CANOPEN USER MANUAL
Contents
1. Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 F 433 0 3 88 20 87 87 IDEACOD Ge Mail i ae e F 67013 Grasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 4 5 2 Programming example Limit switch min Target Absolute rotary encoder with limit switch min Limit switch ma position X 1000h is equivalent to 4096 d Node number NN 1 Master to Absolute Rotary Encoder Set Parameter FC NN Command Index Subindex Service Processdata SDO tx Download 2104h Byte 4 Byte 5 Byte 6 Byte 7 1100b Old 22 04 21 00 00 10 00 00 X desired maximum value Absolute Rotary Encoderto MasterConfimation FC NN Command Index Subindex Service Processdata SDO rx Download 2104h Byte 4 Byte 5 Byte 6 Byte 7 1011b Old 60 04 21 00 00 00 00 00 4 5 3 Limit switch max CMS Index Default value Va lue range Data length SDO 2105h Oh Oh total Unsigned32 resolution The limit switch max sets Bit 31 1 with the next message telegram if the process value reaches or passes over the value of the limit switch Function Statusbits Process value Bit 31 302928 27 26 2524 23222120191817161514 131211109 87 065432 1 0 1 10 10 10 10 10 10 X X X X X IX IX IX X X X X X X X X X JX X IX X X X X X General parameter description Master to Absolute Rotary Encoder Set Pa ra meter FC NN2. 20 4 2 1 Programming example Resolution per i3 mm 21 4 3 Total resolution 21 4 3 1 Programming example Total resolution 23 4 4 Preset Value ENEE 24 4 4 1 Programming example Preset value 24 4 5 Limit Switch Min and Max 25 4 5 1 Limit switch Min 25 Page 2 Version 2 2 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 433 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com CANOPEN USER MANUAL 1 Introduction This manual describes the implementing and configuration of an absolute rotary encoder with CANopen interface The device fullfills the requirements of a CANopen device regarding the device specification DS406 of the CANopen user group 1 1 Absolute rotary encoder The basic principle of an absolute rotary encoder is the optical sampling of a transparent code disc which is fixed with the driving shaft The absolute rotary encoder has a maximum resolution of 65536 steps per revolution 16 Bit The Multi Tum version can detect up to 16384 revolutions 14 Bit Therefore the largest resulting resolution is 30 Bit 230 1 073 741 824 steps The standard Single Tum version has 12 Bit the standard Multi Tum version 24 Bit Open functions The following modes can be programmed and enabled or disabled Polled Mode Cyclic Mode
3. 4 8 5 Polled Mode By a remote transmission request telegram the connected host calls off the current process value The absolute rotary encoder reads the current position value calculates eventually set parameters and sends back the obtained process value by the same COBID The PDO rx with the function code 0011 is used from the encoder to transmit the position value This kind of Transmission mode must only be used in status operational CMS Remote Transmission Request Bit RTR Datenlange PDO 1 0 Page 32 Version 2 2 BE IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 433 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 4 9 Memory Transfer The parameter settings can be stored in a non volatile Flash EPROM The parameter settings are stored in RAM when being programmed because of the limited number of bum cycles of the Flash EEPROM 1 000 When all the parameters are set and proved they can be transferred in one bum cycle to the Flash EEPROM by the parameter memory transfer The stored parameters are copied after a RESET Power on NMTReset from the Flash EPROM to the RAM volatile memory Attention The operating mode SYNC or CYCLIC is not saved in the encoder After a reset orpowerup the cyclic mode is always started as standard To switch off th
4. Fax 33 0 3 88 20 87 87 9 IDEACOD gon SOBRE Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL Accessories and documentation Description Reducing adapter 15 mm to 12 mm Reducing adapter 15 mm to 10 mm Reducing adapter 15 mm to 8 mm RR8 only for hollow shaft Nota The ESD can be downloaded free of charge from our Homepage www bei ideacod com We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice Version 2 2 Page 41 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 433 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD Ge Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 7 Appendix 7 1 History encoder generations This chapter gives you informations about older types of absolute rotary encoder with CANopen interface Technical changes and compatibillities between the different types are specified 7 1 1 Encodergeneration The new generation of MHM5 MHK5 is now delivered The housing legths and additional flange drilings are the mechanical changes of the new generation The entry resolution per revolution in the object dictionary is modified and depends on the physical revolution of the device The data length is unsigned 16 bit for a resolution per revolution of 15 bit and unsigned 32 bit fora physical revolution of 1
5. Sync Mode The protocol supports the programming of the following additional functions Code sequence Complement Resolution per revolution Total revolutions Preset value Two limit switches Baudrate Node number velocity The general use of absolute rotary encoders with CAN Bus interface using the CAN Open protocol isguaranteed 1 2 CANopen technology CAN stands for Controller Area Network and was developed by the company Bosch for applications within the automobile area In the meantime CAN has become increasingly used for industrial applications CAN is a multi masterable system ie all users can accessthe busat any time aslong as it is free CAN doesn t operate with addresses but with message identifiers Accessto the bus is performed according to the CSMA CA principle camer sense multiple access with collision avoidance i e each user listens if the bus is free and if so is allowed to send messages If two users attempt to access the bus simultaneously the one with the highest priority lowest identifier receives the permission to send Users with lower priority interrupt their data transfer and will access the bus when it is free again Messages can be received by every participant Controlled by an acceptance filter the participant accepts only messagesthat are intended for it CANopen Transmission Technology Two core cable Baud rates 20 kBaud up to 1 MBaud Participants maximum 127
6. Command Index Subindex Servic e Proc ess data SDO tx Download 2105h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d 22 05 21 00 X X X X X desired maximum value After a successful transmission the encoder answered with the following confirmation telegram Page 26 Version 2 2 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD 9 rue de Copenhague Mail B P 70044 Schiltigheim info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL FC NN Command Index Subindex Service Process data SDO rx Download 2105h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 05 21 00 00 00 00 00 4 5 4 Programming example Limit switch Max Target Absolute rotary encoder with limit switch max Limit switch ma position X 5000h Node number NN 1 Master to Absolute Rotary EncoderSet Parameter FC NN Command Index Subindex Servic e Process data SDO tx Download 2105h Byte 4 Byte 5 Byte 6 Byte 7 1100b Old 22 05 21 00 00 50 00 00 X desired maximum value Absolute Rotary Encoderto MasterConfimation FC NN Command Index Subindex Servic e Process data SDO rx Download 2105h Byte 4 Byte 5 Byte 6 Byte 7 1011b Old 60 05 21 00 00 00 00 00 4 6 Changing the node number CMS Index Defaultvalue Value range Data length SDO 3000h 20h Oh 89h Unsigne
