WV42HD - SIKO GmbH
Contents
1. 5 5 48 Object 6003h Preset value This object indicates the preset value for the output position value Subindex Description Data Type Default Value Access Restore after BootUp Oh Preset Value Unsigned 32 Oh rw yes 5 5 49 Object 6004h Position value This object contains the process value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Process Value Unsigned 32 romap yes Hardwired with Object 2000h WV42HD CAN Date 03 02 2015 Page 26 of 36 Art No 86374 Mod status 45 15 5 5 50 Object 6030h Speed Value This object contains the speed value of the encoder intelligente Weg und Winkelmess Systeme Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th ro th Speed value channel1 Integer 16 romap yes If the velocity exceeds the data type the speed value is frozen to the maximal possible value The customer can use the 3010h 32 bit object 5 5 51 Object 6040h Acceleration Value This object contains the acceleration value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th ro th Acceleration value Integer 16 romap yes channel1 5 5 52 Object 6200h Cyclic timer This object cont2. Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Integer 32 th ro th Work area low limit Integer 32 Oh rw yes channel 1 This object is hardwired with 2104h Limit Switch Min 5 5 58 Object 6402h Work area high limit This object indicates the position value at which bit 1 of the according work area state channel in object 6400h shall flag the overflow of the related work area Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Integer 32 th ro th Work area high limit Integer 32 Oh rw yes channel 1 This object is hardwired with 2105h Limit Switch Max 5 5 59 Object 6500h Operating status This object shall provide the operating status of the encoder It gives information on encoder internal programmed parameters Subindex Description Data Type Default Value Access Restore after BootUp Oh Operating status Unsigned 16 ro no The operating status object corresponds to the value of the object 6000h and 2100h 5 5 60 Object 6501h Single turn resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Single Turn Resolution Unsigned 32 see type sign ro no 5 5 6
3. E EDS file F FAQ WV42HD CAN Number assigned to each node irrespective of whether it is a master or slave The encoder address non volatile is configured in the base with rotary switches or SDO objects Absolute Position Value Transmission speed formulated in number of bits per second Bus node Device that can send and or receive or amplify data by means of the bus 8 bit unit of data 1 byte CAN application layer Controller Area Network or CAN multiplexing network Application layer of an industrial network based on the CAN bus Counter clockwise CAN In Automation organization of manufacturers and users of devices that operate on the CAN bus Elementary communication object on the CAN network All data is transferred using a COB COB Identifier Identifies an object in a network The ID determines the transmission priority of this object The COB ID consists of a function code and a node number Clockwise Standardized file containing the description of the parameters and the communication methods of the associated device Frequently Asked Questions Date 03 02 2015 Page 35 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Dan m FC Function code Determines the type of message sent via the CAN network L Line terminator Resistor terminating the main segments of the bus LMT Network management object This is used to configure the parameters of each
4. 00h to 00h 4 Modify mapping by changing the values of the corresponding sub indices Only Objects with Access romap are mappable 5 Enable mapping by setting sub index 00h to the number mapped objects 6 Set TPDO Object 1800h or 1801h sub index 01h COB ID Bit 31 valid to 0 gt PDO exist is valid WV42HD CAN Date 03 02 2015 Page 19 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme SIKO fee 5 5 24 Object 1A01h 2 Transmit PDO Mapping Parameter This object contains the mapping parameter of the 2 transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 1 rw yes 1 2 mapped object Unsigned 32 60040020h rw yes The following procedure shall be used for re mapping TPDO1 or TPDO2 Set NMT state to Pre operational 2 Set TPDO Object 1800h or 1801h sub index 01h COB ID Bit 31 valid to 1 gt PDO does not exist is not valid 3 Set TPDO mapping parameter Object 1A00h or 1A01h sub index 00h to 00h 4 Modify mapping by changing the values of the corresponding sub indices Only Objects with Access romap are mappable 5 Enable mapping by setting sub index 00h to the number mapped objects 6 Set TPDO Object 1800h or 1801h sub index 01h COB ID Bit 31 valid to 0 gt PDO exist is valid 5 5 25 Object 1F50h Download Program Area This is a special object that has functionality fo
5. 8 Oh rw yes WV42HD CAN Date 03 02 2015 Page 24 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme 5 5 41 Object 3011h Speed Value This object contains speed value Subindex Description Data Type Default Value Access Restore after BootUp Oh Speed value Unsigned 8 romap no 5 5 42 Object 3020h Acceleration Control This object contains the acceleration control Acceleration output is not supported by this device This object is present only for compatibility reasons Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 2h ro th Enable Acceleration Unsigned 8 Oh rw yes 2h Acceleration modus Unsigned 8 Oh rw yes 5 5 43 Object 3021h Acceleration Value Acceleration output is not supported by this device This object is present only for compatibility reasons Subindex Description Data Type Default Value Access Restore after BootUp Oh Acceleration Value Integer 32 romap 5 5 44 Object 4000h Boot loader Control This object controls the Boot loader functionality see Boot loader chapter Writing the security code to this object causes erasing the EEPROM and application information in the flash memory and resets the device After a power up the Boot loader checks the user application and detects no more info
