OPTOCODE-II-CAN

OPTOCODE-II-CAN
RELE ASE INFORM ATION
OPTOCODE-II-CAN-ENCODER LINE
Dear Customer
This document informs you about the new encoder-line OCD II CANopen, that replaces the older OCD
CAN series since the beginning of 2010. As you perhaps recognized, the received encoder has a different
type key and is shorter than before.
In the past we were forced to overhaul and redesign our CANopen encoder series, due to discontinuation
and availability of some electronic components. This was also an attractive opportunity to improve the
functionality of our CAN encoders series.
Additionally we changed some details to gain conformity to manufacturer spanning standards released by
the CAN in Automation e.V. user group. Unfortunately, these changes can lead to minor incompatibilities
to the OCD version before. We expect, that these incompatibilities get noticed by only a few customers,
who use the CAN communication in a specific way. In these cases, we are able to provide a simple
procedure to set the new OCD-II-CA into a compatibility modus, that emulates the old behaviour. Several
field tests at customers have successfully been completed.
The following pages will inform you about:
Enhanced Functionality
Important Enhancement of the Product Portfolio (Through Hollow Shaft Encoder)
Conformity to manufacturer spanning Standards and Device Profiles
Simplified Product Range and consistent Typekey
10 mm shorter housing
Please find the new datasheets and manuals on our homepage. For the beginning the datasheets of the
older OCD series will stay on the website.
If you have questions or problems please, do not hesitate to contact your Posital contact person. We want
to offer you our best support in order to have a smooth and successful transition towards our new OCD II
series.
With kind regards
Your Posital Team
FRABA AG
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RELE ASE INFORM ATION
OPTOCODE-II-CAN-ENCODER LINE
Technical information
1 Enhanced Functionality
The new CA-encoder line will have enhanced functionality, as the following table shows:
Layer Setting Services
Velocity- and Acceleration-output
Eight additional software programmable Cams
Verify Configuration (Object 1020h)
Customer specific data storage (4 Objects)
Bootloader
Event-triggered PDO
Internal terminal resistor, controllable via SDO
1.1 Layer Setting Services
The abbreviation LSS stands for Layer Setting Services and is an extension packet of the CANopen-Stack.
This packet provides functions to find not configured encoders or encoders with unknown configuration in
a CANopen network. This can be unequivocally done by vendor-ID, product code, serial- and revision
number to set a new baud rate and node number.
1.2 Velocity- and Acceleration-output
The new encoder line will be able to calculate the velocity and acceleration in real time and transmit it to
the control.
1.3 Eight additional software programmable Cams
The software of the encoder will simulate eight cams, whose value is free programmable. The reaching of
these values will effect a message to the control.
1.4 Verify Configuration (Object 1020h)
This additional object allows an easy administration of parameter configuration. A time stamp will be stored
in this object with every reconfiguration. After a reenergising of the network the control can verify if any
changes had been done.
1.5 Customer specific data storage
The encoder provides a data area, that can be used by the customer for his own purposes e. g. to cache
process data like position values.
1.6 Bootloader
A bootloader allows to reprogram the encoder directly via the CAN Bus. This function can be used for
firmware updates.
1.7 Event-triggered Process Data Object (PDO)
This function gives the possibility to transmit process data depending on events. E. g. position values can
be sent with a change of the position.
FRABA AG
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OPTOCODE-II-CAN-ENCODER LINE
1.8 Internal terminal resistor, controllable via SDO
A CAN-bus-terminal resistor of 120Ohm will be integrated in the new encoder series. The resistor can be
switched galvanically isolated via object 3002h. The galvanic isolation is realized by MOS-FET.
2 Simplification of the type key
2.1 New type key for CAN encoders
The notations C2, C5 and C6 have their origin in technology. The type key describes internal functional
groups, without relevance for the customer. Mostly it leads to redundant information in the type key. The
functional groups will be replaced by one single PCB, that fulfils all functions and hence leads to a
simplification. Generally the transfer can be done by replacing C2, C5 and C6 by the letters CA. Please
note, that the CA version is not fully downwards compatible. For reference see info in chapter 3.
The following examples show the transcode (x is a wildcard, that replaces parameters, that are not
important in this context.
