QR24 Encoder with CANopen interface
Contents
1. PDO TPDO1 TPDO2 TPDO3 TPDO4 Mapping object 1A00h 1A01h 1A02h 1A03h Transmission type 255h 001h 254h 255h Object Position in set time cy Position at SYNCH Position at value Speed in set time cycles 0x1800 ff 0x02 cles request 80h change Object of the metering 6004h 6004h 6004h 6030h value Sub index 00h 00h 00h Oth Data length 20h 32 bit 20h 32 bit 20h 32 bit 10h 16 bit Mapping 0x60040020 0x60040020 0x60040020 0x60300110 6 2 7 PDO mapping in accordance with CiA from CANopen version 4 The default assignment of the process data objects default mapping will generally satisfy requirements For special use cases the assign ment can be changed Many Turck CANopen devices support variable mapping which allows the free assignment of application objects input and output data to PDOs This will require a configuration of the mapping tables Only the following procedure is permissible as of CANopen version 4 which must be complied with to the letter 1 Ox1800ff sub index 1 COB ID set bit 31 to 1 lock PDO Data 0x4000 019B gt 0xC000 019B example 2 Ox1AOOff sub index 0 set number of mapping entries to 0 Data 0x01 gt 0x00 example one entry to zero entries 3 0x1A00ff change sub index 1 8 Data 0x6004 0020 gt 0x600C 0020 example 4 0x1A00ff sub index 0 set number of mapping entries to 1 2 3 Data 0x00 gt 0x01 example one entry 52. OPERATING INSTRUCTIONS CONTACTLESS QR24 ENCODERS WITH CANOPEN INTERFACE Sense it Connectit Bus it Solve it QR24 Encoder with CANopen Interface 2 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 Industr A Contactless Ri QR24 encoders with CANopen interface 1 About this Manual 4 1 1 Rargetdrous ine 4 1 2 ExpBnationafymbolnn eb 4 1 3 Other documents 4 1 4 Feedback on this manual ssscicccacccscscccessssesisucsctccsaccesevsnesideciestsscessasecesuesseccssccevesauceccesssestsaceorssces 4 2 Notes on the UO u ee nee realen 5 2 1 Product identification type key usssacnsneossssssusnenenensneossnsssuenonenenssssnsnsnsueneneonnesssssnensnensnennunse 5 22 SODS i CENE ooo sacencasscscsssecssscacsncasecsecacscenseseccacaccossseceesacassncasecaceacesensesecascacconesacecassare 6 2 3 Le 0 9 6 2 4 y M 0 A27 6 For your safety r ES nr c Intended duse 0mm H 6 Bie OD VIOUS abel ocooccoconco ERIT CECI DDDOROORLRDDDOERRNRSSm 6 Um eee 6 ct description ooo T 0 7 4 1 Device view 0 0c o 0 M 7 4 2 Function principles MESS lilt O 8 4 3 Delivery condition M 4 4 Display elements sedata scere 4 5 Connectio
3. Note This object only remains for reasons of compatibility with older profile versions In the current transmit PDO the event timer sub index 05h should be used instead Value range 0 FFFFh 655354 provides the cycle time in milliseconds Default value 100gec No measuring value output occurs if cycle time 0 34 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Default device parameters Industr A 6 4 9 Object 6400h Work area state register This object contains the current status of the encoder position in relation to the programmed limits Depending on position of the two endpoints flags are set or reset Where the measuring values are within the work area bits 0 7 will have the value 0 6400h VAR Area state register Unsigned8 RO 0 Object 0x6400 0x01 work area state register channel 1 Unsigned8 Bit0 1 Outside of work area 1 Bit 1 21 Greater than high limit 1 Bit2 1 Less than low limit 1 Bit 3 7 free 0 Data 05h Position value lt low limit Data 00h Position value within limit Data 03h Position value gt high limit Object 0x6400 0x02 work area state register channel 2 Unsigned8 Bit0 1 Outside of work area 2 Bit 1 1 Greater than high_limit_2 Bit2 1 Less than low_limit_2 Bit 3 7 free 0 Data 05h Position value lt low limit Data 00h Position value within l
4. 1 kHz Current consumption lt 50 mA Design Dimensions 81 x 78 x 24 mm Housing material metal plastic ZnAlCu1 PBT GF30 VO Connection 2 x male connectors M12 x 1 5 pin CAN IN and CAN OUT Vibration resistance EN 60068 2 6 55 Hz Oscillation resistance 20 g 10 3000 Hz 50 cycles 3 axes Shock resistance EN 60068 2 27 30g Continuous shock resistance 40 g 6 ms sinus 4000x each 3 axes Protection type IP67 IP69K LED displays Operating voltage display LED green Signal status LED yellow flashing yellow Operating status LED green flashing green Error indication LED red flashing red Miscellaneous Included in the scope of delivery Assembly aid MT OR24 VZ 3 screw plug 44 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Service Industr A 9 Service The fault free condition of the connections and cables must be verified periodically The device itself is maintenance free clean with dry cloth where necessary 10 Repairs This device is not intended for repair by the user Please take the device offline if it is defective Please note our returns conditions for any returns to Turck 11 Device returns Please note that we can only accept the return of devices accompanied by a decontamination declaration should it become necessary to return a device The declaration form is available for download at http www turck de static media dow
5. 0x1800ff sub index 1 COB ID set bit 31 to 0 unlock PDO Data 0xC000 019B gt 0x4000 019B example 27 more turck com www turck com 2015 06 QR24 Encoder with CANopen interface Manufacturer specifications 6 3 Objects 2000h 2FFFh manufacturer specifications 6 3 1 Object 2100h Baud rate The Baud rate without LSS service is set via this object 2100h VAR Baud rate Unsigned16 RW M NOTE H A password is necessary to change the object Service pass code object 0x2900 0x01 Unsigned32 The password is 12345 dec resp 0x3039 Takes effect after next reset power ON reset Object 0x2100 sub index 0x00 Data 1000 1000 kbps unsigned 16 Data 500 500 kbps unsigned 16 Data 250 250 kbps unsigned 16 Data 125 125 kbps unsigned 16 Data 50 50 kbps unsigned 16 Data 20 20 kbps unsigned 16 Data 10 10 kbps unsigned 16 Default 125 kbps 6 3 2 Object 2101h Node number The node number can be changed using software via this object The default value is 0x03h The device will boot with a changed node ad dress after next activation or Reset node if the value is set between 1 127 2101h VAR Node number Unsigned8 RW M NOTE i A password is necessary to change the object Service pass code object 0x2900 0x01 Unsigned32 The password is 12345 dec resp 0x3039 Value range 1 127 or 1 7Fh Default settings 03h
6. 2 5 2 2 Value range 0 max physical resolution Default actual position more turck com www turck com 2015 06 33 QR24 Encoder with CANopen interface Default device parameters 6 4 6 Object 600Ch Position raw value The encoder outputs the current position value in max physical resolution no scaling 600Ch VAR Position raw value Unsigned32 RO 0 M Value range RI360PO QR24MO CNX4 2H1150 0 327680 full range 6 4 7 Object 6030h Speed value The encoder outputs the currently calculated speed in rpm 6030h VAR Speed value Signed16 RO 0 This value is output in a read access with object 6030h as a signed 16 bit value Positive value clockwise rotation Negative value counter clockwise rotation Value range 0 max speed 1500 rpm Example 500 rpm counter clockwise gt 500gec A warning message is issued for speeds higher than 1500 rpm and the warning bit Speed range bit 6 in object Warnings 6505h is set Rel evant mapping will allow the output of the speed via PDO EI NOTE Prerequisite here is that bit 13 Speed format in object 6000h is set to 0 6 4 8 Object 6200h Cycle timer Defines the cycle time in which the current position is output via PDO1 see object 1800h The timer controlled output is enables as soon as a cycle time gt 0 is entered Applies to PDO1 only 6200h VAR Cyclic timer Unsigned16 RW WO