6. calculated by the preset function and shifts the physical position value with the desired value Subindex Description Data Type Default Value Access Restore after BootUp Oh Offset value Integer 32 ro no WV42HD CAN Date 03 02 2015 Page 32 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme SIKO fee 5 5 69 Object 650Ah Module identification This object shall provide the manufacturer specific offset value the manufacturer specific minimum and maximum position value Subindex Description Data Type Default Value Access Restore after BootUp Oh Highest supported Integer 32 3 ro no subindex th Manufacturer offset Integer 32 ro no value 2h Man min position value Integer 32 ro no 3h Man max position Integer 32 z ro no value 5 5 70 Object 650Bh Serial number This object contains the serial number of the device The serial number is also supported in object 1018h subindex 4h Subindex Description Data Type Default Value Access Restore after BootUp Oh Serial Number Unsigned 32 See type sign ro no 6 Diagnosis 6 1 1 Troubleshooting 6 1 2 Power on Encoder doesn t respond Problem The bus is active but the installed encoder transmitted no boot up message Possible solution e The encoders have the default baud rate 125 kbaud Adapt your PLC setting accordingl
7. current process value The encoder reads the current position value calculates eventually set parameters and sends back the obtained process value by the same identifier Cyclic Mode The encoder transmits cyclically without being called by the host the current process value The cycle time can be programmed in milliseconds for values between 1 ms and 65536 ms Sync Mode After receiving a sync telegram by the host the encoder answers with the current process value If more than one node number encoder shall answer after receiving a sync telegram the answer telegrams of the nodes will be received by the host in order of their node numbers The programming of an offset time is not necessary If a node should not answer after each sync telegram on the CAN network the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again Tab 1 CAN Transmission Mode Description 4 3 Storing Parameter 4 3 1 List of storable Parameter Object Index Object Description 1005h COB ID Sync 100Ch Guard Time 100Dh Life Time Factor 1016h Consumer Heartbeat Time 1017h Producer Heartbeat Time 1020h Verify configuration 1800h Communication parameter PDO 1 1801h Communication parameter PDO 2 1A00h Transmit PDO1 Mapping Parameter 1A01h Transmit PDO2 Mapping Parameter 2100h Operating Parameters 2101h
8. standard DS406 Measuring System Magnetic rotary encoder determine positions using the Hall effect sensor technology developed for the automotive mass market A permanent magnet fixed to the shaft generates a magnetic field that is sampled by the Hall sensor which translates the measured value into a unique absolute position value To register revolutions even when no voltage is applied energy from the turning of the shaft must suffice for proper operation An innovative patented technology makes this feasible even at low rotational speeds and through long standstill periods a Wiegand wire ensures that the magnetic field can only follow the turning of the shaft in discrete steps A coil wound on the Wiegand wire receives only brief strong voltage spikes which prompt the reliable recognition of each revolution Typical Applications Packing Machines Mobile Machines Wind Mills Medical Equipment 2 1 General CANopen Information The CANopen system is used in industrial applications It is a multiple access system maximum 127 participants which means that all devices can access the bus In simple terms each device checks whether the bus is free and if it is the device is able to send messages If two devices try to access the bus at the same time the device with the higher priority level lowest ID number has permission to send its message Devices with the lowest priority level must delay their data transfer and wait before r
9. 1 Object 6502h Number of distinguishable revolutions This object contains number of revolutions of the absolute rotary encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of Revolutions Unsigned 16 see type sign ro no WV42HD CAN Date 03 02 2015 Page 30 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme am SIKO 5 5 62 Object 6503h Alarms Additionally to the emergency messages in DS301 this object shall provide further alarm messages An alarm shall be set if a malfunction in the encoder could lead to incorrect position value If an alarm occurs the according bit shall indicate the alarm till the alarm is cleared and the encoder is able to provide an accurate position value Subindex Description Data Type Default Value Access Restore after BootUp Oh Alarms Unsigned 16 z romap no Bit structure of the alarms Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Use MS MSIMS MS RIRIRIR RIRIRIR R R CD PE Table Description MS Manufacturer Specific Alarm not supported R Reserved for future use CD Commissioning diagnostic control not supported PE Position Error not supported 5 5 63 Object 6504h Supported alarms The object shall provide the supported alarms of the device Please refer to the bit
10. 27 26125124123 22121120119118117116 15114113 12111110 9 8 7 O 1 IXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIXIX D oO A w ne o WV42HD CAN Date 03 02 2015 Page 22 of 36 Art No 86374 Mod status 45 15 5 5 33 Object 2105h Limit Switch max Two position values can be programmed as limit switches By reaching this value one bit of the 32 bit intelligente Weg und Winkelmess Systeme process value is set to high Both programmed values must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Bit 31 1 Limit Switch Max reached or passed beyond Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch max Unsigned 32 0 rw yes The limit switch max sets Bit 31 1 with the next message telegram if the process value reaches or passes under the value of the limit switch Function Status Process value bits Bit 31 30 29 2812726 25124123 221211201191181171161151141131121111019181716151413121110 1 0 X X X X X X XIX XXX X X XXX XX X XX KX XIX X