OCD-C2B1B-xxxx-xxxx-0CC
OCD-CAA1B-xxxx-xxxx-XXX
The old C2-Typekey contains redundant information. Both C2 and 0CC mean connection cap. In the new
encoder line, the software-interface (CAN) and the electrical interface will separated clearly. The last three
digits will contain additional information concerning the connection cap. For more details see chapter
“Integration: Set Encoder + Connection Cap”.
OCD-C5B1B-1x1x-xxxx –xxx OCD-CAA1B-1x1x-xxxx –xxx
The C5 version was a multiturn encoder with plug or cable exit.
OCD-C6B1B-001x-xxxx –xxx OCD-CAA1B-001x-xxxx -xxx
The C6 encoder can be recognised by the singleturn resolution.
2.2 Integration: Set Encoder + Connection Cap
We are about to restructure our typekey for connection cap encoders as well. The introduction will be in
line with the new CANopen encoder series beginning of September. Currently this product type key is
described by: „0149000090 Set encoder + connection cap“ where different encoder types cannot be
distinguished at a glance.
On request of some customers, we will combine the encoder type key and the connection cap type key
into one
as follows:
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OPTOCODE-II-CAN-ENCODER LINE
As an example the set 0149000090: Set OCD-C2B1B-1213-C100-0CC + AH58-B1CA-3PG should be
considered.
The future type key will be generated by adding to the old encoder type key a new electrical connection
class called „connection cap‟, indicated by the letter „H‟ and two more digits which result from the first two
letters of the electrical interface from the old type key of the connection cap,
OCD-CAA1B-1213-C100-HXX + AH58-B1CA-3PG,
resulting in the final new type key:
OCD-CAA1B-1213-C100-H3P
IMPORTANT:
To avoid wrong orders, the type key ending with -0CC will not exist any longer. In case of repair and
replacement the encoder with the ending „ –HCC „ has to be ordered. Replacement means, that the old
connection cap remains at the customer and an encoder without connection cap will be ordered.
2.2 Integration: Set Encoder + Reducing Adapter
The application of a reducing adapter allows the reduction of the diameter of a blind hollow shaft encoder.
It is reducible down to 6mm and is currently handled as „Set Encoder + Reducing Adapter‟. Until now, this
was handled as “Set Encoder + Reducing Adapter“.
In future the reduced inner diameter will become an integral part of the encoder type key:
Example::
0149000039 Set encoder + Reducing adapter
(Full type key is „Set OCD-C5B1B-1213-B150-PA9+ Reducing adapter RR12‟)
will become:
OCD-CAA1B-1213-B120-PA9
FRABA AG
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RELE ASE INFORM ATION
OPTOCODE-II-CAN-ENCODER LINE
2.3 Ordering description:
Description
Type key
Optocode
OCD-
CA A1
Interface
Version
CANopen
CA
Code
Revolutions (Bits)
Binary
Singleturn
B- __
_
_ _
_ _ _-
___
A1
B
00
Multiturn (4096 revolutions)
Multiturn (16384 revolutions)
Steps per revolution
Shaft diameter
4096 (0,09°)
8192 (0,04°)
65536 (0,005°)
Clamp flange
Synchro flange
Through Hollow Shaft
Blind shaft
06 mm
Mechanical options
10 mm
12 mm (Through Hollow Shaft)
15 mm (Hollow shaft)
without
Flange
Connection
12
14
12
13
16
C
S
T
B
06
10
12
15
0
Shaft sealing (IP66)
Stainless steel version*
S
V
Heavy Duty
Customized
H
C
Cap encoder without connection cap*
Cap encoder with three PG cable glands in connection cap
HCC
H3P
Cap encoder with two M20 cable glands in connection cap
Cap encoder with one M12-connector connection cap
H2M
H1B
Cap encoder with two M12-connector connection cap
H2B
Cable exit 1m, radial, open cable ends
Cable exit 1m, axial, open cable ends
CRW
CAW
Two 5pin. M12-Connectors
Connector exit, radial, 5 pin male M12
PRN
PRM
Connector exit, axial, 5 pin male M12
Connector exit, axial, 9 pin D-Sub
PAM
PA9
* for the function of the encoder a connection cap is needed. To order this encoder type only makes sense
for spare part / replacement usage.