7. 4 Prepared er A Y M p change to prepared orcum j Bars mdi change to operational Initialisation This is the initial state of the device after connection to the power supply following a reset or power up The node automati cally cycles to the status pre operational once the reset initialisation routines are completed The LEDs show the current device status Pre operational The CAN node can now be addressed via SDO messages or with NMT commands under the default identifier The pro gramming of the encoder and communication parameters is executed Operational The node is enabled Process values are output via the PDOs All NMT commands can be evaluated Prepared or stopped In this state the node is no longer enabled i e no SDO or PDO communication is possible The node can be cycled to the status Operational or Pre operational via NMT commands NOTE H The Encoder LED might be different from the selected node condition more turck com www turck com 2015 06 41 QR24 Encoder with CANopen interface Assembly accessories 7 Accessory 7 1 Assembly accessories A wide range of accessories is available for the assembly of the sensor 7 2 Standard assembly accessories A matching assembly set is available for each device type see type key chapter 2 2 The assembly sets contain the aluminium ring M1 QR24 and a shield plate SP1 OR24 or SP2 OR24 or SP3 QR24 Dimension drawing Type not s
8. Ri Rotatory inductive 2 H1 1 5 0 Electrical connection L Assignment 0 Standard Number of contacts 5 5 pole Connector type 1 straight Connector type zz H1 connector M12x 1 Number of connectors i 2 2xconnector Ri 360 P1 Operating principle QR24 M1 Housing style CN X4 Electrical version L Positioning element LL Alu protective unit B Number of LEDs shaft diameter MO without alu X4 AxLED PO without positioning protective unit element M1 with alu CANopen interface P1 P1 Ri QR24 20 mm protective unit CN CANopen P2 P2 Ri OR24 14 mm M2 Set M2 OR24 P3 P3 Ri QR24 12 mm M1 QR24 P4 P4 Ri QR24 10 mm SP1 QR24 P5 P5 Ri QR24 6 mm M3 Set M3 QR24 P6 P6 Ri QR24 3 8 SPERA P7 P7 Ri QR24 1 4 MA Set M4 QR24 P8 P8 Ri OR24 M1 OR24 SP3 QR24 Measuring range The sensor the assembly elements and the positioning element can be ordered as a set or individually more turck com www turck com 2015 06 QR24 Encoder with CANopen interface Notes on the product 2 2 Scope of delivery The following items are included in the scope of delivery Contactless QR24 encoder Assembly aid 8 Short instructions VZ 3 screw plug Optional positioning element and mounting element 2 3 Legal requirements The device is subject to the following EU directives 2004 108 EC Electromagnetic compatibility 2 4 Manufacturer and service Turck supports you
9. H NOTE Node number 0 is reserved and must not be used by any other node A new node number is applied only after the next boot up Reset Power ON of the encoder All other settings in the object table remain unchanged 28 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Manufacturer specifications Industr A 6 3 3 CANbus termination This object enables disables the bus termination An integrated 120 Q terminating resistor will be enabled disabled accordingly 2102h VAR CAN bus termination Unsigned8 RW M The change takes effect when Save all bus parameters 0x2105 is executed Access R W Value range 8 bit unsigned 1 termination on O termination off 6 3 4 Object 2104h NMT autostart The start up mode of the encoder is specified via this object 2104h VAR NMT autostart Unsigned8 RW M Object 0x2104 sub index 0x00 Data 0 Pre operational Data 1 Operational 6 3 5 Object 2105h PDO trigger threshold Up to four application objects position speed can be transmitter in one PDO The max data length is 64 bit 2105h VAR PDO trigger threshold Unsigned8 RW M Setting the PDO trigger threshold Configure the trigger threshold for the angle change as follows Object 0x2105 sub index 0x00 Data 0 255 unsigned 8 Default 20 Example For the PDO to be tra
10. ID and release Bit 0 10 11 bit identifier default ID 2 480h node number Bit 11 29 0 reserved for 29 bit identifier devices Bit 30 0 RTR permitted cannot be modified Bit 31 0 PDO enabled 1 PDO disabled Default value 0 Sub index 2h Transmission type 255 see overview of transmission types Transmission type asynchronous Overview see object 1800h Sub index 3h Inhibit time min waiting time until PDO can be sent again Default value Oh no inhibit time Value range 10 65530 n corresponds to 1 ms 6553 ms NOTE H Only full millisecond values are stored In between values are rounded up Application of the values to the non volatile memory EEPROM via object 1010h Default value 0 Sub index 4h Assigned Sub index 5h Event timer Setting in object 6200h The value range for the timer is between 1 65535 x 1 ms 1 ms 65535 ms Event timer 0 gt no data output Default value 100gec NOTE H The number of possible messages is limited by the bus speed Minimum times for event timer are valid for the operation with one PDO more turck com www turck com 2015 06 2 QR24 Encoder with CANopen interface Communication profiles Baud rate 1000 kBit s 500 kBit s 250 kBit s 125 kBit s 50 kBit s 20 kBit s 10 kBit s Messages ms Event timer min 7 8 1ms 3 9 1ms 1 9 1ms 0 97 2ms 0 39 3ms 0 15 7 ms 0 07 15 ms 6 1 19 Overview transmission types A value betw
11. No 1590914 6 4 14 Object 6503h Alarms read only The object 6503h offers more error message options in addition to the errors reported in emergency messages The relevant error bit is set to 1 until the error has been remedied 6503h VAR Alarms Unsigned16 RO WO Data content Bit 0 14 free Bit 15 1 no RLC coupling no position metering possible In the event of an alarm an emergency message ID 80h node number with error code 1000h generic error is sent simultaneously more turck com www turck com 2015 06 37 QR24 Encoder with CANopen interface Default device parameters 6 4 15 Object 6504h Supported alarms read only This object offers information about which alarm messages are supported by the encoder see object 6503h 6504h VAR Supported alarms Unsigned16 RO M 0 Data content Bit 0 14 free Bit 15 1 Check for No RLC coupling is supported 6 4 16 Object 6505h Warnings read only Warning messages show that tolerances of internal encoder parameters have been breached When a warning message is displayed the measuring value can still be valid other than with alarm or emergency messages The relevant warning bit is set to 1 until the tolerance breach has been remedied 6505h VAR Warnings Unsigned16 RO WO Data content Bit 0 5 free Bit 6 1 Overrun of permissible speed speed range Bit 7 14 f
12. Object 1A02h PDO3 mapped object Up to four application objects position speed can be transmitted in one PDO The max data length is 64 bit 1A02h RECORD PD03 mapping parameter PDO MAPPING 21h RW M 0 Data content Sub index Oh Number of supported sub indices Read only Value range 1 4 Sub index 1h 1_mapped_object default 0x60040020 position value Sub index 2h 2_mapped_object default no entry Sub index 3h 3_mapped_object default no entry Sub index 4h 4_mapped_object default no entry 6 2 4 Object 1A03h PDO4 mapped object Up to four application objects position speed can be transmitted in one PDO The max data length is 64 bit 1A03h RECORD PDO4 mapping parameter PDO MAPPING 21h RW M 0 Data content Sub index Oh Number of supported sub indices Read only Value range 1 4 more turck com www turck com 2015 06 25 QR24 Encoder with CANopen interface Variable PDO mapping Sub index 1h 1_mapped_object default 0x60040020 position value Sub index 2h 2_mapped_object default no entry Sub index 3h 3_mapped_object default no entry Sub index 4h 4_mapped_object default no entry 6 2 5 Example Create mapping for PDO3 speed Up to four application objects position speed can be transmitted in one PDO The max data length is 64 bit Example A Configure the communication parameters via object 1802h The com