7. FC NN Command Index Subindex Service Processdata SDO m Download 3000h Byte 4 Byte 5 Byte 6 Byte 7 1011b 32d 60 00 30 00 00 00 00 00 Page 28 Version 2 2 BE IDEACOD SAS Espace Europ en de l Entreprise Tel 33 0 3 88 20 80 80 IDEACOD 9 ue de Copenhague Mal ambbberdestod ciii F 67013 Dee aks Web www bei ideacod com CANOPEN USER MANUAL 4 7 Adjusting the baudrate CMS Index Defaultvalue Value range Data length SDO 3001h 20h Oh 8h Unsigned 8 General parameter description FC NN Command Index Subindex Service Processdata SDO b Download 3001h Byte4 Byte 5 Byte 6 Byte 7 1100 b 1 90 d 22 00 31 00 X 00 00 00 X 3 Bit to adjust the Baudrate After successful transmission the encoder answered with the following telegram FC NN Command Index Subindex Service Processdata soi Download _ 3001h 1011 b Eigth different baud rates are provided To adjust the baudrate only one byte is used Adjusting Baudrate Ba udrate in kBit s 20 50 100 125 250 500 800 1000 Tab 11 Bit assignment for baudrate adjustment Version 2 2 Page 29 BEI IDEACOD SAS A v A T l 33 0 3 88 20 80 80 ace Europ en de l Entreprise IDEACOD dn dS Copenhague P Fax 33 0 3 88 20 87 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www beiideacod com CANOPEN USER MANUAL The changing of the baudrate is confirmed by the encoder but is only sav
8. i Tab l6 ordering Key ET 7 3 list of figures FIG CONME CUO M C AD INS eee LEE 7 Fig 2 Ca Rn WEE 8 Fo Connection cap DUSINANG DOS EE 8 Fig4 Cable ee 8 Fig 5 Bac kde CONNECTION CAP EE 10 Version 2 2 Page 45
9. 3 88 20 87 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www beiideacod com CANOPEN USER MANUAL 4 5 Limit Switch Min and Max Two position values can be programmed as Bit30 1 Limit Switch Min reached or limit switches By reaching these values one bit passed under of the 32 bit process value is set to high Both Bit 31 1 Limit Switch Max reached or programmed values must not exceed the passed beyond parameter total resolution to avoid run time errors 4 5 1 Limit switch Min CMS Index Default value Va lue range Data length SDO 2104h Oh Oh total Unsigned32 resolution The limit switch Min sets Bit 30 1 with the next message telegram if the process value reaches or passes under the value of the limit switch Function Statusbits Process value Bit 31 30292827 26 2524232221 201918 17161514131211109 8706543211 0 0 1 10 10 10 10 0 X X X X X X X X X X X X X X X X X X X X X X X IX X General parameter description Masterto Absolute Rotary Encoder Set Parameter Byte 7 1100b 1 90 d 22 04 21 00 X X X X X desired minimum value After a successful transmission the encoder answered with the following confirmation telegram 1011b 1 90d 04 21 00 00 00 00 00 Version 2 2 Page 25 BEI IDEACOD SAS
10. 40 85 C 40 85 C 98 96 without liquid state Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Storage temperature Humidity Protection class EN 60529 Tab 12 Environmantal conditions Cable exit 30 70 C static 5 70 C flexing 5 3 Mechanical Drawings B flange Blind shaft Single Turn 100 Multi Turn 112 3 3 i 1 3 d IN 2 wo S d o N Gel 9 o 2298 S9 bs E Edelstahl Stainless steel 552 S2ip C c G lt amp 2 Max W 30 Min W 2 15 AER Welleneinstecktiefe hollow shaft depth Schl sselweite wrench size 17 Page 36 Version 2 2 BEI IDEACOD SAS f T l 433 0 3 88 20 80 80 E de l Enti Geen Fax 33 0 3 88 2087 87 IDEACOD 9 rue de Copenhague Mail info bei ideacod com B P 70044 Sc hiltigheim E F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL Mounting instructions hollow shaft tightened if the shaft of the driving element are listed in the table element isin the hollow shaft The diameter of the hollow shaft can be reduced to 12mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft dynamic i The clamp ring may only be Allowed shaft movements of the drive C flange Clampflange 30 Single Turn 82 Multi Turn 92 A 30 058 53 236 7 St 10re Edelstahl Stainless steel 15 Q6 5 9
11. Cable Length 30 m for 1 MBaud 5000 m for 20 kBa ud The data communication is done via message telegrams In general telegrams can be split in a COB Identifier and up to 8 following bytes The COB ldentifier which determines the priority of the message is Version 2 2 Page 3 BEI IDEAC OD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com IDEACOD CANOPEN USER MANUAL made from the function code and the node number The node number is uniquely assgned to each user With a D I IDEACOD rotary encoder this number is assigned with by numerical coded tum switches in the connection cap The function code varies according to the type of message transmitted Administrative messages LMT NMT Service data objects SDO s Processdata Objects PDO s pre defined messages synchronization emergency messages PDOs Process Data Objects are needed for real time data exchange Since this messages possess a high priority the function code and therefore the identifier are low SDOs service data objects are necessary for the bus node configuration e g transfer of device parameters Because these message telegrams are tranfemed acyclicly usually only while powering up the network the priority is low BE IDEACOD rotary encoders with CA
12. can only be used Baudrate in BCD coded rotary switches once 2 LEDs on the backside of the kBit s connection cap show the operating status of 20 0 the encoder 50 1 The CANopen Encoder adds 100 2 intemal 1 to the adjusted device 125 3 250 4 address 500 5 800 6 1000 7 2 2 1 Setting of the node number reserved 8 9 The setting of the node numberis achieved by Tab 2 Assignment baudrate and tum switch two tum switches in the connection cap The customer can easily remove the connection cap for installation by removing two screws at the backside of the encoder Protocol Definition via BCD address switches Device address 97 Automatic protocol selection according to kind of connection cap Device address 98 Protocol selection according to DS301 V3 Device address 99 Protocol selection according to DS301 V4 x10 Sch x1 x10 Tab 1 Protocol definition via BCD tum switc hes Version 2 2 Page 9 BEI IDEACOD SAS e T l 33 0 3 88 20 80 80 E de l Ent pace umpeen ce EUUEBISS Fax 33 0 3 88 20 87 87 IDEACOD Sue de Copenhague Mail info beiideacod com B P 70044 Sc hiltigheim Ge F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 2 4 Meaning of the LEDs in the connection cap Fig 5 Backside connection cap Er Sta Meaning Green LED Green LED off No power supply off Encoderis ready Boot Up message not sent no further device on network wrong baud rat