11. 5 intelligente Weg und Winkelmess Systeme Object Description ene Er 6505h Warnings 47 67 6506h Supported warnings 47 68 6507h Profile and software version 48 69 6508h Operating time 48 70 6509h Offset value 49 70 650Ah Module identification 49 71 650Bh Serial number 49 72 Tab 8 Object Dictionary 6000h 6FFFh 5 5 Object Descriptions In the following chapter you will find detailed information of the object dictionary related to the encoder device 5 5 1 Object 1000h Device Type The object at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which describes the device profile that is used and a second 16 bit field which gives additional information about optional functionality of the device The additional information parameter is device profile specific Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 N A ro no WV42HD single turn 10196h WV42HD multi turn 20196h 5 5 2 Object 1001h Error Register This object is used by the device to display internal faults When a fault is detected the corresponding bit is therefore activated The following errors are supported Bit Description Comments 0 Generic Error The generic error is signaled at any error situation Subindex Description Data Type Default Value Acce
12. Default Value Access Restore after BootUp 0 Unsigned 16 0 rw yes 5 5 17 Object 1018h Identity Object This object contains the device information Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of entries Unsigned 8 4 ro no 1 Vendor ID Unsigned 32 195h ro no 2 Product Code Unsigned 32 ro no 3 Revision Number Unsigned 32 100h ro no 4 Serial Number Unsigned 32 ro no WV42HD CAN Date 03 02 2015 Page 17 of 36 Art No 86374 Mod status 45 15 5 5 18 Object 1020h Verify configuration This object indicates the downloaded configuration date and time intelligente Weg und Winkelmess Systeme Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of entries Unsigned 8 2h ro no th Configuration date Unsigned 32 rw no 2h Configuration time Unsigned 32 rw no 5 5 19 Object 1029h Error behaviour This object indicates the error behavior Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of entries Unsigned 8 th ro no th Communication error Unsigned 8 rw no 5 5 20 Object 1800h 1 Transmit PDO Communication Parameter This object contains the communication parameter of the 1 transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned 8 5 ro y
13. Resolution per Revolution 2102h Total Resolution 2103h Preset Value 2104h Limit Switch min 2105h Limit Switch max 2160h Customer Storage 2200h Cyclic Timer 3000h Node Number 3001h Baud rate 3002h Termination Resistor 6000h Operating Parameter 6001h Steps per Revolution 6002h Total Resolution 6003h Preset Value 6200h Cyclic Timer Tab 2 List of Storable Parameters WV42HD CAN Date 03 02 2015 Page 9 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme pan SIKO 4 3 2 Storing Procedure stored in RAM when being programmed When all the parameters are set and proved they can be transferred in one burn cycle to the E PROM by the parameter memory transfer The stored parameters are copied after a RESET Power on NMT Reset from the E PROM to the RAM volatile memory The parameter settings can be stored in a non volatile EPPROM The parameter settings are Storing without Reset By using the object 1010h from the communication profile related object dictionary you can store the parameters into the non volatile memory without a reset Storing with Reset By using the object 2300h from the manufacturer specific object dictionary you can store the parameters into the non volatile memory After storing the parameters a reset of the device is performed 4 4 Restoring Parameters The default parameters can be restored by using the object 1011h from communication profile related objec
14. X XTX EX 5 5 34 Object 2160h Customer storage This object provides for the customer the possibility to store any value Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 4h ro th Customer Storage Unsigned 32 rw 2h Customer Storage2 Unsigned 32 rw 3h Customer Storage3 Unsigned 32 rw 4h Customer Storage4 Unsigned 32 rw 5 5 35 Object 2200h Cyclic Timer PDO This object contains cyclic time of the event timer in ms of PDO 1 Subindex Description Data Type Default Value Access Restore after BootUp Oh Event Time in ms Unsigned 16 Oh ro yes The object 2200h is hard wired to the objects 1800h subindex 5h and 6200h and provide the cycle time for the cyclic mode see chapter Cycle Time and Event Timer 5 5 36 Object 2300h Save Parameter with Reset With this object all parameters can be stored in the non volatile memory After storing the parameters a reset is executed Subindex Description Data Type Default Value Access Restore after BootUp 0 Access code Unsigned 32 55AAAA55h wo no WV42HD CAN Date 03 02 2015 Page 23 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme pan SIKO a 5 5 37 Object 3000h Node Number This object contains the node number of the device The standard node number is 32 Subindex Description Data Type Default Value Access Restore af