13. OxFFh value is updated and sent after completion of cycle time device timer z 0 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Variable PDO mapping 6 2 Variables PDO mapping Industr A Variables mapping of the various objects means that the user can configure the content of the transmit PDOs application independently There are two basic mapping options 1 The properties of the PDOs can be configured individually via the object 1800h ff Transmission type inhibit time event time Time 2 Multiple PDOs up to max 64 bit can be transmitted using one CAN telegram These PDOs are listed in a mapping table gt Objects 0x1A00ff 0x01ff mapping table The max data length of the CAN telegram is 65 bit 8 byte therefore allowing the mapping of e g two application object entries with 32 bit each or four entries with 16 bit each in a mapping table objects Ox1AO0ff 0x01 ff Two prerequisites must be met 1 The overall size of the mapped objects within a PDO mapping table objects 0x1 A0Off must not be surpass 64 bit 2 All mapped objects in a PDO mapping table objects 0x1A00ff have the same transmission type inhibit time and event time Example Mapping tables for TPDO1 and TPDO2 1800h mapping table TPDO 1 1801h mapping table TPDO 2 Position value Position raw value Position value Speed value Alarm
14. The producer heartbeat time defines the heartbeat cycle The time must be set to 0 if this function is not needed The function is activated with a value of min 1 ms 1 ms 32767 ms 1017h VAR Producer heartbeat time Unsigned 16 RW 0 Value range 0 32767 corresponds to 0 ms 32767 ms Default value Ogec A heartbeat producer transmits the heartbeat message at the specified cycle times The content of the data bytes corresponds to the status of the CAN node Pre operational Data 7Fh Operational Data 05h Stopped Data 04h 6 1 13 Object 1018h Identity object This object reads the device ID 1018h RECORD Device identification Identity 23h RW 0 Sub index Oh delivers the number of entries 4 entries Sub index 1h delivers the Turck vendor ID 0000009Ch Sub Index 2h delivers the product code e g Turck QR24 CANopen Sub Index 3h delivers the SW revision number e g 1 0 0 1 see table 3 Point notation Example Version 1 0 0 1 10gec_Olgee 0Ah O1h 0AO01h Sub index 4h delivers the 8 digit serial number of the encoders 16 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Communication profiles Industr A 6 1 14 Object 1029h Error behaviour In case of a grave error the device reacts with the behaviour parametrised here 1029h ARRAY Error behavi
15. bus line O 5 4 3 5 CAN L CAN_L bus line 4 6 Terminating resistor An integrated terminating resistor can be activated as needed See object 0x2102 10 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Assembly 5 Assembly An extensive range of assembly accessories see chapter 6 allows the easy adaptation to many different shaft diameters The shield plates SP1 QR24 or SP2 QR24 or SP3 QR24 can optionally be used depending on as sembly type to increase the permissible dis tance between the positioning element and the sensor The illustrations below show the simple design of the separate sensor and resonator units making them virtually re D Optional shield plate SP2 QR24 can be inserted 2 Attach assembly aid for optimised align ment of the positioning element Slide the positioning element onto the rotatable shaft ensure correct direction ality of the active surface see inscription on the side of the positioning element 4 Affix the clamping bracket using a hex key Remove the assembly aid 6 Placetheencoderwith the aluminium ring over the positioning element and affix with three screws to create a closed and protected unit more turck com www turck com 2015 06 sistant to errors The assembly can be done as types A B and C D Slide the encoder on the back of the shaft and affix 2 Att
16. capabilities enhance the plug amp play compatibility of the device and significantly simplify the configuration options The LSS master is in charge of the configuration of these parameters for one or more slaves in the network LSS services LSS hardware requirements LSS address All LSS slaves must have a valid object entry for the identity object 1018h in the object register to allow a selective node configuration This object consists of the following sub indices Vendor ID numerical number Product code numerical number Revision number major and minor revision as numerical number Serial number numerical number LSS master CAN ID 2021 LSS slave CAN ID 2020 40 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Network management Industr A 6 6 Network management The encoder supports the simplified network management minimum boot up defined in the profile for minimum capability devices The following status diagram in accordance with DS 301 shows the various node states and relevant network commands controlled by the network master via NMT services Power on Reset node r Initialisation Mp E RN e reset commu nication automatically change to pre operational TT change to pre 4l N operational Pre operational I j change to prepared change to e to pre POS operational operational gt i E
17. in your projects from the initial analysis right through to the commissioning of your application The Turck product database offers you several software tools for programming configuring or commissioning as well as data sheets and CAD files in many export formats You can access the Product Database directly via the following address www turck de products For further inquiries in Germany contact the Sales and Service Team on Sales 49 0 208 4952 380 Technical 49 0 208 4952 390 For overseas inquiries contact your national Turck representative Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim an der Ruhr Germany 3 For your safety The product is designed according to the state of the art technology Residual hazards however still exist Observe the following warn ings and safety regulations in order to prevent danger to persons and property Turck accepts no liability for damage caused by failure to observe these warnings and safety instructions 3 1 Intended use The devices are designed for installation in large scale industrial plants and equipment and for use in industrial automation applications The encoder measures turning angles across a 360 angle range The devices must only be used as described in these instructions Any other use is not in accordance with the intended use Turck accepts no liability for any resulting damage 3 2 Obvious misuse The devices are not safety components and must not be
18. of the encoder are output synchro nously in the default setting initiated by SYNC objects H NOTE The number of possible SYNC messages is limited by the bus speed 1801h RECORD PDO2 parameters PDO COMMPAR 20h RW M 0 Data content Sub index Oh Number of supported sub indices Read only Value range 2 5 Sub index 1h COB ID and release Bit 0 10 11 bit identifier default ID 280h node number Bit 11 29 0 reserved for 29 bit identifier devices Bit 30 0 RTR permitted cannot be modified Bit 31 0 PDO enabled 1 PDO disabled Default value 0 Sub index 2h Transmission type 1 dec see overview of transmission types Transmission type synchronous cyclic Overview see object 1800h Sub index 3h Inhibit time min waiting time until PDO can be sent again Default value Oh no inhibit time Value range 10 65530 corresponds to 1 ms 6553 ms NOTE H Only full millisecond values are stored In between values are rounded up Application of the values to the non volatile memory EEPROM via object 1010h Default value 0 Sub index 4h Assigned Sub index 5h Event timer Setting in object 6200h The value range for the timer is between 1 65535 x 1ms 1ms 65535 ms The event timer is without function when transmission type 1h synchronous cyclic Default value 0 Operational Data 05h Stopped Data 04h NOTE d The number of possible messages is limit