13. proe _ 80 2 Schl sselweite wrench size 17 Version 2 2 Page 37 l 33 0 3 88 20 80 80 BEI IDEACOD SAS T ace Europ en de l Entreprise eei ned E Fax 33 0 3 88 2087 87 g Mail info bei ideacod com IDEACOD B P 70044 Schiltigheim ES Web www bei ideacod com F 67013 Strasbourg Cedex CANOPEN USER MANUAL S flange Sync hroflange Single Turn 82 Multi Turn 92 TE 3xM4x6 i Pod i o o amp l g 8 15 06 5 9 Edelstahl Stainless steel 20 A 20 Schl sselweite wrench size 17 Connection cap with dot matrix display 66 Version 2 2 Page 38 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex CANOPEN USER MANUAL Installation hints Both the cable shielding and the metal housings of encoders and subsequent electronics have a shielding function The housing must have the same potential and be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line Potential compensating lines should have a minimum cross section of 6 mm2 Do not lay signal cable in the direct vicinity of interference sources air clearance gt 100 mm 4 in A minimum spacing of 200 mm 8 in to inductors is usually required for example in switch mode power supplies Configure the signal lines for minimum length and avo
14. the sheat 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 underthe shielding according to the figure 3 Put the whole cable into the cable Fig 3 Connection cap bus in and bus out gland and tighten the screw 2 1 3 Bus Termination If the encoder is connected at the end or beginning of the bus the termination resistor i ee must be switched on The termination resistor is 5mm L 5mm switched on when the switch is in the ON position Fig 4 Cable preparation Separation of Bus In and Bus Out signals if termination resistor is activated There is a resistor provided in the connection cap which must be used asa line termination on the last device Fig 2 Cable connection Resistor RT RT ON amp ON m Last Device Device X Page 8 Version 2 2 BEI IDEACOD SAS P Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 433 0 3 88 20 87 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www beiideacod com CANOPEN USER MANUAL 2 2 Bus address 2 3 Setting of the baudrate The adjusting of the baudrate is achieved by The setting of the node number is achieved one tum switch in the connection cap The tum switches in the connection cap Possible following baudratesare possible valid addresses lie between O and 89 whereby every address
15. 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD Ge Mail info bei ideacod com F 67013 Strasbourg Cedex Web www be ideacod com CANOPEN USER MANUAL 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 plate of the encoder CMS Index Default value Value range Data length SDO 2102h Oh 4 000 000h Unsigned32 referto type plate of encoder Attention Following formula letter will be used PGA Physical total resolution of the encoder see type shield PAU Physical resolution per revolution see type shield GA Total resolution customer parameter AU Resolution per revolution customer parameter 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 asfollows PGA AU Total resolution GA Fig 6 Calculation formula for AU x PAU PAU total resolution Calculation example Customer handicap AU 2048 TE 16777216 2048 Encodertype shield 4096 PG A 24 bit PAU 12bit GA 8388608 Page 22 Version 2 2 BEI IDEACOD SAS P Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPE
16. 513 639 PDO rx 23 PDO tx 769 895 3 4 SDO n 1409 1535 6 SDO tx 1100 1537 1663 6 7 Tab 4 Overview priority of the CANopen objects Priority 0 highest priority 7 lowest priority Page 12 Version 2 2 BE IDEACOD SAS P T l 33 0 3 88 20 80 80 IDEACOD E m Fax 433 0 388 20 87 87 BP 70044 Sc hiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 3 1 2 The Command Byte The command byte contents the kind of The Request Telegram is used by the masterto telegram which is sent across the CAN read back stored parameters from a node network One divides three kinds of telegrams a Set Parameter Telegram Domain Wamings are sent by the absolute rotary Download a Request Telegram Domain encoder to the master if a sent telegram Upload and Wamings cannot be processed accordingly The Set Parameter Telegram is used to send parameter data to the encoder node for configuration Command Function Telegram Description 22h Domain Download Parameter to encoder 60h Domain Download Confirmation Parameter rec eived 40h Domain Upload Request Parameterrequest 43h 4Bh 4Fh Domain Upload Reply Parameterto Master 80h Waming Reply Transmission enor Tab 5Command description The value of the command byte dependson the data length of the called parameter Command Data length Data length 43h Unsigned 32 4Bh Unsigned 16 4Fh 1 Byt
17. 6 bit Thus there is no change forthe handling of the objects if an older encoder with a resolution per revolution of 13 bit is replaced by the same encoder 7 1 2 Encodergeneration Since the 01 03 2001 we deliveronly the new encoder generation with CANopen interface The changes of the type key the compatibility of the devices old new are composite in a feature matrix Please use these changesin case of a new order Furthermore you can find details conceming changes of the CANopen protocol regarding to the newest CANopen specification DS 301 V4 0 supported by the new devices Please forward this information to yourtechnical division Conceming the compatibility between old and new generation the following compatibility matrix gives further informations Compatbility matix connection encoder function cap old old OK old new OK new old no function new new OK Page 42 Version 2 2 BE IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL Version history connection cap In particular the design of the connection cap is improved Easier installation due to a new type of screw terminals inside of the connection cap On the back of the connection cap two multicolour LEDs are implemented for easy diagno
18. 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL CMS Index Default value Value range Data length SDO 2101h 9 Oh 10000h Unsigned 32 see type sign General parameter description Masterto Absolute Rotary Encoder Set Parameter FC Command Index Subindex Servic SC es data SDO b ed ne ase eres eres Byte 7 1100b 1 90d Y X desired resolution per eng Bit Y desired resolution per revolution 16 Bit If the desired value exceeds the hardware resolution of the encoder the code will not be transmitted stepwise So itis important to keep the parameter in the possible value range Aftera successful tramnsmission the encoderanswered with the following confirmation telegram FC Command Index Subindex Service Process data SDO 9 L pese Ta zu u pellet te Byte 7 1011b 1 90d 60 00 4 2 1 Programming example Resolution per revolution Target Absolute rotary encoder with 4096 steps per revolution Resolution per revolution 4096 steps 1000 h Node NumberNN 1 Masterto Absolute Rotary Encoder Set Parameter FC Command Index Subindex Service Process data SIS eier EL T 1 90 d 00 X x Y Y Absolute Rotary Encoderto Master Confirmation FC Command Index Subindex Service Process data O n EE _ 773 1011b 1 90d 60 00 00 00 00 00 4 3 Total resolution Version 2 2 Page 21 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 433 0 3 88
19. BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 433 0 3 88 20 87 87 BP 70044 Schiltigheim Mail info beiideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL ABSOLUTE ROTARY ENC ODER WITH CAN BUS INTERFACE MHM510 CANO 001 MHK515 CANO 001 USER MANUAL a company of Schneider Electric BEI IDEAC OD SAS Espace Europ en de l Entreprise 9 rue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex T l 33 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com IDEACOD CANOPEN USER MANUAL 1 Introduction e eereene nennen 3 45 Programming example Limit switch min 26 1 1 Absolute rotary encoder 3 4 5 3 Limit switch max 26 1 2 CANopen technology 3 45 4Programming example Limit switch 1 3 CAN Communication Reference Model 5 Max 27 1 4 Definitions 6 4 6 Changing the node number 27 4 6 1 Example Changing the node number 28 2 Installation nn 7 47 Adjusting the baudrate 29 2 1 Electrical Connection 7 4 7 1 Example Adjusting the baudrate 30 2 1 1 BUS connection 8 4 8 Transmission Mode 30 2 1 2 Cable connection 8 48 1Cyclic Mode 30 2 1 3 Bus Temmnination see 8 48 2 Disable the cyclic mode 31 2 2 Bus addres
20. CAN Communication Reference Model The communication concept can be described similarto the ISO OSI Reference Model ISO OSI Layer 7 CAL ISO OSI La yer 2 Data Link Layer ISO OSI La yer 1 Physical Layer CAN Bus The communication model supports synchronous and asynchronous messages With respect to the functionality four different message objects are provided Administra tional Messages LMT NMT Service Data Messages SDO Process Data Messages PDO Pre defined Messages Synchronisation and Emergency Messages Further information is available at CAN in Automation CiA Intemational Users and Manufacturers Group e V Am Weichselgarten 26 D 91058 Erlangen Reference CAN Application Layer for Industrial Applications CiA Draft Standard 201 207 Version 1 1 CAL based Communication Profile for Industrial Systems CiA Draft Standard 301 Version 2 2 Page 5 BH IDEACOD SAS T l 33 0 3 88 20 80 80 Espace Europ en de l Entreprise IDEACOD o e de Copenhague upra B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 1 4 Definitions CAN ControllerArea Network Additionally following abbreviations are used CAL CAN Application Layer in the manual CMS CANMessage Specification One of the service elements of the APV application layer in the CAN CW Reference Model COB Communication Object CAN CCW message A unit of transpor
21. N USER MANUAL If the total resolution of the encoderislessthan the physical total resolution the parameter ja TA k ganze Zahl total resolution must be a multiple of the GA physic al total resolution General parameter description Masterto Absolute Rotary Encoder Set Parameter FC Command Index Subindex Service Process data Byte4 Byte 5 Bye6 Byte7 1100b 1 90d 22 02 21 00 X X X X X desired total resolution Aftera successful transmission the encoder answered with the following confirmation telegram FC Command Index Subindex Service Process data SDO n9 seier D 2102h BEEN Byte 5 aes Byte 7 1011b 1 90d 00 00 00 4 3 1 Programming example Total resolution Target Absolute rotary encoder with a total resolution of 24 bit Total resolution 24 bit is equivalent to 1000000 h Node number NN 1 Masterto Absolute Rotary Encoder Set Parameter FC Command Index Subindex Service Process data Byte4 Bye5 Bye6 Byte7 1100b O1d 22 02 21 00 00 00 00 01 X desired total resolution Aftera successful transmission the encoder answered with the following confirmation telegram FC NN Command Index Subindex Service Process data SDO rx Download Byte 5 Byte 6 Byte 7 1011b Old 60 02 21 00 00 00 00 00 Version 2 2 Page 23 BEI IDEACOD SAS A e T l 433 0 3 88 20 80 80 IDEACOD Ser d a E Fax 33 0 3 88 2087 87 BP 70044 Sc hiltigheim Mail info bei ideacod com F 67013 Strasbour
22. Nopen interface support all CANopen functions The following operating modes canbe programmed Polled mode The position value is only given upon request Cyclic Mode The position value is written cyclically interval adjustable to the bus Sync mode After receiving a sync message by the host the encoder answers with the current process value If a node is not required to answer after each sync message a parameter sync counter can be programmed to skip a certain number of sync messages before answering again Change of state mode The position value is transferred when changing Further functions direction of rotation resolution etc can be parameterized BEI IDEACOD rotary encoders correspond with the class 2 profile for encoder DSP 406 whereby the characteristics of rotary encoders with CANopen interface are defined The link to the bus is made by terminal blocks in the connection cap In additon the node number and Baud rate are set with tum switches For configuration and parametenzation various software tools are available from different providers With the help of the provided EDS file electronic datasheet simple line up and programming are possible Page 4 Version 2 2 BEI IDEACOD SAS A e T l 33 0 3 88 20 80 80 IDEACOD Ser d a E Fax 33 0 3 88 2087 87 BP 70044 Sc hiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 1 3
23. col DS301 V3 0 type automatically 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 referthe manual Page 44 Version 2 2 BEI IDEACOD SAS 8 Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague 33 0 3 88 20 87 87 BP 70044 Schiltigheim info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 7 2 List of tables Tab 1 Protocol definition via BCD tum awftches kk 9 Tab 2 Assignment baudrate and tum switch sssssssssssssseeeeeeeeeeeeeeeeeeee nennen nennen nennen nennen nnne nnn nnns 9 Tab 3 Meaning status LED s 10 Tab 4 Overview priority of the CANOPEN O jeCtS sssssssssrrrnnunurrnnnunnnunnnnn eem 12 Tab 5 COMMANG Re E elle ele LEE Tab 6 Data length against command byte essen nennen nnne nnne nennen nennen Tab 7 General object dictionary Tab 8 Object dictionary according DS301 Tab 9 Manufacturer specific object dictionary Tab 10 Nodenumberand baudrate nennen eene nenne nennen nenne nennen nennen nnn Tab 11 Bit assignment forbaudrate adjustment Tab 12 Elecmeal E EE Tab 13 Mechanical E EE Tab 14 Mechanical durability of the encoder eeeseeeeenenenennene nnnm nennen Tab 15 Environmantal conditions
24. ctionary according DS301 Page 14 Version 2 2 BEI IDEACOD SAS Espace Europ en de l Entreprise Tel 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 3 3 1 Manufacturer Specific Objects Additionally following manufacturer specific communication objects are implemented Index Subinde Object Name Data length Attr x 1800n RECORD CommunicatonparameterPDO 1 1800 lo VAR numberofsupp enties Unsgned8 1800h 1800h 1800h 1802h RECORD CommunicatonparameterPDO 2 1802h 1802h 1802h 1802h 2000h aa VAR process value 2100h VAR 2101h 2102h 2103h 2104h 2105h 2200h 2300h VAR Store parameters Unsigned32 wo Index Subindex Objekt Name Datenlange Attr 3000h 3001h VAR Datenrate Unsigned 8 rw Tab 10 Nodenumber and baudrate The programmable communication objects and encoder parameters are explained in detail in the next chapter Vanable Data field Data field read only read write write only Version 2 2 Page 15 BEI IDEACOD SAS A T l 33 0 3 88 20 80 80 ace Europ en de l Entreprise IDEACOD Sus d EE p Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 3 2 Operational Status The absolute r
