed
3.6 Connection Cap BCD-switch setting “9”
The, former undefined, BCD-switch setting “9” in
o
the connection cap is used to set the encoder in a
node number
Reconnect connection cap 
C2-C5-Behavior
Via Software:
mode, that ignores the switch setting for baud
rate and node number. The parameters can be
o
Set object 3030h subindex 1h
to „ONE“ via SDO-commando
o
Hard- or Software RESET
modified by SDO messages and LSS, only.
3.7 C2-C5-Work-around
With little limitations, the new OCD-II-encoder line
will be compatible to the current version. It will be
CA00
Type key
Nr.
type key old
type key new
comment
1
58XX-XXXX-XBA1C203PG
58XX-XXXX-XBB1C203PG
encoder CAN
2
AH58-CA-3PG
AH58-B1CA-3PG
connection cap CAN
X: wildcard for various designs
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Version history connection cap
the newest CANopen specification (DS-301 V4.0)
In particular the design of the connection cap is
are
improved. Easier installation due to a new type of
implemented. If your application don‟t use this
screw terminals inside of the connection cap. On
function, there will be no problem.
not
supported
anymore
or
are
new
the back of the connection cap two multi-color
LEDs are implemented for easy diagnosis. The
Changes of entries in object dictionary
terminal resistor is hooked up via a slide switch.
Relevant
Thus continuative bus connection will be cut off.
message, as well as some entries in the
The localisation of accidentally switched on
CANopen object index not used by the common
terminal resistors wil be made easier. The device
user. A complete list of these objects you can find
address and the baudrate will be adjusted via
in the following table.
changes
applies
to
the
boot-up
BCD switches. This made the installation easier.
Changes of the CANopen protocol
The following changes have not be relevant to
you because only specific function according to
object-nr.
comment
(hex)
1004
Number of PDOs
CANopen profile
CANopen profile
DS301 V3.0
DS301 V4.0
58XX-XXXX-XBA1C203PG
58XX-XXXX-XBB1C203PG
supported
according to DS301-V4.0 not
supported
100B
supported anymore
Node-ID
supported
according to DS301-V4.0 not
supported anymore
100E
COB-ID
Guarding supported
protocol
1016
Consumer
according to DS301-V4.0 not
supported anymore
heartbeat reserved
supported
heartbeat reserved
supported
time
1017
Producer
time
1018
Version 11/09
Identity Object
reserved
supported
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Changing
transmit
PDO
communication
According to DS301 V4.0 the new rotary encoder
parameter
generation
doesn‟t
support
this
message
In the new encoder generation the polling isn‟t
anymore. In place of the old message a common
supported anymore if the PDO is disabled.
valid boot-up message is defined. The structure
According to CANopen specification DS301- V4.0
looks like this:
it is necessary to set the cyclic time (object entry
identifier: 700hex + node number, data length 1
[2200h]) to 0 and left the PDO switched on to poll
byte
the encoder. Important! If the PDO is switched off
This boot-up message also appears if the
no communication is possible.
command „reset node‟ and „reset communication‟
is sent to the encoder.
Handling of spare parts
Polling in Pre-Operational state
Boot-up
The old generation has accepted polling requests
connection cap
in pre-operational state, but wasn‟t correct
To use the new encoder generation as spare part
according to CANopen standard. In the manual
for the old encoder generation, the new encoder
for the old encoder was a hint, that the polling
recognize the old connection cap type and
request is not allowed in pre-operational state,
support
because it is not defined in the CANopen
automatically as well as the appropriate boot-up
standard. So be aware that the new encoder is in
message.
message
the
new
encoder
specification
and
old
DS301-V3.0
general not accepting poll requests in preoperational state independent of configuration of
Changing of the default BootUp message of
the behavior as new or old encoder.
the B1 version
To get the same boot-up behavior of the old
Changes in boot-up sequence
encoder generation if you use the new encoder
If the old encoder generation is connected to the
generation and the new connection cap type
supply voltage or a NMT message (reset node,
there will be following solution:
reset communication) is sent to the encoder, a
The needed protocol type will be activated via a
boot-up
defined device address. Please use the following
message
appears.
The
telegram
structure looks like this: identifier: 80hex + node
configuration sequence:
number, data length 0 bytes
This
message
was
not
defined
by
the
1.
specification DS301 V3.0, but vendor specific
used by some manufactures to show that the
below).