19. 08 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Communication profiles Industr A 6 1 10 Object 1014h COB D emergency The object defines the COB ID for emergency messages The behaviour in case of an error is described in Object 1029h Error behaviour 1005h VAR COB ID EMCY Unsigned 32 RW 0 Data content Bit 0 10 11 bit identifier default ID 80h node number Bit 11 29 reserved for 29 bit identifier devices Bit 30 31 reserved Emergency objects occur in error situations within a CAN network and will be triggered depending on the type of event and are then trans mitted via the bus with high priority An emergency object will only be triggered once per event No new object will be generated while the error persists Once the error has been remedied a new emergency object with content 0000h Error reset or No error will be generated and sent to the bus Emergency messages for Turck CANopen sensors Code 0000h No error An Emergency clear message code 0000h will be transmitted during startup and after the Boot up message Code 5000h Internal software error device return to manufacturer An emergency message with the code 0x5000 with the following code class will be generated if the encoder has an internal hardware error 0x5001 Hardware ROM check error Device defective please return to manufacturer Code 6100h Internal software error An emerg
20. 2 0x02 3600 high limit 2 Example 2 Limit values range 1 900 3600 90 360 range 2 1800 3600 180 360 Current measuring value 450 45 0x6400 0x00 0x01 gt 1 channel 0x6400 0x01 0x24 gt 0100 0100 gt values in range 1 and range 2 lt low limit see object 6400h 0x6401 0x00 0x02 0x6401 0x01 900 low limit 1 0x6401 0x02 1800 low limit 2 0x6402 0x00 0x02 0x6402 0x01 3600 high limit 1 0x6402 0x02 3600 high limit 2 6 4 11 Object 6500h Operating status read only This is where the basic settings can be read from object 6000h 6500h VAR Operating status Unsigned16 ro M 36 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Default device parameters Industr A 6 4 12 Object 6501h Single turn resolution read only This is where the basic settings can be read from object 6000h Resolution value max phys resolution is stored in the encoder and can only be read 6501h VAR Single turn resolution Unsigned32 RO M Resolution value RI360P0 QR24MO CNX4 2H1 150 327680 Item No 1590914 6 4 13 Object 6502h Number of distinguishable revolutions read only Number of possible multi turn revolutions 6502h VAR Number of distinguishable revolutions Unsigned16 RO M Number of revolutions RI360P0 QR24MO CNXA 2H1 150 1 Item
21. Default device parameters 6 4 19 Object 6509h Offset value read only A preset value entered via object 6003h is converted internally into a relevant offset value Object 6509h displays the calculated offset value 6509h VAR Offset value Signed32 RO WO The offset value is calculated as follows Offset preset position 6 4 20 Object 650Ah Module identification read only This object contains various manufacturer specific data These include the manufacturer specific offset value and the min and max posi tion values All values are stated in the number of steps following the basic resolution of the encoder 650Ah VAR Module identification Signed32 RO WO Data content 0x650A 0x00 Number of entries 0x650A 0x01 Manufacturer offset value 0x650A 0x02 Manufacturer minimum position value 0x650A 0x02 Manufacturer maximum position value 6 4 21 Object 650Bh Serial number Read only This object contains the serial number of the encoder 650Bh VAR Serial number Unsigned32 RO M NOTE E All other objects not listed here are for additional information purposes only and can be found in the encoder profile DS406 3 1 6 5 LSS services DS 305 V2 0 CiA DSP 305 CANopen layer setting service and protocol LSS were created to allow the reading and modification of the following param eters via the network Node address Baud rate LSS address These
22. LC coupling poss increased non linearity Bit 3 7 free 0 Bit 8 1 Operating range 1 out of range Bit 9 1 Operating range 1 underrun Bit 10 1 Operating range 1 underrun Bit 11 21 Operating range 2 out of range Bit 12 21 Operating range 2 underrun Bit 13 21 Operating range 2 underrun 12 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Communication profiles Industr A 6 1 4 Object 1005h COB ID SYNC COB ID for SYNC message The object defines the COB ID for the SYNC message The object furthermore specifies whether the device is a generator or receiver of SYNC objects 1005h VAR COB ID SYNC Unsigned 32 RW 0 Data content Bit 0 10 11 bit identifier default ID 80h Bit 11 29 0 reserved for 29 bit identifier devices Bit 30 0 device does not generate SYNC messages Bit 31 1 device is receiver for SYNC messages 6 1 5 Object 1008h Manufacturer device name Contains the manufacturer s device name 1008h VAR Manufacturer device name Vis string RO 0 Example RI360P0 QR24M0 CNX4 2H1150 6 1 6 Object 1009h Manufacturer hardware version Contains the manufacturer s version number 1009h VAR Manufacturer hardware version Vis string RO 0 Data content e g HW 12718801 in ASCII code Hardware version 127xxxxx incl change index A B 6 1 7 Object 100Ah M
23. Set scaling function to enable 1 32 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Default device parameters Industr A 6 4 4 Object 6003h Preset value The position value of the encoder is configured to this preset value This allows e g an endpoint alignment of the encoder with the machine endpoint 6003h VAR Preset value Unsigned32 RW 0 M Value range Ri360P0 QR24M0 CNX4 2H1 150 1 327680 Default settings 0 During the input of the preset value the device automatically checks whether the point is within the enabled scaling or the total measuring range otherwise the input will be rejected Example 1 Currently read measuring value 33 Preset value Write the value 0 to object 6003h Result offset The measuring value changes from 33 to 0 The endpoint is moved by 33 Example 2 Currently read measuring value 33 Preset value Write the value 50 to object 6003h Result offset The measuring value changes from 33 to 50 The endpoint is moved by 17 The offset value is calculated and stored additionally in object 0x6509 0x00 Offset value preset value position measuring value 6 4 5 Object 6004h Position value The encoder outputs the current position value poss after calculation with scaling factor 6004h VAR Position value Unsigned32 RO M Data 2 7 2 2 2 Byte 3
24. The password is 12345 dec resp 0x3039 30 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Default device parameters Industr A 6 4 Objects 6000h 6FFFh default device parameters 6 4 1 Object 6000h Operating parameters This object activates code sequence reversal diagnostics request scaling function 6000h VAR Operating parameters Unsigned16 RW M Data content Bit 0 Code sequence 0 Ascending when rotation is clockwise cw 1 Ascending when rotation is counter clockwise ccw Default Bit 0 Bit 1 free 0 Bit 2 Scaling function scaling configuration via object 6001 6002 0 disable sensor outputs raw data 1 enable see object 6001h 6002h Default Bit 1 NOTE H The scaling function is available only for Device Type 0 and 1 See Objects 2900h 0x03 and 2900h 0x04 Bit 3 12 free 0 Bit 13 Speed format 0 Revolutions minute RPM Default Bit 0 Bit 14 15 free 0 6 4 2 Object 6001h MUR Measuring Units per Revolution This parameter sets the desired resolution per revolution 6001h VAR Measuring units per revolution Unsigned32 RW M The encoder calculates the relevant scaling factor internally Prerequisite Scaling function bit 2 of object 6000h 1 Value range 1 max physical resolution full range RI360PO QR24MO CNX4 2H1150 327680
25. ach assembly aid for optimised align ment of the positioning element 9 Slide the positioning element onto the rotatable shaft ensure correct direction ality of the active surface see inscription on the side of the positioning element 4 Affix the clamping bracket using a hex key Remove the assembly aid 6 The protective aluminium unit and the shield plate SP1 OR24 can optionally be added Industr A A WARNING The positioning element is prone to detaching from its mounting position if assembled incorrectly Mortal danger due to possibility of parts ejected at speed Assembly instructions must be complied with Ensure the correct attachment of the positioning element tightening torque M 0 6 0 3 Nm C SP3 QR24 Proceed as follows if the positioning element is screwed onto a rotating machine part and not onto a shaft Insert the blind plug RA8 QR24 2 Affix the clamping bracket using a hex key Insert the optional SP3 QR24 shield plate 4 Affix the positioning element using three sunken head screws ensuring the correct directionality of the active surface see inscription on the side of the positioning element Mount the encoder depending on applica tion requirement 11 QR24 Encoder with CANopen interface Configuration 6 Configuration The wear resistant encoder with CANopen interface is ideally suited for use in mobile machinery and industrial a