25. d 8 General parameter description SDO tx Download 3000h Byte 4 Byte 5 Byte 6 Byte 7 1100 b 1 90 d 22 00 30 00 x 00 00 00 X 7 Bit to adjust the node number After successful transmission the encoder answered with the following telegram FC NN Command Index Subindex Service Processdata Version 2 2 Page 27 BEI IDEACOD SAS A T l 33 0 3 88 20 80 80 ace Europ en de l Entreprise IDEACOD Sus d EE p Fax 33 0 3 88 2087 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 4 6 1 Example Changing the node number Target Absolute rotary encoder with node number 5 Default node number 32 d The changed node numberis confirmed by the encoder but only aftera Store command Objekt 2300 hex Store command Objekt 1010 hex and NMTreset module or NMTreset communikation valid To adjust the node number only one byte is used whereby the encoder adds one the the programmed value Setting node number 5 Bit 7 6 5 4 3 2 1 0 value 64 32 16 8 4 2 1 example O O O O O 1 O O 1 4 0 0 4 1 5 node number Master to Absolute Rotary Encoder Set Pa ra meter FC NN Command Index Subindex Service Processdata SDO b Download 3000h Byte 4 Byte 5 Byte 6 Byte 7 1100 b 32d 22 00 30 00 04 00 00 00 X 7 Bit to adjust the node number Absolute Rotary Encoderto MasterConfimation
26. e orencoder in prepared status fla shing Boot Up message sent device configuration is possible on Normal operation mode Encoder in Operational Status Tab 3 Meaning status LED s Page 10 Version 2 2 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 433 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 9 d h IDEACOD gon Shannen Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 2 5 Troubleshooting 2 5 1 Power on Encoder doesn t respond Problem The bus is active but the installed encoder transmitted no boot up message Possible solution switch of the PLC remove the connection cap of the encoder check the 2 tum switches for th baudrate Assemble the connection cap poweron 2 5 2 Malfunction of the position value during transmission Problem During the transmission of the position value occasional malfunctions occurs 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 suited in the connection cap 2 5 3 Too much ERROR Frames Problem The bus load is too high in case of too much enor frames Possible solution Check if allbus node hasthe same baudrate If one node has another baudrate enor frames are produced automatically The setting of the baudrate is descripted in this manual under 2 2 and 4 6 2 5 4 Limit switc hes without f
27. e Unsigned 8 Tab 6 Data length against command byte Version 2 2 Page 13 BEI IDEACOD SAS e T l 33 0 3 88 20 80 80 IDEACOD Ser d a E Fax 433 0 388 2087 87 BP 70044 Sc hiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 3 1 3 The Object Directory The data transmission according to CAL is realised exclusively by object oriented data Ind Object messages The objects are classified in groups oe jas b ind cord Each index entry can be eege T 0000 not used subdivided by sub indices The overall layout of the standard object dictionary is shown beside 0001 001F Static Data Types 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 0FFF Reserved for further use 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FFF Standardised Device Profile Area AOOO FFFF Reserved for further use Tab 7 General object dictionary Following objects according to the communication profile CAN OPEN refer to DS 301 are implemented into the absolute rotary encoder Index Object Name Data Length Attr 1000h 1001h Unsigned8 1002h 1003h 1004h Reserved for compatibility reason 1005h 1008h 1009h 100Ah VAR Vis String 100Bh Reserved for compatibility reason 1010h VAR Store parameters Unsigned32 rw 1011h VAR Restor parameters Unsigned32 rw Tab 8 Objectdi
28. e cyclic on you must deactivate the cyclic mode in the state pre operational Afterthat you could start the operational state CMS SDO Value 55AA AA 55h Index 2300h Data Type Unsigned 32 Masterto absolute rotary encoderSet Parameter FC NN Command _ Index Subindex Service Process data SDO tx Download 2300h Byte 4 Byte 5 Byte 6 Byte 7 1100 190d 22 loo 23 o 155 aa laa 55 If the transfer is successful the absolute rotary encoder quotes after 4s with the pre operational status with a Boot Up message An additional possibility to store the parameter is to use the SDO object 1010 The following parameter hasto transmitted to the encoder CMS SDO Value 73617665h Index 1010h Data length Unsigned 32 Masterto absolute rotary encoder Set Parameter FC NN SDO tx Command Index Subindex Service Processdata Download 1010h Byte 4 Byte 5 Byte 6 Byte 7 1 90 d 22 10 10 01 73 61 76 65 1100 b Version 2 2 Page 33 BEI IDEACOD SAS A e T l 433 0 3 88 20 80 80 IDEACOD Ser d a E Fax 33 0 3 88 2087 87 BP 70044 Sc hiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 4 10 Wiederherstellen der Standardeinstellungen The default parameters can be restored The already in the non volatile memory programmed parameters are not overwritten Only after a new store command the default parameters are stored in the n
29. ed aftera Store command object 2300 hex Store command object 1010 hex and NMT Reset Modul or NMT Reset communikation 4 7 1 Example Adjusting the baudrate Target Absolute rotary encoder with a baurate of 250 kBa ud Default baudrate 20 kBaud Default node number NN 32d FC NN Command Index Subindex Service Processdata SDO b Download 3001h Byte4 Byte 5 Byte 6 Byte 7 1100 b 32d 22 00 31 00 04 00 00 00 X 3 Bitto adjust the Baudrate After successful transmission the encoder answered with the following telegram FC NN Command Index Subindex Service Processdata SDO rx Download 3001h Byte 4 Byte 5 Byte 6 Byte 7 1011b 32d 60 00 31 00 00 00 00 00 4 8 Transmission Mode 4 8 1 Cyclic Mode The absolute rotary encoder transmits cyclic without being called by the host the current process value The cycle time can be programmed in milliseconds for values between 1 ms and 65536ms eg 64h 100ms CMS Index Default value Value range Data length SDO 2200h 64h 1h 10 000h Unsigned16 General parameter description Masterto Absolute Rotary Encoder Set Pa ra meter FC NN Command Index Subindex Service Process data SDO tx Download 2200h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d 22 00 22 00 X X 00 00 X desired cycle time Page 30 Version 2 2 BEI IDEACOD SAS P Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Co