FRABA AG
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RELE ASE INFORM ATION
OPTOCODE-II-CAN-ENCODER LINE
3. Conformity to CiA-Norm and Compatibility
To guarantee conformity to CiA standard the encoders had to be changed in a way, that they are not fully
compatible to the old types anymore.
Overview of the incompatibilities:
LED-behaviour
Object 1802h second TPDO
Object 1000h Device Type is not 196h
Restore command
BCD-switch position 9 in the connection cap
3.1 LED-behaviour
The behaviour of the diagnosis and error LEDs was modified to fulfil the DR303-3 CANopen Indicator
Specification of the CiA-organisation:
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
The device is in state STOPPED
Reserved for further use
Triple flash
Program/ Firmware A software download is running on the device
download
On
OPERATIONAL
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
The device is in state OPERATIONAL
Configuration
Single flash
Warning limit
reached
At least one of the error counters of the CAN controller has
reached or exceeded the warning level (too many error frames)
Double flash
Error control
event
A guard event (NMT-slave or NMT-master) or a heartbeat event
(heartbeat consumer) has occurred
Triple flash
Sync error
The sync message has not been received within the configured
communication cycle period time out (see object dictionary entry
Quadruple
flash
Event-timer
error
An expected PDO has not been received before the event-timer
elapsed
On
Bus off
The CAN controller is bus off
1006h)
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RELE ASE INFORM ATION
OPTOCODE-II-CAN-ENCODER LINE
3.2 Boot-up-time
The encoder line needs less time to send the Boot-Up message after switching on.
Boot-up-time
old OCD-series
new OCD-II-series
Ca. 3000ms
Ca. 250 ms
3.3 Object 1802h
In the past the second PDO could be parameterised by the object 1801h and 1802h. This is not consistent
with the CiA standards and will be ended with the new encoder line. This means in the future the second
PDO can only be parameterised via object 1801h.
New versions
C6, CA (CiA-Conform)
Mode
COB-ID
1800h
PDO1
Asynchronous
180h
1801h
PDO2
PDO3
Cyclic
Optional Cyclic (not used
in C6)
280h
1802h
380h
Old versions
C2 and C5
Mode
COB-ID
1800h
PDO1
Asynchronous
180h
1801h
PDO2
PDO2
Cyclic
Optional Cyclic (used in
C2/C5)
Not used!
280h
1802h
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 encoder
types. According to the standards singleturn and multiturn must be distinguished:
Singleturn
Mutliturn


10196h
20196h
3.5 Restore Command
In the past the restore command set the encoder to customised default values The restore command sets
the encoder to POSITAL default values, which are defined in the user manual. Communication parameters
like node number and baud rate are not restored.
FRABA AG
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RELE ASE INFORM ATION
OPTOCODE-II-CAN-ENCODER LINE
3.6 Connection Cap BCD-switch setting “9”
The, former undefined, BCD-switch setting “9” in the connection cap is used to set the encoder in a mode,
that ignores the switch setting for baud rate and node number. The parameters can be 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
possible to use the old EDS-file for configuration purposes in the PLC with the new encoder and no errors
will occur. Merely the enhanced functions, like velocity- and acceleration-output, will not be available.
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.
There are the following procedures to set this mode:
Manual, with the BCD-switch in the connection cap:
o Remove cap from encoder
o
o
Set node number 97
Reconnect connection cap  Both LEDs will glow in red.
o
o
Remove connection cap again and set back to the needed node number
Reconnect connection cap  C2-C5-Behavior
Via SDO-commando (Software):
o Write the security code 47111147h to object 3030h subindex 0h.
o
o
Set object 3030h subindex 1h to „ONE“
Hard- or Software RESET
3.8 Fully software compatible CA-variants for C2, C5 und C6 (e.g. for spare parts)
In principle it is still possible to order CA types which are fully software back compatible to the old C2 and
C5 versions. (CA is already fully software back compatible to C6). This is done by adding 2 more CA
variants:
OCD-CAC2B-xxxx-xxxx-xxx
These additional CA variants should only be ordered in exceptional cases (e.g. for repairs) as we would
like to minimize the numbers of variants that we offer.
FRABA AG
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