26. anufacturer software version Contains the manufacturer s software version number 100Ah VAR Manufacturer software version Vis string RO 0 Data content e g SW 1 0 0 1 in ASCII code more turck com www turck com 2015 06 13 QR24 Encoder with CANopen interface Communication profiles 6 1 8 Object 1010h Store parameters Writing the command save initiates the storing of the parameters to the non volatile memory EEPROM 1010h ARRAY Store parameters Unsigned 32 RW 0 The following commands are stored with this command 1005h 1014h 1800h sub index 1 and 3 1802h sub index 1 2000h 2001h 2005h 6000h 6001h 6002h 6003h 6200h The command will only be executed when the string save is entered as the codeword in this sub index to prevent accidental saves NOTE H The values stored in EEPROM power ON values will be irretrievably overwritten with this command A read access to the CANopen device provides information about its capability to store these values Data 01h storage possible Data content Write access Byte 0 73h ASCII code for s Byte 1 61h ASCII code for a Byte 2 76h ASCII code for v Byte 3 65h ASCII code for e save 0x65766173 6 1 9 Object 1011h Restore default parameters This command deletes the parameters in the working memory and rep laces them with default values manufacturer values resetting of the encod
27. bled Default value 0 Sub index 2h Transmission type 255 dec see overview of transmission types Transmission type asynchronous Overview see object1800h Sub index 3h Inhibit time min waiting time until PDO can be sent again Default value 0h no inhibit time Value range 10 65530 corresponds to 1 ms 6553 ms NOTE i Only full millisecond values are stored In between values are rounded up Application of the values to the non volatile memory EEPROM via object 1010h Default value 0 Sub index 4h Assigned Sub index 5h Event timer Setting in object 6200h The value range for the timer is between 1 65535 x 1 ms 1 ms 65535 ms Event timer 0 gt no data output Default value 100gec NOTE A The number of possible messages is limited by the bus speed Minimum times for event timer are valid for the operation with one PDO Baud rate Messages ms Event timer min 1000 kBit s 7 8 1 ms 500 kBit s 3 9 1 ms 250 kBit s 1 9 1ms 125 kBit s 0 97 2ms 50 kBit s 0 39 3ms 20 kBit s 0 15 7ms 10 kBit s 0 07 15 ms 18 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Communication profiles Industri A 6 1 16 Object 1801h PDO2 parameters synchronous cyclic PDO2 Metering value output Position at SYNC request 80h The object contains the parameters for the process data object PDO 2 Via this service the process data
28. e Value range 10 65530 n corresponds to 1 ms 65535 ms NOTE i Only full millisecond values are stored In between values are rounded up Application of the values to the non volatile memory EEPROM via object 1010h Default value 0 Sub index 4h Assigned Sub index 5h Event timer Setting in object 6200h The value range for the timer is between 1 65535 x 1 ms 1 ms 65535 ms In transmission type 254 ge manufacturer asynchronous and event timer 0 the metering values will also be output cyclically and not only in case of a value change Default value 0 20 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Communication profiles Industr A Baud rate Messages ms Event timer min 1000 kBit s 7 8 1ms 500 kBit s 3 9 1ms 250 kBit s 1 9 1ms 125 kBit s 0 97 2ms 50 kBit s 0 39 3ms 20 kBit s 0 15 7ms 10 kBit s 0 07 15 ms 6 1 18 Object 1803h PDO4 parameters asynchronous PDO4 Metering value output Speed in set time cycles The object contains the parameters for the process data object PDO 4 Via this service the process data of the encoder is output asynchro nously triggered by the internal cycle timer prerequisite the cycle timer was set via object 6200h 1803h RECORD PD04 parameters PDO COMMPAR 20h RW M 0 Sub index Oh Number of supported sub indices Read only Value range 2 5 Sub index 1h COB
29. ed by the bus speed Minimum times for event timer are valid for the operation with one PDO This is also valid for SNC times more turck com www turck com 2015 06 19 QR24 Encoder with CANopen interface Communication profiles Baud rate Messages ms Event timer min 1000 kBit s 78 1ms 500 kBit s 3 9 1ms 250 kBit s 1 9 1ms 125 kBit s 0 97 2ms 50 kBit s 0 39 3ms 20 kBit s 0 15 7ms 10 kBit s 0 07 15 ms 6 1 17 Object 1802h PDO3 parameters asynchronous PDO3 Metering value output Position at value change The object contains the parameters for the process data object PDO3 Via this service the process data of the encoder is output in transmis sion type Manufacturer asynchronous when triggered by a change in the process value 1802h RECORD PD03 parameters PDO COMMPAR 20h RW M 0 Data content Sub index Oh Number of supported sub indices Read only Value range 2 5 Sub index 1h COB ID and release Bit 0 10 11 bit identifier default ID 380h node number Bit 11 29 0 reserved for 29 bit identifier devices Bit 30 0 RTR permitted cannot be modified Bit 31 0 PDO enabled 1 PDO disabled Default value 0 Sub index 2h Transmission type 254 dec see overview of transmission types Transmission type manufacturer asynchronous Overview see object 1800h Sub index 3h Inhibit time min waiting time until PDO can be sent again Default value Oh no inhibit tim
30. een 1 240 means that the PDO is sent synchronously or cyclic The transmission type number means the number of SYNC impulses required to send the PDOs Transmission type 252 and 253 mean that the PDO is only sent on request via RTR Type 254 means that the event is triggered application dependently while number 255 is device profile dependent Additionally a time controlled event timer can be implemented for the numbers 254 255 The value range for the timer is between 1ms 65535 ms Code dec Transmission type cydic acydic synchronous asynchronous only RTR 0 X X 1 240 X X 241 251 reserved 252 X X 253 X X 254 X 255 X not supported Meaning of the transmission type codes 0 1 240 241 251 252 253 254 255 22 Synchronous 0x00h after SYNC but only in case of value change after last SYNC Cyclic synchronous OxEF send value after SYNC Assigned Synchronous with RTR OxFC SYNCH leads to internal value storage but value must be called via RTR Asynchronous with RTR OXFD Value is updated and sent after RTR request Manufacturer asynchronous OxFE a Value is updated and sent after a value change if device timer 0 or after completion of cycle time device timer z 0 b Value is updated and sent after RTR request C Cyclic RTR output with event timer possible d Combination with inhibit timer inhibit time possible Asynchronous
31. ency message with the code 0x6100 with the following code class will be generated if the encoder has an internal software error 0x4000 only warning message no program abort 0x4810 Write buffer overflow TPDO message lost 0x4820 Write buffer overflow TPDO message lost 0x4830 Write buffer overflow SDO message lost 0x4840 Write buffer overflow heartbeat message lost 0x8000 Grave error abort required reset 0x8010 MCO initialisation failed 0x8021 Not in the CAN receipt filter NMT 0x8022 Not in the CAN receipt filter PDO 0x8023 Not in the CAN receipt filter SDO 0x8031 Initialisation of PDO parameters out of range 0x8032 Access to process image out of range 0x8041 Outside of TPDOs 0x8042 Outside of RPDOs 0x8043 No RPDO mapping found more turck com www turck com 2015 06 15 QR24 Encoder with CANopen interface Communication profiles 6 1 11 Object 1015h Inhibit time emergency The object defines the inhibit time for emergency messages This object specifies the pre configured inhibit time for the EMCY message The value is given in multiples of 100 us Select the value 0 to deactivate the inhibit time max 6553 ms 1015h VAR Inhibit time EMCY Unsigned 16 RW 0 Default value Ogec Value range 0 10 65530 corresponds to 1 ms 6553 ms i Only full millisecond values are stored In between values are rounded up 6 1 12 Object 1017h Producer heartbeat time