30. ed with a L d two wire connection cable through one PG 9 ES 7 Each one of the twisted pair and shielded bus BE SPRL lines are guided in and out through two PG 9 E OV Supply voltage on the right side asseen on clamps CG CAN Ground CL CAN Low Instructions to mechanically install and CH CAN High electrically connect the angularencoder CG CAN Ground CL CAN Low CH CAN High Do not remove or mount the connection cap while the encoder is under power Do notstand on the encoder Do not adapt the driving shaft additionally y Avoid mechanical load Do not adapt the housing u additionally Fig 1 Connection cap inside BCD coded rotary switches Dvice address O 89 Xl Setting CAN node number X10 Adress reserved 90 99 Bd Setting of the baud rate BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 2 1 1 Bus connection The connection cap fulfills the function of a T 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 An activated bus termination resistor will lead into a separation of bus in and bus out signals 2 1 2 Cable connection Remove screw sealing and cone from the cable gland Remove 55 mm of
31. f the PDO is disabled According to CANopen specification DS301 V4 0 it is neccesary to set the cyclic time object entry 2200h to 0 and left the PDO switched on to poll the encoder Important If the PDO is switched off no communication is possible Polling in Pre Operational state The old generation has accepted polling requests in pre operational state but wasn t correct according to CANopen standard In the manual for the old encoder was a hint that the polling request is not allowed in pre operational state because it is not defined in the CANopen standard So be aware that the new encoder is in general not accepting poll requests in pre operational state independent of configution of the behaviour as new orold encoder Version 2 2 Page 43 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 433 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL Changes in boot up sequence If the old encoder generation is connected to the supply voltage or a NMT message reset node reset communication is sent to the encoder a boot up message appears The telegram structure looks like this identifier 80hex node number data length 0 bytes This message was not defined by the specification DS301 V3 0 but vendor specific used by some manufactures to show thatthe device
32. g Cedex Web www bei ideacod com CANOPEN USER MANUAL 4 4 Preset Value The preset value is the desired position value The preset value mus not exceed the which should be reached ata certain physical parameter total resolution to avoid run time position of the axis The position value is set to enors the desired process value by the parameter preset CMS Index _ Default value Value range Data length SDO 2103h Oh Oh total resolution Unsigned32 General parameter description Masterto Absolute Rotary Encoder Set Parameter FC Byte 7 See 1 90 d 22 03 21 00 X X X X X desired preset value Aftera successful transmission the encoderanswered with the following confirmation telegram FC Command _ Index Subindex Service Process data O m Vo Download 1011b 1 90d 60 03 21 00 00 00 00 00 4 4 1 Programming example Preset value Target Absolute rotary encoder with the preset value 0 Preset value 0 is equivalent to X Oh Node numberNN 1 Masterto Absolute Rotary Encoder Set Parameter FC Command Index Subindex Service Process data byte 4 Bytes Byte6 Byte7 1100b 01d 22 03 21 00 00 00 00 00 X desired preset value Absolute Rotary Encoderto Master X Confirmation FC Command Index Subindex Service Process data T Old 60 03 21 00 00 00 00 00 Page 24 Version 2 2 BE IDEACOD SAS A v A T l 33 0 3 88 20 80 80 ace Europ en de l Entreprise IDEACOD ae ee p Fax 33 0
33. id the use of intermediate terminals In metal cable ducts sufficient decoupling of signal lines from interference signal transmitting cable can usually be achieved with a grounded partition Version 2 2 T l 433 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com Page 39 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 3 rue de Copenhague Mol Mose esed c F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 6 Models Ordering Description Description Typekey Reference MHM BI BEN D NEM OCE Interface CANopen C2 C2 C5 CF Bl Code Binary B Revolutions Bits Singletum 00 Multitum 12 Multitum 14 Steps perrevolution 4096 12 Bits 8192 13 65536 16 Flange Clampflange C Synchroflange S Hollow shaft B Shaft diameter 10 mm 10 06 mm 06 15 mm hollow shaft 15 Mechanical options without 0 shaft sealing IP66 S stainless steel version V customized C Connection Connection cap occ Tab 13 ordering key not all combinations possible Standard bold further models on request ORDERING REFERENCE FOR A 10MM SOLID SHAFT ABSOLUTE MULTITURN ENCODER MHM5 C2 B1B1213C 1000CC MHM510 CANO 001 ORDERING REFERENCE FOR A 15MM BLIND SHAFT ABSOLUTE MULTITURN ENCODER MHK5 C2 B1B 12 13 B 15 0 OCC MHK515 CANO 001 Page 40 Version 2 2 BE IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80
34. is alive According to DS301 V4 0 the new rotary encoder generation doesn t support this message anymore In place of the old message a common valid boot up message is defined The structure looks like this identifier 700hex node number data length 1 byte This boot up message also appears if the command reset node and reset communicatio is sent to the encoder 4 Handling of spare parts Bootup message new encoder and old connection cap To use the new encoder generation as spare part for the old encoder generation the new encoder recognize the od connection cap type and support the specification DS301 V3 0 automatically as well asthe appropriate boot up message Changing of the default BootUp message of the B1 version To get the same boot up behaviour of the old encoder generation if you use the new encoder generation and the new connection cap type there will be following solution The needed protocol type will be activated via a defined device address Please use the following configuration sequence 1 Setting the needed address s table below 2 Connectthe connection cap to the encoder Switch on supply voltage Wait until both LEDs are red Switch off supply voltage Remove connection cap Set up the comect device address 0 89 8 Connectthe connection cap to the encoder 9 Switch on supply voltage normal operation NOU BW protocol according to connection cap proto
35. lute rotary encoder Ifa node isnot functioning well it is recommended to perform a RESET FC NN Command Index Subindex S4 P Data Description 0000b Od 81h NN NMT Reset NN NN node number The notified Absolute Rotary Encoderaccesses the busin pre operational status after resetting 3 3 Transmission of the Actual Position The process value is sent across the CAN network with the following telegram COBID Process value 11 Bit Byte 3 27 to 20 215 to 28 223 to 216 231 to 224 The COBID contains the node numberand the according PDO m By default the process value is sent with the function code PDO rx 0011 and as a response to the Sync telegram with the function code PDO rx 0101 Version 2 2 Page 17 BEI IDEACOD SAS Espace Europ en de l Entreprise ac RA oe ies 2 a aD 9 dec h EOS e IDEACOD Ee ee ee Oe Mail info bei ideacod com B P 70044 Schiltigheim F 67013 Srasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 4 Programming The setting of parameters should be done always in pre operational status The changed then they can be skipped Following values are written in hexadecimal monitoring of the sent and received messages becomes much easier It is important to follow the presented sequence of the parameter settings If notation with the exception of the function code which value is given binary and the node number decimal value Every parameter has a general description and a