15. ains the value of the event timer of the corresponding TPDOs The value can be changed between 1 65538 ms Subindex Description Data Type Default Value Access Restore after BootUp Oh Cyclic Time Unsigned 16 64h rw yes The object 6200h is hard wired to the objects 1800h subindex 5h and 2200h and provide the cycle time for the cyclic mode see chapter Cycle Time and Event Timer 5 5 53 Object 6300h Cam state register This object contains the cam state register The subindices 1h to FEh contain the cam state of channel 1 to 254 Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th ro th Cam state channel 1 Unsigned 8 4h romap yes 5 5 54 Object 6301h Cam enable register This object contains the cam enable register Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th ro th Cam enable channel 1 Unsigned 8 rw yes 5 5 55 Object 6302h Cam polarity register This object contains the cam enable register Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th ro th Cam polarity channel 1 Unsigned 8 Oh rw yes WV42HD CAN Date 03 02 2015 Page 27 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess System
16. al we refer to the communication profile DS301 V4 02 Object Description Hand Book DS301 DS406 1000h Device type 22 86 8 1001h Error register 22 87 8 1003h Pre defined error field 22 88 1005h COB ID SYNC message 23 89 1006h ComCyclePeriode 23 90 1008h Device name 24 91 1009h Hardware version 24 91 100Ah Software version 24 91 100Ch Guard Time 24 92 100Dh Life Time Factor 24 92 1010h Store parameters 25 92 1011h Restore default parameters 25 94 1012h COB ID Time Stamp 26 97 1013h High Resolution Time Stamp 26 98 1014h COB ID Emergency 26 98 1016h Consumer Heartbeat Time 26 100 1017h Producer Heartbeat Time 27 101 1018h Identity Object 27 101 1020h Verify Configuration 117 1029h Error Behaviour 133 9 1800h Communication parameter PDO 1 28 111 9 1801h Communication parameter PDO 2 28 111 11 1A00h Transmit PDO1 Mapping Parameter 30 112 11 1A01h Transmit PDO2 Mapping Parameter 30 112 12 1F50h Download Program Area 1F51h Program Control Tab 6 Object Dictionary 1000h 1FFFh WV42HD CAN Date 03 02 2015 Page 12 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme 5 3 Manufacturer specific objects 2000h 5FFFh Ob
17. alified personnel No responsibility is assumed by SIKO for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained people 1 1 About this Manual Background This user manual describes how to install and configure an WV42HD absolute rotary encoder with CANopen interface Imprint SIKO GmbH Weihermattenweg 2 D 79256 Buchenbach Telefon 49 0 7661 394 0 Telefax 49 0 7661 394 388 Internet http www siko de e mail info siko de Copyright The company SIKO GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy this documentation without written approval by the company SIKO GmbH Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice User Annotation The SIKO GmbH welcomes all readers to send us feedback and commands about this document You can reach us by e mail at info siko de WV42HD CAN Date 03 02 2015 Page 5of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Pain SIKO ee 2 Introduction This manual explains how to install and configure WV42HD absolute rotary encoder with CANopen interface applicable for both military and industrial applications with CANopen interface The products are fully compliant with
18. cable for a maximum speed of 1 Mbaud 1000 m cable for a maximum speed of 20 kbaud Various software tools for configuration and parameter setting are available from different suppliers It is easy to align and program the rotary encoders using the EDS electronic data sheet configuration file provided Further information is available at CAN in Automation CiA International Users and Manufacturers Group e V Kontumazgarten 3 DE 90429 Nurenberg Reference CAN Application Layer for Industrial Applications CiA Draft Standard 201 207 Version 1 1 CAL based Communication Profile for Industrial Systems CiA Draft Standard 301 CiA Draft Standard 305 Layer Setting Services CiA Draft Standard 406 Device Profile for Encoders Note All datasheets and manuals can be downloaded for free from our website www siko de We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice 3 Installation Setting Node Number via SDO Objects The node number has to be adjusted via SDO objects The default node ID is 32 204 To set the node number object 3000h has to be written For further information regard chapter 5 5 Object Dictionary Setting Baud Rate via SDO Objects The baud rate has to be adjusted via SDO objects The default baud rate is 125 kbaud To set baud rate object 3001h has to be written For further information please regard chapter 5 5 Object Dictionary Setti
19. d the limit switches can be turned on or off Subindex Description Data Type Default Value Access Restore after BootUp 0 Operating Parameters Unsigned 8 Oh rw yes The parameter code sequence Complement determines the counting direction in which the output process value increases or decreases CW Clockwise CCW Counterclockwise The code sequence is determined by Bit 0 in Index 2100h Additionally the two limit switches Min and Max can be turned on or off in Index 2100h Bit 0 Code Code Bit 1 Limit Bit 2 Limit switch Bit 3 Event triggered sequence switch min max PDO 0 CW increasing 0 off 0 off 0 off 1 CCW increasing 1 on 1 on 1 on Calculation Example Target Absolute rotary encoder with direction CCW increasing limit switch min enabled and limit switch max disabled Bitmatrix Bit 0 1 Direction increasing CCW Bit 1 1 Limit switch min enabled Bit 2 0 Limit switch max disabled Result 011b 3h 5 5 29 Object 2101h Resolution per Revolution This object contains the desired steps per revolution of the encoder Subindex Description Data Type Default Value Access Restore after BootUp 0 Resolution per Unsigned 32 see type sign rw yes Revolution If the desired value exceeds the hardware resolution of the encoder or is not a value of 2 it will be out of range Only values in the power of