32. er to values at time of delivery A read access to the CANopen device provides information about its capability to restore these values Data 01h reset possible 1011h ARRAY Restore default parameters Unsigned 32 RW 0 Multiple parameter groups are distinguished Sub index 00h contains the highest supported sub index Sub index 01h Restore all parameters refers to all parameters than can be reset Sub index 02h Restore communication parameters refers to communication relevant parameters index from 1000h to 1FFFh Sub index 03h Restore application parameters refers to application relevant parameters index from 6000h to 9FFFh Example Restore all parameters Writing the command 0x64616F6C load under sub index 01h will reset all parameters in the encoder RAM to their default values A read access to the sub index offers information of whether a reset to default values is possible Data content Write access Read access Byte 0 6Ch ASCII code for I Bit 0 1 Device supports the loading of default values Byte 1 6Fh ASCII code for o Byte 2 61h ASCII code for a Bit 1 31 0 reserved Byte 3 64h ASCII code for d The default values become valid only after a NMT reset After a NMT reset the command Save parameter see object 1010h must also be executed if the default values are to be applied to EEPROM as well load 0x64616F6C 14 Hans Turck GmbH amp Co KG Tel 49 2
33. full range Default settings 36000 NOTE H The max physical resolution is a factory setting in object 6501h read only In object 6000h bit 2 Set scaling function to enable 1 more turck com www turck com 2015 06 31 QR24 Encoder with CANopen interface Default device parameters 6 4 3 Object 6001h TMR Total Measuring Range This object specifies the measuring range 6002h VAR Total measuring range Unsigned32 RW M Value range 1 max physical resolution full range RI360P0 OR24MO0 CNXA 2H1 150 327680 full range Default settings 36000 TMR MUR n n 1 2 3 applies if the encoder us used in single turn mode MUR Object 6001h TMR Object 6002h At a physical zero crossover a skip will occur in the source code in single turn mode after every rotation H NOTE In object 6000h bit 2 Set scaling function to enable 1 Example 1 Setting 6001h MUR 3600 value range 1 max phys resolution 6002h TMR 360 value range TMR MUR n n 1 2 3 Output One revolution is divided into 10 x 0 360 Example 2 Setting 6001h MUR 3600 6002h TMR 3600 Output One revolution is divided into 0 3600 Example 3 skip in the source code Setting 6001h MUR 3600 6002h TMR 3000 Output One revolution is divided into 0 3000 and 0 600 NOTE H The max physical resolution is a factory setting in object 6501h read only In object 6000h bit 2
34. hown RKC5701 5M RSC5701 5M RA1 QR24 RA2 QR24 RA3 QR24 RA4 QR24 RA5 QR24 RA6 QR24 RA7 QR24 MT QR24 N4 RA8 QR24 42 Description Adapter line for the connection of the sensor to CANopen female Adapter line for the connection of the sensor to CANopen male Adapter sleeve for connection on shafts with 20 mm Adapter sleeve for connection on shafts with 14 mm Adapter sleeve for connection on shafts with 12 mm Adapter sleeve for connection on shafts with 10 mm Adapter sleeve for connection on shafts with 6 mm Adapter sleeve for connection on shafts with 3 8 Adapter sleeve for connection on shafts with 1 4 Mounting aid for optimised alignment of positioning ele ment Blind plug for the assembly of the positioning element Set M2 QR24 M3 QR24 M4 QR24 Description M1 QR24 SP1 QR24 Shield plate 74 mm aluminium M1 QR24 SP2 QR24 Shield plate 74 mm with borehole for shaft feed through aluminium M1 QR24 SP3 QR24 Shield plate 0 52 mm aluminium Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Positioning element accessories 7 3 Positioning element A variety of positioning elements can be im plemented The positioning elements are connected to the moving parts of the machine but are themselves capable of free movement without any mechanical connection
35. imit Data 03h Position value gt high limit NOTE EH The two end value objects 6401h and 6402h must be checked to ensure the correct activation of the output signals These limit values are additionally stored in the object 0x1002 Manufacturer status register and can therefore also be mapped as PDO 6 4 10 Objects 6401h and 6402h Working area limits These two parameters set the working area The status can be reported via flag bytes within and outside of this area object 6400 Working area state These area markers can also be used as software end switches 6401h 02h VAR Working area limits H L Integer32 RW 0 Object 6401h Working area LOW limit 2 values Object 6402h Working area HIGH limit 2 values Value ranges Ri360PO QR24M0 CNX4 2H1 150 0 327680 dec full range more turck com www turck com 2015 06 35 QR24 Encoder with CANopen interface Default device parameters Default setting Working area LOW limit 0 dec Working area HIGH limit 0 dec Example 1 Set measuring range to 3600 using 6001h and 6002h Limit values range 1 0 3600 range 2 0 3600 i e all measuring values 0 3600 must be in the range 0x01 gt 1 channel 0x09 gt 0000 1001 gt values in range 1 and range 2 see 6400h 0x6400 0x00 0x6400 0x01 0x6401 0x00 0x02 0x6401 0x01 0 low limit 1 0x6401 0x02 0 low limit 2 0x6402 0x00 0x02 0x6402 0x01 3600 high limit 1 0x640
36. level out if the values selected for the filter constant are very high higher than 50 6 3 7 Object 2110h Customer memory The start up mode of the encoder is specified via this object 2110h VAR Customer memory Unsigned32 RW M 0x2110 0x01 0x04 Customer memory range Four number values can be stored here in the range unsigned 32 The stored data is informal and have no impact on the function of the encoder eg Installation date 2014 11111011110b 6 3 8 Object 2200h Sensor Amplitude Manufacturer The access on the actually sensor amplitude resonant circuit coupling is possible via this object 2200h VAR Sensor Amplitude Unsigned16 RO M 0x2200 0x00 The value should be min 1200dec Can be mapped via PDO Not available in the EDS file NOTE H A password is necessary to change the object Service pass code object 0x2900 0x01 Unsigned32 The password is 12345 dec resp 0x3039 6 3 9 Objekt 2201h Target Frequence Deviation Manufacturer The access on the actually frequency deviation of the resonant circuit is possible via this object 2201h VAR Target Frequence Deviation Integer16 RO M 0x2201 0x00 The value of 9375dec should not be exceeded underrun Can be mapped via PDO Not available in the EDS file NOTE A A password is necessary to change the object Service pass code object 0x2900 0x01 Unsigned32
37. munication parameters of the encoder are configured via object 1802h communication parameter These include COB ID trans mission type inhibit time event time 0x1800 TxPDO1 Communication Parameter E 0x1801 TxPDO2 Communication Parameter F 0x1802 TxPDO3 Communication Parameter Qx00 NrOfEntries x01 COB ID J 0x02 Transmission Type 3 j x03 Inhibit Time x05 Event Timer B Current metering values are stored in object 6030h sub index 01h only E Standardized Device Profile 0x6000 Operating Parameters 06001 Measuring Units Revolution 06002 Total Measuring Range 0x6003 Preset Value 0x6004 Position Value Qx00 Number of Channels Jj 0x01 Speed Value 1 u C The mapping is stored in object 1A02h sub index 01h E Qx1A00 TPDO1 Mapping E Qx1A01 TPDO2 Mapping Qx1A02 TPDO3 Mapping I x00 NrOfEntries 3j 0x01 3 Mapped Object 26 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Variable PDO mapping The mapping consists of the following Mapping TPDO3 Speed Object 6030h Sub index of the object 01h Data length 10h 16 bit Mapping 0x60300110 The value 0x60300110 is entered in the object 0x1A02 Ox01 0x1010 0x01 Save parameters data 0x65766173 PWR on reset required 6 2 6 Default setting for transmit PDO settings The CANopen encoder supports variable mapping on all transmit PDOs Industr A