36. n example values of parameters are not 4 1 Operating Parameters As operating parameters the code sequence Complement can be selected and the limit switches can be tumed on or off Data length Unsigned 16 CMS Index Default value va lue range SDO 2100h oh Oh Fh General parameter description Masterto Absolute Rotary Encoder Set Parameter FC Command Index Subindex Service Process data SDO tx ei nm forea pres eree Byte 7 1100b 1 90d 22 00 X of bit bit 0 2 The parameter code sequence Bit O Gone ode Complement determines the counting direction in which the output process value increases or decreases The code sequence is determined by Bit 0 in Index 2100h sequence increasing increasing 1 CCW Additionally the two limit switches Min and Max can be tumed on oroff in Index 2100h Bit 1 Limit switch min Bit 2 Limit switch max 0 tumed off 0 tumed off 1 tumed on 1 tumed on Page 18 Version 2 2 BE IDEACOD SAS A e T l 33 0 3 88 20 80 80 IDEACOD E m Fax 33 0 3 88 2087 87 BP 70044 Sc hiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL After a successful tramnsmission the encoderanswered with the following confirmation telegram FC Command Subindex Service Process data SDO n9 L ewe nm ama foes ans 1011b Byte 7 4 1 1 Programming example Operational
37. on volatile memory To restore the default parameter the following telegram is used CMS Index SDO 1011h Masterto absolute rotary encoder FC Data length 6C 6F 61 64h Unsigned 32 Set Parameter Index Subindex Service Processdata SDO bo EE Byte 7 1100b 1 90d 5 Technical Data 5 1 Hectrical Data Interface 64 Transceiver according ISO 11898 galvanically isolated by opto couplers Transmission rate Device addressing Supply voltage Curent consumption Powerconsumption Step frequency LSB Accuracy of division EMC Electrical lifetime Tab 9 Electrical data max 1 MBaud Adjustable by rotary switchesin connection cap 10 30 V DC absolute limits max 230 mA with 10 V DC max 100 mA with 24 V DC max 2 5 Watts 800 kHz 2LSB 12 bit 2 LSB 16 bit Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 gt 10 h whose power supplies comply with EN 50178 protective low voltage Absolute rotary encoders should be connected only to subsequent electronics Page 34 Version 2 2 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de Copenhague T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com CANOPEN USER MANUAL 5 2 Mechanical Data Housing Lifetime Max shaft loading Inertia of rotor Friction torque RPM continuous
38. operation Shock EN 60068 2 27 Aluminum optional stainless steel Dependent on shaft version and shaft loading refer to table Axial 40 N radial 110 N lt 30 gc m lt 3 Ncm without shaft sealing Singletum max 12 000 RPM Multitum max 6 000 RPM lt 100 g half sine 6 ms Permanent shock EN 60028 2 29 lt 10 g half sine 16 ms Vibration EN 60068 2 6 Weight standard version Weight stainless steel version Hange Shaft diameter Shaft length hollow shaft depth min max Tab 10 Mechanical data lt 10g 10 Hz 1 000 Hz Singletum 550g Multitum 600g Singletum 1 100g Multitum 1 200 g Hollow shaft B 15 mm 30 mm Version 2 2 Page 35 BEI IDEACOD SAS A T l 433 0 3 88 20 80 80 E de l Enti Espace Europ en de l Entreprise 433 0 3 88 20 87 87 Fax IDEACOD 3 jue de Copennague Mail info bei ideacod com B P 70044 Sc hiltigheim Ge F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL Minimum mechanical lifetime Flange Lifetime in 108 revolutions with Fa Fr 40N 60N 40N 80N 40N 110N C10 Clamp flange 10 x 20 247 40 S10 Synchro flange 10 x 20 262 42 S6 Synchro flange 6 x 10 without shaft sealing 822 347 133 Tab 11 Mechanical durability of the encoder S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial Environmental Conditions Operating temperature
39. otary encoder accesses the CAN network 4 s after power on in pre operational status FC NN Comand index Subindex P Data Description 1110 XXX Boot Up message All values except the FC are hexadecimal It is recommended to set the parameters easier to prove the corectness of the see 7 2 Programming while the Encoderisin sent received SDOs As it is not possible to the pre operational status During this status send orreceive PDOsin pre operational status activity on the network is low what makes it stress forthe Encoder will be reduced 3 2 1 Status Operational To put one or all nodes in the operational state following message is sent by the master FC NN Command Index Subindex S4 P Data Description 000b od fon Io NMT Start all nodes 0000b Od olh NN NMT Start NN It is possible to put all the nodes in operational sta tus Index 0 or only one node Index NN 3 2 2 Status Pre Operational To set one node in the Pre Operational state the following telegram has to be transmitted from the master FC NN Command Index Subindex S P Data Description 0000b Od 80h NN NMT PreO p NN NN node number Page 16 Version 2 2 BEI IDEACOD SAS p Espace Europ en de l Entreprise Tel 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Ee eie ee BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 3 2 3 Reset of the abso
40. parameter Target Absolute rotary encoder with direction C CW increasing and both limit switches disabled Bitma trix Bit 0 1 Direction increasing CCW Bit 1 0 Limit switch min disabled Bit 2 0 Limit switch max disabled Result bitmatrix X 01h NodenumberNN 01 Masterto Absolute Rotary Encoder Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 2100h Byte 4 Byte 5 Byte 6 Byte 7 1100b Old 22 00 21 00 01 00 00 00 Absolute Rotary Encoderto Master X Confirmation FC Command Index Subindex SE SDO ee i 2100h BEES Ash Byte 7 1011b Old 00 Version 2 2 Page 19 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD Ge Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL 4 2 Resolution per Revolution The parameter Resolution per Revolution is per revolution Each value between 1 and used to program the desired number of steps 65536 can be realised CMS Index Default value Value range Data length SDO 2101h Oh 8000h Unsigned 16 see type sign The following value range isvalid fora resolution per revolution of 16 bit Page 20 Version 2 2 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 33 0 3 88 20 87 87 IDEACOD 9 rue de Copenhague Mail i T B P 70044 Schiltigheim info bei ideacod com F
41. penhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com CANOPEN USER MANUAL Absolute Rotary Encoderto MasterConfimation FC NN Command Index Subindex Service Process data SDO rx Download 2200h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 00 22 00 00 00 00 00 4 8 2 Disable the cyclic mode To switch off the cyclic mode of the absolute rotary encoder the following telegram cyclic mode disable can be sent Masterto Absolute Rotary Encoder Set parameter FC NN Command Index Subindex Service Process data SDO tx Download 2200h Oh Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d 22 00 22 00 00 00 00 00 Absolute Rotary Encoderto Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 2200h Oh Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 00 22 00 00 00 00 00 4 8 3 Sync Mode After reception of the SYNC telegram by the host the absolute rotary encoder sends the actual position value If multiple nodes are programmed forthe SYNC mode they ansering following their COB lIds The programming of an offset time is not applicable It is also possible to program a numberof SYNC telegrams which are ignored CMS _ Index Subindex Defaultwert Value range Data length SDO 1802h 2h 1h 1h 100h Unsigned 8 General pa
42. rameter description FC NN Command Index Subindex Service Process data SDO tx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d ES Io e Io Ix lo fo fo X number of Sync Telegrams after which the Encoder sendsthe process value Version 2 2 Page 31 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fi 33 0 3 88 20 87 87 IDEACOD SOs ane Mail E E om F 67013 Strasbourg Cedex Web www bei ideacod com CANOPEN USER MANUAL Absolute Rotary Encoderto Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 02 18 02 00 00 00 00 Like the cyclic mode also the sync mode can be switched off the same way To do this the PDO 2 must be addressed with the Index 1802h 4 8 4 Example Number of Sync telegrams Target Absolute rotary encoder with 3 SYNC telgrams Number of SYNC telegrams X 03h Node number NN 01 d FC NN Command Index Subindex Service Process data SDO tx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1100b O1d ES Io e Io lo Jo fo o X number of Sync Telegrams after which the Encoder sends the process value Absolute Rotary Encoderto Master X Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1011b od 60 02 18 02 00 00 00 00
43. s 9 4 8 3 Sync Mode EEN 31 2 2 1 Setting of the node number 9 48 4 Example Number of Sync telegrams 32 2 3 Setting of the baudrate AE 9 4 8 5 Polled Mode eee 32 2 4 Meaning of the LEDs in the connection 4 9 Memory Transfer 33 COD M M 10 4 10 Wiederherstellen der 2 5 Troubleshooting see 11 Standardeinstellungen sses 34 3 Device Configuration 12 5 Technical Data nent 34 3 1 CANopen data transmission 12 45 1 Electrical Data essees 34 3 LT Ie BD eiat 12 5 2 Mechanical Data 34 3 1 2 The Command Byte 13 D MechanicalDrawinges 36 3 1 3 The Object Directory 14 3 3 1 Manufacturer Specific Objects 15 6 Models Ordering Description 40 3 2 Operational Status 16 3 2 1 Status Operational eee 16 TE nnne nnne nnn 42 3 2 2 Status Pre Operational 16 7 1 History encoder generations 42 3 2 3 Reset of the absolute rotary encoder 17 7 1 1 Encodergeneration ssss 42 3 3 Transmission of the Actual Position 17 7 1 2 Encodergeneration 42 7 2 l is amp of tables isosesog aas deuen 45 4 Programming rere enne nnne 18 7 3 List OF figures 45 4 1 Operating Parameters sess 18 4 1 1 Programming example Operational ER Cu 19 4 2 Resolution per Revolution
44. sis The terminal resistor is hooked up via a slide switch Thus contiuative bus connection will be cut off The localisation of accidentally switched on terminal resistors wil be made easer The device address and the baudrate will be adjusted via 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 the newest CANopen sepcification DS301 V4 0 are not supported anymore or are new implemented If your application don t use this function there will be no problem Changes of enties in object dictionary Relevant changes applies to the boot up message as well as some entres in the CANopen object index not used by the common user A complete list of these objects you can find in the following table object nr comment CANopen profile CANopen profile hex DS301 V3 0 DS301 V4 0 1004 Number of PDOs supported according to DS301 V4 0 supported not supported anymore 100B Node ID supported according to DS301 V4 0 not supported anymore 100E COBID Guarding supported according to DS301 V4 0 protocol not supported anymore 1016 Consumer heartbeat reserved supported time 1017 Producer heartbeat reserved supported time 1018 Identity Object reserved supported Changing transmit PDO communication parameter In the new encoder generation the polling isn t supported anymore i
45. tation in a CAN FC Network Data must be sent across a Network inside a COB COB ID COB ldentfier Identifies a COB NN uniquely in a Network The identifier determines the Pv Absolute Position Value Clockwise Tuming direction as seen on shaft Countercloc kwise Tuming direction as seen on shaft Function code It determines the kind of message which is sent across the CAN network Node number It determines uniquely the CAN device Preset value prionty of that COB PCV Process value LMT Layer Management One of the service elements of the application layerin the CAN Reference Model It serves to configure parameters of each layer in the CAN Reference Model NMT Network Management One of the service elements of the application layerin the CAN Reference Model It performs initialisation configuration and error handling ina CAN network SDO Service Data Object A data object with low priority to configure a CAN node PDO Process Data Object A data object with high priority to transmit data in sync hronous and asynchronous modes Page 6 Version 2 2 BEI IDEACOD SAS T l 33 0 3 88 20 80 80 Espace Europ en de l Entreprise Fax 33 0 3 88 20 87 87 IDEACOD St spes uda cun Mail info bei ideacod com F 67013 Dee Cedex Web www bei ideacod com CANOPEN USER MANUAL 2 Installation 2 1 Electrical Connection i t th The rotary encoder is EE xi by ree mm Dan cables The power supply is achiev
46. unction Problem The encoder didn t transmit the bits for the limit switc hes Possible solution The limit switch functionality has to be activated once Please follow the descripting you canfind at 4 5 Version 2 2 Page 11 BEI IDEACOD SAS A e T l 433 0 3 88 20 80 80 Espace Europ en de l Entreprise IDEACOD PAR CES p Fax 33 0 3 88 20 87 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www beiideacod com CANOPEN USER MANUAL 3 Device Configuration 3 1 CANopen data transmission The data transmission in the CAN network is ID and 8 following bytes as shown in the table realised by message telegrams Basically below COB ID Command Index Subindex Service Process Data 11 Bit Byte 7 High High these telegramscan be m into the COB 3 1 1 The COE ID The 11 Bit of COB Identifier is built a s follows 6 5 4 3 2 1 0 Node number XIXIXIXIXIXIX X free selectable The COB dentifier determines uniquely the encoder The node number can be adjusted message object It is built by the function by 2 rotary switches in the connection cap or code identifying the message class and the optionally on customer request by a SDO node number which determines the absolute Following function codesare available rx and tx asseen by the master Object Function Code Binary Result COB ID Priority Class NMT be 0 SYNC 128 Emergency 129 255 a PDO rx 12 PDO tx
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