20. de number It is possible to set all nodes Index 0 or a single node Index NN to pre operational mode 4 1 3 Mode Start Operational To put one or all nodes in the operational state the master have to send the following message Identifier Byte 0 Byte 1 Description Oh 01h 00 NMT Start all nodes Oh 01h NN NMT Start NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to operational mode 4 1 4 Mode Stopped To put one or all nodes in the stopped state the master have to send the following message Identifier Byte 0 Byte 1 Description Oh 02h 00 NMT Stop all nodes Oh 02h NN NMT Stop NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to stop mode 4 1 5 Reinitialization of the Encoder If a node is not operating correctly it is advisable to carry out a reinitialization NN Command Index Description Oh 82h 00 Reset Communication Oh 81h NN Reset Node WV42HD CAN Date 03 02 2015 Page 8 of 36 Art No 86374 Mod status 45 15 NN node number intelligente Weg und Winkelmess Systeme It is possible to set all nodes Index 0 or a single node Index NN in reset mode After reinitialization the encoder accesses the bus in pre operational mode 4 2 Normal Operating Polled Mode By a remote transmission request telegram the connected host calls for the
21. diantnididasdee 9 4 3 1 List of storable Parameter isc tecssec sessceteecsaeencbesicane esanededesacataesseennayessvuiddvenvace eednsateestnenieessvinas 9 4 3 2 Storing PKOCCOU ied cece teaticpetee ees aetansesereendtnneanibeasccues wtadbnireed aaan aa aeaaea 10 4 4 Restoring Paramete Sss ente bee AEE S ata td 10 4 5 Usage of Layer Setting Services LSS rrrarnrnnannvnnrrrrnnnrrnannvnnenvennnrrnnnnvnnnnnnnnrrrennnrnnsnnnenenrenenn 10 5 Programmable Parameters rrrrnnnnnnnnnvvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenennnnnnnnnnnnnnnnnnnnnnnnnnnn 10 5 1 Programming example Preset Value cececeeeeeeeeeeeeeeeeaeeeeeeaaeeeeeeaaeeeseeaaeeeeneaaeeeeeeaaeeeeeeaas 11 5 1 1 Set Encoder Preset Value ursrnnannvnnnnvvnnnrrnnnnvnnnnnvnnrrrennnrnnannnnnennennnrnnennnnnsnneennrresnnrnnsnnennnnesenn 11 5 2 Communication Profile DS301 specific objects from 1000h 1FFFh rsnnrnnonrnnnnrrnnnnrnnnnnnnrnnren 12 5 3 Manufacturer specific objects 2000h 5SFFFN nnrrnnnnnnvnnnnonnvnnnnennrrnnrnnnrnnnrennrnnsrrnnrnesrrnnrnessnn anne 13 5 4 Application specific objects 6000h 67FEN mrvnnnannvvnnnnnnvrnnnnnnvrnnnrnnrrnnnennrrnnnnnnrrnnnensrrnnsennrrnnnnn 13 5 5 Object DESEHPHONS sesos passaiani aiaee aa a aaia Ea aE aai 14 5 5 1 Object 1000h Device Typasirseirisinriineia aa na a aai 14 5 5 2 Object 1001h Error Register cecccceccceeeeeceeeeeeeeeeeceeeeeeaaeeeeaeeeeneeeceaeeeeaaeseeeeeseaeeesaeeeeaeeseeneees 14 5 5 3 Object 1003h Pr
22. dure To save the parameters to non volatile memory the access signature save has to be sent to the corresponding subindex of the device Most significant word Least significant word ASCII E V a S Hex value 65h 76h 61h 73h 5 5 11 Object 1011h Restore Parameters This object is used to restore device and CANopen related parameters to factory settings Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 2 ro no 1 Restore all parameters Unsigned 32 load rw no Storing procedure To save the parameters to non volatile memory the access signature load has to be sent to the corresponding subindex of the device Most significant word Least significant word ASCII D a o Hex value 64h 61ih 6Fh 6Ch Note The restoration of parameters will only be taken into account after a power up or reset command Please check all parameters before you store them to the non volatile memory 5 5 12 Object 1012h COB ID Time Stamp Object This object contains the COB ID of the Time Stamp object Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 100h rw no WV42HD CAN Date 03 02 2015 Page 16 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Sy
23. e List of Cam objects 6310h Cam1 low limit rw Oh VAR Highest sub index supported U32 ro Ox1 th VAR Cam1 low limit channel1 rw 6311h Cam2 low limit rw Oh VAR Highest sub index supported U32 ro 0x1 th VAR Cam2 low limit channel1 rw 6312h Cam3 low limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR _ Cam3 low limit channel1 rw 6313h Cam4 low limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam4 low limit channel1 rw 6314h Cam5 low limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam5 low limit channel1 rw 6315h Cam6 low limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR _ Cam6 low limit channel rw 6316h Cam7 low limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam7 low limit channel1 rw 6317h Cam8 low limit rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR _ Cam8 low limit channel1 rw 6320h Cam1 high limit rw Oh VAR Highest sub index supported U8 ro Ox1 dh VAR Cam1 high limit channel1 rw 6321h Cam2 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam2 high limit channel1 rw 6322h Cam3 high limit rw Oh VAR IHighest sub index supported U8 ro Ox1 th VAR Cam3 high limit channel1 rw 6323h Cam4 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 t
24. e Defined Error Field rarnrnnonvrnrnrrrnnnrrnnnnrnnenvvnnnrrvnnnrnnennnnrrrrensnrnnsnnnnnenreeenn 14 5 5 4 Object 1005h COB ID Sync iraniene iiaa a iia aas 15 5 5 5 Object 1008h Manufacturer Device Name rnnrnnnnnnnnnrrnnnnvnnnnnnnnenrnnnnrrvsnnrnnrnnnnrrrrerrnrnrnnnnnnenneeenn 15 5 5 6 Object 1009h Manufacturer Hardware Version urrrrrnnnvrnnnvrnnrnvrnnnrrvnnnrnnrnnnnrrrrennnrnrrnnnnnrnneeenn 15 5 5 7 Object 100Ah Manufacturer Software Version mrrrrrarvrrnanvrnnrnvvnnnrrvnnnrnnrnnrnrrrrenrnrnnnnnnnnenneeenn 15 5 5 8 Object 100Ch Guard Time renannrnnnnnvnnenrrnnnrrnnnnrnnrnvnnrrrrennnrnernnnenennennnrneennnnnrnnnnrrrresnnnnennnnnnennenenn 15 5 5 9 Object 100Dh Life Time Factor arnrnnonrrnnnrrnnnnrnnrnvvnrrrrennnrnnnnnnnnenrenrnraeennrnnennenrnrressnrnesnnnnnennenenn 16 5 5 10 Object 1010h Store Parameters mnanvnanvrnnnnvnnnnvvnnvrrvnnnvnnnnnvnnenrennnrrnennrnnrnnenrnrressnrnesnnnnsenneeenn 16 5 5 11 Object 1011h Restore Parameters srursrvnannvnnenvvnrrrrvnnnrnnnnnnnnenrennnrrennnrnnennnnrrrresnnrnnennnnnennenenn 16 5 5 12 Object 1012h COB ID Time Stamp Object rranvrnrrrnnnnrnnannvnnenvvnnnrrnnnnrnnrnnnnrrrrenrnrnernnnnrennenenn 16 5 5 13 Object 1013h High Resolution Time Stamp uanrrnnnrrnnnnrnnnnnrnnenvrnnnrrvnnnrnnrnnnnrrrrenrnrnnrnnnnnrnneeenn 17 5 5 14 Object 1014h COB ID Emergency Object mrrnnonrvnrnrrrnnnrrnnnnrnnenvrnnnrrvnnnrnnrnnnnrrrrerrnrnrennnnnrnneeenn 17 5 5 15 Objec