38. n assignments essssssssnsessssonesnnensssonsnnssnsnsnnssnssnnnsnsnsnennnsnnee 4 6 Terminating resistor AE eene 5 Assembly eset E 6 Configulablohl ae HO EH A FH HR ERA DHL ERE REPE KHU 6 1 Objects 1000h IFFFh communication profiles 6 2 Variables PDO mapping ssicscscessccasscscsssessececccssscsesssnsreesetesessasctsessseseececerans 6 3 Objects 2000h 2FFFh manufacturer specifications 6 4 Objects 6000h 6FFFh default device parameters eese GS LSS services DS 30320 40 6 6 Network management en 41 7 Accessories assembly accessories and position elements esee 42 8 Technical information au c 44 9 SEVERIN Ra 45 10 Beben 45 Tl E D a a E A EE A EE E A 45 22899 M 45 more turck com www turck com 2015 06 3 QR24 Encoder with CANopen interface General information 1 About this manual This manual describes the setup the functions and use of the product and helps you to operate the product for its intended use Read these instructions carefully prior to using the product This will prevent the risk of personal injury and damage to property Keep these instructions safely during the service life of the product If the product is passed on pass on these instructions as well 1 1 Target groups This document is written for specially trained personnel and must be read carefull
39. netic metering principles The sensor contains emitter and receiver coil systems in the form of PCB coils The emitter coils are energised in a high frequency alternating field and consummate an inductive RLC coupling in conjunction with the positioning element the so called resonator As a result the positioning element is also inductively coupled with the receiver coils to pinpoint its exact position 4 3 Delivery condition At the time of delivery the sensor comes with the following basic default settings Node ID 0x03 Baud rate 125 kHz Internal terminating resistor deactivated TPDO1 event time 100 ms TPDO1 activated TPDO asynchronous mode 4 4 Display elements 67 CAN IN ERR RUN PWR SIG CAN OUT Fig 2 LED arrangement The encoder comes with an LED status display for the following states PWRLED Colour Status Status Description OFF No operating voltage The device is not ready Green Operating voltage OK The device is ready NOTE H The PWR LED will respond at as little as 5 V and is therefore not an indicator for having reached the operating voltage of 10 30 V 8 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Product description Industr A Run LED Colour Status Status Description Green flashing LSS status The device is in LSS operation intermittently flashing E
40. nloads Dekontamination_de pdf must be filled out completely and must be attached to the exterior of the packaging in a transport safe and weather proof sleeve 12 Disposal This device is intended for integration in large industrial plants and tool assemblies The devices must be disposed of correctly and cannot be disposed of in regular household waste more turck com www turck com 2015 06 45 uP ERCZE Industrial Automation Hans Turck GmbH amp Co KG Witzlebenstr 7 45472 M lheim an der Ruhr Germany Your Tel 49 0 208 4952 0 u Fax 49 0 208 4952 264 il k Automation Partner an Worldwide D102186 2015 06 Errors and changes reserved
41. nsmitted automatically the position value must change by at least 10 if the value is set to 10 NOTE H The PDO function Transmit when angle changes transmission type 254 dec must be enabled Configure the desired PDOs as follows Object 0x1800ff sub index 0x02 Data OxFE Manufacturer 6 3 6 Object 2106h Filter configuration Two filter types can be selected for filtering metering values A configurable low pass filter and a configurable dynamic filter 2106h VAR Filter configuration Unsigned8 RW M At standstill motion detection the filter is operated with a low threshold frequency high group delay allowing for minimal signal noise at high resolution A low pass filter moving average is a first order type The dynamic digital filter is status and speed dependent The filter constant can be set in object 2106h sub index 0x02 A switchover to a high threshold frequency occurs low group delay when the position ing element is moved more turck com www turck com 2015 06 29 QR24 Encoder with CANopen interface Manufacturer specifications The filters can be selected as follows Object 0x2106 sub index 0x01 Data 0 Filter OFF 1 Low pass filter ON 2 Dynamic IIR filter ON Configuring the filter constant The setting applies for both filter types Object 0x2106 sub index 0x02 Data 1 255 Default 20 It will take several seconds for the current metering value to
42. our Unsigned 8 RW 0 Error classes 0x1029 sub index1 communication error Default 1 2 sensor does not change mode Bus OFF status Heartbeat monitoring failed 0x1029 sub index 2 device profile specific Default 1 2 sensor does not change mode Error positioning element No RLC coupling 0x1029 sub index 3 manufacturer specific Default 1 2 sensor does not change mode NV RAM EEPROM error System monitoring error Value range 8 bit unsigned 0 sensor changes to pre operational mode 1 sensor does not change mode 2 sensor changes to stopped mode more turck com www turck com 2015 06 17 QR24 Encoder with CANopen interface Communication profiles 6 1 15 Object 1800h PDO1 Parameter asynchronous PDO1 Metering value output Position in set time cycles The object contains the parameter for the process data object PDO1 Via this service the process data of the encoder is output asynchro nously triggered by the internal cycle timer prerequisite the cycle timer was set via object 6200h 1800h RECORD PDO1 parameter PDO COMMPAR 20h RW M 0 Data content Sub index Oh Number of supported sub indices Read only Value range 2 5 Sub index 1h COB ID and release Bit 0 10 11 bit identifier default ID 180h node number Bit 11 29 0 reserved for 29 bit identifier devices Bit 30 0 RTR permitted cannot be modified Bit 31 0 PDO enabled 1 PDO disa
43. pplication objects position speed can be transmitted in one PDO The max data length is 64 bit 1A00h RECORD PDO1 mapping parameter PDO MAPPING 21h RW M 0 Data content Sub index Oh Number of supported sub indices Read only Value range 1 4 Sub index 1h 1_mapped_object default 0x60040020 position value Example Mapping TPDO1 position value Object 6004h Sub index of the object 00h Data length 20h 32 bit The value 0x60040020 is entered in the object 0x1A00 0x01 0x1010 0x01 Save parameters data 0x6576617 PWR on reset required Sub index 2h 2 mapped object default no entry Sub index 3h 3 mapped object default no entry Sub index 4h 4 mapped object default no entry 24 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Variable PDO mapping Industr A 6 2 2 Object 1A01h PDO2 mapped object Up to four application objects position speed can be transmitted in one PDO The max data length is 64 bit 1A01h RECORD PDO2 mapping parameter PDO MAPPING 21h RW M 0 Data content Sub index Oh Number of supported sub indices Read only Value range 1 4 Sub index 1h 1_mapped_object default 0x60040020 position value Sub index 2h 2_mapped_object default no entry Sub index 3h 3_mapped_object default no entry Sub index 4h 4_mapped_object default no entry 6 2 3
44. pplications Short laten cies and cyclic event controlled communication are only two ofthe many advantages ofthe CANopen protocol which is often used in this area of application A particular highlight is the software controlled bus activated terminating resistor 6 1 Objects 1000h 1FFFh communication profiles 6 1 1 Object 1000h Device type This object specifies the device type 1000h VAR Device type Unsigned 32 RO M Device profile number Encoder type Byte 0 LSB Byte 1 Byte 2 Byte 3 MSB 96h 01h 01h absolute encoder single turn 00h 02h absolute encoder multi turn 196h 406 decimal encoder profile Example 0001 0196h profile DS406 absolute encoder single turn 6 1 2 Object 1001h Error Register This register displays occurring device errors 1001h VAR Error register Unsigned 8 RO M Bit 0 0 no error Bit 0 1 Error No RLC coupling actuator not in range Bit 1 7 free 6 1 3 Object 1002h Manufacturer status register This register stores various error bits and the current status of the set limit values from object 6400h The limit values are additionally stored in object 6401h and object 6402h 1002h VAR Manufacturer status register Unsigned 32 RO M Data content object 1002h Bit 0 1 EEPROM error Bit 1 1 No RLC coupling no resonator in range no angle calculation possible Bit 2 1 Minor R