2.
device is „alive‟.
Connect the connection cap to the
encoder.
3.
Version 11/09
Setting the needed address (s. table
UMUS-OCD-CA
Switch on supply voltage.
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ABSOLUTE ROTARY ENCO DER
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4.
Wait until both LEDs are red.
5.
Switch off supply voltage.
8.
Connect the connection cap to the
6.
Remove connection cap.
9.
7.
Set up the correct device address. (0-
normal operation.
encoder.
Switch on supply voltage.
89)
Profile according C2 encoder
protocol DS301-V3.0
protocol DS301-V4.0
address 97
address 98
address 99
Beside the set up via hardware there is also the possibility to set up the protocol via SDO objects. For
further information please refer the manual.
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Appendix B: Glossary
A
Address
Number, assigned to each node, irrespective of whether it is a master or slave.
The encoder address (non-volatile) is configured in the base with rotary switches
or SDO objects.
APV
Absolute Position Value.
B
Baud rate
Transmission speed formulated in number of bits per second. Bus node Device
that can send and/or receive or amplify data by means of the bus.
Byte
8-bit unit of data = 1 byte.
C
CAL
CAN application layer.
CAN
Controller Area Network or CAN multiplexing network.
CANopen
Application layer of an industrial network based on the CAN bus.
CCW
Counter-clockwise
CiA
CAN In Automation, organization of manufacturers and users of devices that
operate on the CAN bus.
COB
Elementary communication object on the CAN network. All data is transferred
using a COB.
COB-ID
COB-Identifier. Identifies an object in a network. The ID determines the
transmission priority of this object. The COB-ID consists of a function code and a
node number.
CW
Clockwise
E
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EDS file
Standardized file containing the description of the parameters and the
communication methods of the associated device.
F
FAQ
FC Function code.
Frequently Asked Questions
Determines the type of message sent via the CAN network.
L
Line terminator
LMT
Resistor terminating the main segments of the bus.
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.
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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
Version 11/09
Write Only: Parameter that is only accessible in write mode.
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Appendix C: List of tables
Tab. 1 Signal Assignment Connection Cap................................................................................................. 7
Tab. 2 Baud rate Assignment Connection Cap ......................................................................................... 10
Tab.3: CAN Run LED states ..................................................................................................................... 11
Tab.4: CAN Error LED states .................................................................................................................... 11
Tab.5 Signal Assignment Connector / Cable ............................................................................................ 12
Tab. 6 CAN Transmission Mode Description ............................................................................................ 16
Tab. 7 List of Storable Parameters ........................................................................................................... 17
Tab. 8: Identity Object ............................................................................................................................... 19
Tab. 9 General Command Byte Description.............................................................................................. 20
Tab. 10 Detailed Command Byte Description ........................................................................................... 20
Tab. 11 Overview Object Dictionary .......................................................................................................... 20
Tab. 12 Object Dictionary 1000h-1FFFh ................................................................................................... 22
Tab. 13 Object Dictionary 2000-5FFF ....................................................................................................... 23
Tab. 14 Object Dictionary 6000h-6FFFh ................................................................................................... 24
Tab. 15 Delay and accuracy ..................................................................................................................... 38
Tab. 16 Delay and accuracy ..................................................................................................................... 39
Appendix D: List of figures
Fig. 1 Connection cap bus in and bus out ..................................................................................................... 8
Fig. 2 Cable preparation ............................................................................................................................... 8
Fig. 3 Cable connection ................................................................................................................................ 8
Appendix E: Document history
Version
Date
Comment
1.0
10.10.03
Initial version
1.1
24.10.03
Correction of the type key. List of figures, List of tables
2.0
06.11.03
Hint protection low voltage added
2.1
08.01.04
Hint temperature cable exit added
2.2
21.05.04
New inner diameter of the cable glances
2.3
24.09.04
SubIndex of RestoreAllParameter changed
11/07
19.11.07
Complete Review of the manual
03/08
30.03.08
Complete Review, due to OCD-CA00 introduction
07/09
28.07.09
Complete Review, due to OCD-CAA1 introduction
added
Version 11/09
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11/09
Version 11/09
11/28/09
Resize for Letter format
UMUS-OCD-CA
62
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