25. easuring range in measuring units object 6002h are the scaling parameters The scaling function bit is set in the operating parameters If the scaling function bit is set to zero the scaling function is disabled Bit structure for the operating parameters Bit 15 14 13 12 11 10 918 1716 5 4 3 2 1 0 Use MS IMS IMS IMS RIRIRIRIRIRI R R MD SFC OD CS Table Description MS Manufacturer Specific Function not available R Reserved for future use MD Measuring direction not available SFC Scaling function 0 disable 1 enable CD Commissioning diagnostic control not availabe CS Code sequence 0 CW Up 1 CCW Up Code Sequence CS Bit 0 is hardwired to Code Sequence CS Bit 0 in object 2100h 5 5 46 Object 6001h Measuring units per revolution This object shall indicate the number of distinguishable steps per revolution Subindex Description Data Type Default Value Access Restore after BootUp Oh Measuring units per Unsigned 32 see type sign rw yes revolution Hardwired with 2101h 5 5 47 Object 6002h Total measuring range in measuring units This object shall indicate the number of distinguishable steps over the total measuring range Subindex Description Data Type Default Value Access Restore after BootUp Oh Total measuring steps Unsigned 32 see type sign rw yes
26. eeeceeeeeeeeeeeeeeeeeeeaeeeeeeteeeees 30 5 5 62 Object 6503h Alarms ooien reddes kabbala aia aaa Eae ENa 31 5 5 63 Object 6504h Supported Alarms ceccceceeceeseeceeeeeceeeeeeaeeeeeeeseeeeesaeeeeaaeseeeeeseeeesaeeeeneeseeeees 31 5 5 64 Object 6505h Warnings cccccceeeececeeeeeeeeeeeeeeeeeeeeeceaeeeeeaeeseaeeseeeeseaeeesaaeseeeeeseaeessaeeeeeeseeeeees 31 5 5 65 Object 6506h Supported warnings cccccceeeeeceeeeeeeeeeeeaeeeeeeeseeeeesaeeeeaaeseeeeeseeeesuaeeeeneeseeeeess 32 5 5 66 Object 6507h Profile and software Version cc ccccccceeeeeeeeneeeeeeeeseaeeeeaaeeeeeeeseaeeesaeeeeaeeseeeeess 32 5 5 67 Object 6508h Operating time cccccecceceeeeeeeeeeeeee cee eeeeaeeeeeee scenes ceaeeesaaeseeeeeeeeeseaeeeeeeseeneess 32 5 5 68 Object 6509h Offset Values szcsuc risintia ane aeaa a anaE aaa aa Aaaa 32 5 5 69 Object 650Ah Module identification cccceeeceeceeeeeeeeeeeeeeeeeeeeeeeeceaeeesaaeseeeeeseeeesaeeeeeeseeneess 33 5 5 70 Object 650Bh Serial NUMbert suc cccteevsctceceecevdecaeadcnesusdecteadactenesseneedaneastenesdeaceteadaacdeuetaneednnsandzeys 33 6 Dlaqnosls Lu apean emm einem 33 6 1 1 Troublesho tng xrsmassyimiisrmeset dn kebaedaereget a eden teed ddan met bb dat dear ae 33 WV42HD CAN Date 03 02 2015 Page 3 of 36 Art No 86374 Mod status 45 15 6 1 2 6 1 3 6 1 4 6 1 5 6 1 6 intelligente Weg und Winkelmess Systeme Power on Encoder doesn t respond ececcecceceee
27. eeeeee cece eeeeaeeeeaeeseeeeesaeeesaaeseeeeeseeessaeeeeeeseeeeees 20 5 5 27 Object 2000h Position Value eeeeceeeeeceeeeeeeeeeeeeee cee eeeeaeeseaeeseeeeeceaeeesaaeseeeeeseaeeesaeeseeeseeneess 20 5 5 28 Object 2100h Operating Parameters cccccccecceeceeceeeeeeeeeeeeee scenes ceaeeesaaeseeeeeseeestaeeeeeeeeeneess 21 5 5 29 Object 2101h Resolution per Revolution cecccececeeeeeeeeeeeeseeeeeceaeeeeaaeseeeeeseeeeesaeeeeeeseeeeess 21 5 5 30 Object 2102h Total Resolution ceeececeeeeeeeeeeeeee eee eeeeaeeeeeee sense seaeeesaaeseeeeeeeeeesaeeeeeeseeeeess 21 5 5 31 Object 2103h Preset Value rrrrrnnnvnnnnrvnnnrrrnnnrnnannvnnrrrnnnnrnnnnnnnnennennnrnvennnnnsnnennrrresnnrnnsnnnenenneeenn 22 5 5 32 Object 2104h Limit Switch MIN sricu iR 22 5 5 33 Object 2105h Limit Switch max 0 ccessecesseseceseeeeeeceesaeeeseesaeesssesaeeeesesaeesseeaeeeesesaeeseneaas 23 5 5 34 Object 2160h Customer storage ccccceccceceeeeeeeeeee ener eeeeaeeeeeee sense saeeeeaaeseeeeeseeeeeaeeseeeseeeees 23 5 5 35 Object 2200h Cyclic Timer PDO rrnnannnnnnrrnnnnvnnenvvnrrrrennnrrnsnnnnnenrennnrrrsnnrnnennenrnrressnrnesnnnnsennenenn 23 5 5 36 Object 2300h Save Parameter with Reset c ccceceeeeeeeeeeeeeeeeeeceaeeesaaeeeeeeeseaeeseaeeeeaeeteeneess 23 5 5 37 Object 3000h Node Number rsrenannvennnvvnnnrrnannvnnnnnvnnnrrnnnnrnnennvenennnnnnrnvennnnnsnnennsrresnnrnnsnnnenenneeenn 24 5 5 38 Object 3001h Baudraf u
28. eeeeeeeeaeeeeeeeeesecaaaaeaeeeeeeeseeenaaeaeeeeeeeseeenaees 33 Malfunction of the position value during transmission anrrrnronnrrnnnonnrrvnnnnnrnnnrrnnrnenrrnnrnnrrrnnnne 33 Too much ERROR Frames ceace EAEE EEAS 33 Limit switches without function eee cece cece ee eeeeeae cece ee ee seca aaaeeeeeeeeesecaaeaeeeeeeesesenacaeeeeeeeseeeeaaees 34 Baud rate and Node Number Changes cccceeeescceceeeneeeceenaeeeeeeaaeeeseeaaeeeseeaaeeeeeeaeeeseeaeeeeeeaas 34 Appendix Glossary 2 35 WV42HD CAN Date 03 02 2015 Page 4 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Dan SIKO Nm 1 General Security Advise Important Information Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that Clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death Please Note Electrical equipment should be serviced only by qu
29. efault Value Access Restore after BootUp 0 String ro no There is one actual version of circuit boards for WV42HD 5 5 7 Object 100Ah Manufacturer Software Version This object contains the manufacturer software version The new encoder line 2008 starts with version 4 00 Subindex Description Data Type Default Value Access Restore after BootUp 0 String 4 00 ro no 5 5 8 Object 100Ch Guard Time This object contains the guard time in milliseconds Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 16 0 rw yes WV42HD CAN Date 03 02 2015 Page 15o0f 36 Art No 86374 Mod status 45 15 5 5 9 Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard time gives the life time for the node guarding protocol intelligente Weg und Winkelmess Systeme Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 8 0 rw yes 5 5 10 Object 1010h Store Parameters This object is used to store device and CANopen related parameters to non volatile memory Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 2 ro no 1 Store all parameters Unsigned 32 save rw no Storing proce