45. ree Bit 15 1 Amplitude RLC coupling weak but measuring value OK 6 4 17 Object 6506h Supported warnings read only This object offers information about which warning messages are supported by the encoder see object 6505h 6506h VAR Supported warnings Unsigned16 RO WO Data content Bit 0 5 free Bit 6 12 Warning message Overspeed is supported Bit 7 14 free Bit 15 12 Warning message RLC coupling weak is supported 38 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Default device parameters Industr A 6 4 18 Object 6507h Profile and software version read only The first 16 bit contain the version number of the encoder profile applied The second 16 bit contain the number of the software version implemented in the encoder 6507h VAR Profile and software version Unsigned32 RO WO Software version Example 1 2 3 4 Profile version The version of the CiA DS 406 profile is stored Data content Software version DS406 version Byte 3 Byte 2 Byte 1 Byte 0 231 224 223 216 275 28 27 29 Example CIA DS406 version 3 2 3gec_2dec 03h_02h Software version 1 0 0 1 10gec_O1gec OAH_O1h Byte 3 Byte 2 Byte 1 Byte 0 OAh 01h 03h 02h more turck com www turck com 2015 06 39 QR24 Encoder with CANopen interface
46. rror LED On short green flash Stopped Data transfer was stopped Green flashing Pre operational The data transfer is in preparation Green Operational The device is ready Sig LED Colour Status Status Description OFF Data signal OK The device is functioning correctly Yellow Data signal is weak but valid The device is working with reduced accu racy Green No data signal The device is not functioning Error LED ERR Colour Status Status Description OFF No error The device is functioning correctly Red flashing LSS status The device is in LSS operation intermittently flashing RUN LED Two short red flashes Guard event occurrence A guard event NMT slave or master or heartbeat event has occurred Three short flashes SYNC error The SYNC message was not received within the preconfigured cycle time see also ob ject 0x1006 Red Bus deactivated The CAN controller was deactivated by the bus more turck com www turck com 2015 06 QR24 Encoder with CANopen interface Connection assignment 4 5 Connection assignment The sensor comes equipped with a CAN input connection and a CAN output connection in accordance with CiA DR 303 1 Plug connector M12 x 1 Pin Signal Assignment CAN IN 2 2 1 CAN_SHLD Shield 4 5 2 CAN V4 Supply voltage 24 VDC CAN OUT 3 CAN GND GND O V V 2 o 2 1109013 4 CAN H CAN H
47. s COB ID XXXXXXXX COB ID XXXXXXXX 1800h 0x01 1801h 0x01 Transmission type 255 asynchronous Transmission type 254 synchronous 1800h 0x02 1801h 0x02 Inhibit time 0 Inhibit time 0 1800h 0x03 1801h 0x03 Event time 100 Event time 0 1800h 0x05 1801h 0x05 Mapping object1 Position value Mapping object1 Position value 1A00h 0x01 32 bit 1A01h 0x01 32 bit Mapping object 2 Position raw value 32 bit Mapping object 2 Speed value 1A00h 0x02 1A01h 0x02 16 bit Mapping object 3 No entry as 64 bits assigned Mapping object 3 Alarms 1A00h 0x03 1A01h 0x03 16 bit Mapping object 4 1A00h 0x04 No entry as 64 bits assigned Mapping object 4 1A01h 0x04 No entry as 64 bits assigned more turck com www turck com 2015 06 23 QR24 Encoder with CANopen interface Variable PDO mapping Sample entry in the mapping table The mapped PDO consists of 3 application object entries with varying lengths Object Dictionary woah DEE LL NENNEN EEE EM BEI EEE Application Object 2 IE DE E EN NE 7 PDO Appl Obj 2 Application Object 3 Appl Obj 1 Application object 2 occupies byte 1 08h in the transmission PDO Application object 3 with a length of 16 bit 10h 2 byte follows and then comes application object 1 with 1 byte length Overall 32 bit are assigned in this PDO 6 2 1 Object 1A00h PDO1 mapped object Up to four a
48. to the sensor across the active surface of the sen sor more turck com www turck com 2015 06 Dimension drawing Type 020 P1 Ri QR24 0 P2 Ri QR24 P3 Ri QR24 P4 Ri QR24 P5 Ri QR24 3 2 9052 942 P6 Ri QR24 P7 Ri QR24 P8 Ri QR24 3 2 52 42 Industr A Description Positioning element for connec tion on shafts with 20 mm Positioning element for connec tion on shafts with 14 mm Positioning element for connec tion on shafts with 12 mm Positioning element for connec tion on shafts with 10 mm Positioning element for connec tion on shafts with 6 mm Positioning element for connec tion on shafts with 3 8 Positioning element for connec tion on shafts with 1 4 Positioning element with blind plug 43 QR24 Encoder with CANopen interface Technical data 8 Technical data Connection diagram CAN IN CAN OUT 2 o 3 1 1 000 3 4 5 5 4 Measuring range specifications Measuring range 0 360 Single turn operation System Resolution 16 bit Repeatability 0 01 Linearity deviation lt 0 05 96 full scale Temperature drift lt 0 003 K Ambient temperature 25 85 C Electrical data Operating voltage 15 30 VDC Residual ripple 10 96 U Rated insulation voltage lt 0 5 kV Reverse polarity protection yes voltage supply Output function 5 core CANopen Process data area parametrisable Sampling rate 800 Hz
49. used for the protection of persons or property 3 3 General safety instructions The device must only be fitted installed operated and maintained by trained and qualified personnel 6 Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface For your safety Industr A 4 Product description The encoder measures turning angles across a 360 angle range All parameters are stored in the internal parameter memory Features 360 angle sensor High resolution and accuracy CANopen interface in compliance with CiA DS 301 device profile CiA 406 3 1 Baud rates between 10 kbps and 1 Mbps Sampling rate of typ 1 kHz Functions One TPDO RTR cyclic event controlled synchronised SYNC consumer synchronised transmission of TPDO after receipt of SYNC telegram Failure monitoring via heartbeat or node guarding life guarding Freely configurable limit frequency digital filter Robust easy to assemble plastic housing Suitable for industrial applications Temperature range 25 85 C Housing protection type IP68 IP69K 4 1 Device view Fig 1 Device view more turck com www turck com 2015 06 7 QR24 Encoder with CANopen interface Product description 4 2 Function principle The metering principle of the encoders is based on the inductive RLC coupling which offers significant advantages in comparison with optical or mag
50. y by anyone who is charged with the mounting commis sioning operation maintenance disassembly or disposal of the device 1 2 Explanation of symbols The following symbols are used in this manual WARNING A WARNING denotes a possibly hazardous situation with medium risk which could result in fatality or severe injury if not prevented NOTE i In connection with WARNING you will find tips recommendations and important information These notes will simplify your work contain information about specific steps to be taken and help prevent additional work due to incorrect procedures 1 3 Other documents You will find the following supporting documentation in addition to this document online at www turck com Data sheet 1 4 Feedback on this manual We make every effort to ensure that these instructions are as informative and as clear as possible If you have any suggestions for improv ing the design or if some information is missing in the document please send your suggestions to techdoc turck com A Hans Turck GmbH amp Co KG Tel 49 208 4952 0 Fax 49 208 4952 264 QR24 Encoder with CANopen interface Notes on the product 2 Notes on the product 2 1 Product identification type key Ri 360 P1 QR24 MO CN X4 2 H1 1 5 0 Industr A Housing style QR24 360 360 Operating principle
Download Pdf Manuals
Related Search