30. es COB ID Unsigned 32 180h Node rw yes ID 2 Transmission Mode Unsigned 8 FE rw yes 3 Inhibit Time Unsigned 32 0 rw yes 4 Not available 5 Event Timer Unsigned 32 64h or 0 rw yes 5 5 21 Object 1801h 2 Transmit PDO Communication Parameter This object contains the communication parameter of the 2 transmit PDO Note In the OCD versions C2 and C5 the second PDO was configured via object 1802 Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 5 ro yes 1 COB ID Unsigned 32 280h Node rw yes ID 2 Transmission Mode Unsigned 8 1 rw yes 3 Inhibit Time Unsigned 32 0 rw yes 4 Not available 5 Event Timer Unsigned 32 0 rw yes WV42HD CAN Date 03 02 2015 Page 18 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Pan SIKO PP Transmission Mode The transmission mode can be configured as described below Transfer Transmission Mode Value Cyclic Acyclic Synchr Asynch RTR Notes decimal onous ronous only 0 X X Send PDO on first Sync message following an event 1 240 X X Send PDO every x Sync messages 241 251 reserved 252 X X Receive SYNC message and send PDO on Remote Request 253 X Update data and send PDO on Remote Request 254 X Send PDO on event 255 X Send PDO on event Inhibit Time For Transmit PDOs the
31. es the supported warnings of the device Please refer to the bit structure table to find more details about the supported warnings intelligente Weg und Winkelmess Systeme Subindex Description Data Type Default Value Access Restore after BootUp Oh Supported Warnings Unsigned 16 1000h ro no 5 5 66 Object 6507h Profile and software version This object provides the implemented encoder device profile version and the manufacturer specific software version Subindex Description Data Type Default Value Access Restore after BootUp Oh Profile and Software Unsigned 32 04040302h ro no Version The value is divided into the profile version part and the Software version part Each part is divided in upper version and lower version MSB LSB Software Version 4 4 Profile Version 3 2 Upper Software Version Lower Software Version Upper Profile Version Lower Profile Version 04 04 03 02 5 5 67 Object 6508h Operating time This object indicates the operating time of the device Currently the operating time is not supported and the value of this object will always be FFFFFFFFh Subindex Description Data Type Default Value Access Restore after BootUp Oh Operatiung time Unsigned 32 FFFFFFFFh ro no 5 5 68 Object 6509h Offset value This object contains the offset value It is been
32. etrying to send their message Data communication is carried out via messages These messages consist of 1 COB ID followed by a maximum of 8 bytes of data The COB ID which determines the priority of the message consists of a function code and a node number The node number corresponds to the network address of the device It is unique on a bus The function code varies according to the type of message being sent Management messages LMT NMT Messaging and service SDOs Data exchange PDOs Layer Setting Services LSS Predefined messages synchronization emergency messages The absolute rotary encoder supports the following operating modes e Polled mode The position value is only sent on request e Cyclic mode The position value is sent cyclically regular adjustable interval on the bus e SYNC mode The position value is sent after a synchronization message SYNC is received The position value is sent every n SYNCs n 2 1 Other functions offset values resolution etc can be configured The absolute rotary encoder corresponds to the class 2 encoder profile DS406 in which the characteristics of encoder with CANopen interface are defined The node number and speed in bauds are determined by their corresponding object dictionary entries WV42HD CAN Date 03 02 2015 Page 6 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme The transmission speed can range from 20 kbaud up to 1 Mbaud 30 m
33. h VAR Cam4 high limit channel1 rw 6324h Cam5 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam5 high limit channel1 rw 6325h Cam6 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam6 high limit channel1 rw 6326h Cam7 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam7 high limit channel1 rw 6327h Cam8 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam8 high limit channel1 rw 6330h Cam1 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam1 hyteresis channel1 rw WV42HD CAN Date 03 02 2015 Page 28 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme List of Cam objects 6331h Cam2 hyteresis rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam2 hyteresis channel1 rw 6332h Cam3 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam3 hyteresis channel1 rw 6333h Cam4 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR _ Cam4 hyteresis channel1 rw 6334h Cam5 hyteresis rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam5 hyteresis channel1 rw 6335h Cam6 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam6 hyteresis channel1 rw 6336h Cam7 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam7 hyteresis channel1 rw 6337h Cam8 hyteresis
34. inhibit time for PDO transmissions can be entered in this 16 bit field If data is changed the PDO sender checks whether an inhibit time has expired since the last transmission A new PDO transmission can only take place if the inhibit time has expired The inhibit time is useful for asynchronous transmission transmission mode 254 and 255 to avoid overloads on the CAN bus 5 5 22 Event Timer The event timer only works in asynchronous transmission mode transmission mode 254 and 255 If the data changes before the event timer expires a temporary telegram is sent If a value gt 0 is written in this 16 bit field the transmit PDO is always sent after the event timer expires The value is written in subindex 5 of a transmit PDO The data transfer also takes place with no change to data The range is between 1 65536 ms 5 5 23 Object 1A00h 1 Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1 transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 1 rw yes 1 1st mapped object Unsigned 32 60040020h rw yes The following procedure shall be used for re mapping TPDO1 or TPDO2 Set NMT state to Pre operational 2 Set TPDO Object 1800h or 1801h sub index 01h COB ID Bit 31 valid to 1 gt PDO does not exist is not valid 3 Set TPDO mapping parameter Object 1A00h or 1A01h sub index
35. intelligente Weg und Winkelmess Systeme User manual Absolute ROTARY ENCODER with CANopen interface WV42HD intelligente Weg und Winkelmess Systeme Table of Contents 1 General Security AdviSe nnnnnssennnnnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnmnnn 5 1 1 Aboutithis Mantal esne shee araberne dans det 5 2 Introduetldn sassanidene 6 2 1 General CANopen Information essnvnnrnrrnnnnvnnnnnvnnenrennnrrnnnnrnnnnnnnnenrnnnnrnnnnnnnnenrenernresnnnneennnnnenneennn 6 3 RS aU EO 44425442 42422444 7 4 ATU EU EE eects ena eee meena eee es eee cee ceatad 8 4 1 Operating Modes vecisteceetie st aiciiianie ata tudderte bin sailagedn det d bandes a a i mek ated aaia 8 r a Pa Generaksseuansaeateseaema peep ductors E A A E 8 4 1 2 Mode Preoperational rrnnnnvennnnnnvnnnnnnnvnnnnnnnvnnnnannvnnnnannvnnnnannnnnnnnnvnnnnennnnnnnennnnnnnnnnnneennnneneennnnene 8 4 1 3 Mode Start Operational erannnnnonnvnnnrrnnnnrnnannvnnenvvnnnvrnnnnrnnnnnnenenrennnrnnnnnnnnnnnenerrnesnnnnsennnenennenenn 8 ANA Mode Stopped issiima aaa raataa area eneeier adaptere 8 4 1 5 Reinitialization of the Encoder xrrnnnannvvvnnnnnvvnnnnnnvvnnnrnnvvnnrrrnnvnnnennrvnneernnnnnnennnnnnnernnnnnessnnnrneesnnnnne 8 4 2 Normal Operating 222 ct cecces ect esavesdnedestsnsthvaceontnen obs adsans bd kg bedende debaeeesuedauacddvvanetesadfasdaestaneesyedaeaeee 9 4 3 St ring Parameter Lu uevanemdnaensetenrmnsldere mbentebamekeadi dej dende kda
36. ject Description Pr 2000h Position Value 31 2100h Operating Parameters 31 2101h Resolution per Revolution 31 2102h Total Resolution 33 2103h Preset Value 34 2104h Limit Switch min 34 2105h Limit Switch max 33 2160h Customer Storage 35 2200h Cyclic Timer 35 2300h Save Parameter with reset 35 3000h Node Number 36 3001h Baud rate 36 3002h Termination Resistor 36 3010h Speed Control 37 3011h Speed Value 37 3020h Acceleration Control 37 3021h Acceleration Value 37 4000h Boot loader Control 38 Tab 7 Object Dictionary 2000 5FFF 5 4 Application specific objects 6000h 67FEh In this manual we refer to the communication profile D5406 V3 2 Object Description Pk Boe he 6000h Operating Parameters 38 17 6001h Measuring units per revolution 38 18 6002h Total measuring range in measuring units 39 19 6003h Preset value 39 19 6004h Position Value 40 20 6030h Speed Value 40 25 6040h Acceleration Value 40 26 6200h Cyclic Timer 40 28 6300h Cam state register 40 30 6301h Cam enable register 41 32 6302h Cam polarity register 41 33 6400h Area state register 44 6401h Work area low limit 44 6402h Work area high limit 44 6500h Operating status 45 63 6501h Single turn resolution 45 64 6502h Number of distinguishable revolutions 45 65 6503h Alarms 46 65 6504h Supported alarms 46 66 WV42HD CAN Date 03 02 2015 Page 13 of 36 Art No 86374 Mod status 45 1
37. layer in the CAN Master Active device within the network that can send data without having received a request It controls data exchange and communication management N NMT Network management object This is responsible for managing the execution configuration and errors in a CAN network NN Node number P PCV Process Value PDO Communication object with a high priority for sending process data PV Preset Value Configuration value R RO Read Only Parameter that is only accessible in read mode ROMAP Read Only MAPable Parameter that can be polled by the PDO RW Read Write Parameter that can be accessed in read or write mode S SDO Communication object with a low priority for messaging configuration error handling diagnostics Slave Bus node that sends data at the request of the master The encoders are always slaves W WO Write Only Parameter that is only accessible in write mode WV42HD CAN Date 03 02 2015 Page 36 of 36 Art No 86374 Mod status 45 15
38. lue ec eeececeeeeeeeeeeeeeeeeeeeeeceeeeeeeaeeeeaee sense seaeeesaaeseeeeeseieessaeeseeeseeeeess 27 5 5 51 Object 6040h Acceleration Value c ccccccceeeseceeeeeeeneeeeeaeeeeeee scenes caaeeeeaaeeeeeeeseaeeesaeeseaeeseeeeess 27 5 5 52 Object 6200h Cyclic timer sssaaa aaan a vhadesveveaeesaneeezenalis 27 5 5 53 Object 6300h Cam state register eccccccceeeseeceececeeeeeeeaeeeeeeeeeeeeseaeeseaaeseeeeeeeaeeseaaeseeaeeeseneess 27 5 5 54 Object 6301h Cam enable register ccccccceeeceeeeeceeeeeeeaeeeeeeeeeeeeeceaeeesaaeeeeeeeseaeeesaeeeeeeseeneess 27 5 5 55 Object 6302h Cam polarity register cccccecceceeceeeeeeeeeeeeeeeeeeeeeeeseaeeeeaaeeeeeeeseaeeseaeeeeeeteeeeess 27 5 5 56 Object 6400h Area state register marrnursrrrannrnnonvrnrrr vnr rnnnnrnnrn renn netr none nnnrnnresnrnesnnnnnen renser 29 5 5 57 Object 6401h Work area low limit rrrarnrorannrnnenvvnrnrrrnnnrrrnnnrnnenrrnnnrrnnnnrnnennnnrrrrerrnrnesnnnenennenenn 30 5 5 58 Object 6402h Work area high limit oorernnonannrnnonvvnrrrrrnnnrnnnnnrnnenrrnnnrrnnnnrnnennnnrrrrenrnrneennnnnenneeenn 30 5 5 59 Object 6500h Operating Status ccecccececeeeeseeceeeeeceeeeeeeaeeeeeeeseeeeeseaeeesaaeseeeeeseeessaeeeeeeseeeees 30 5 5 60 Object 6501h Single turn resolution cecceeeeeceeeee eens eeeaeeeeeeeseeeeeceaeeeeaaeseeeeeseeessaeeeeeeeeeeees 30 5 5 61 Object 6502h Number of distinguishable revolutions ccecccec
39. nfigured to a unused node number it will start up into the pre operational mode and send a bootup massage to the master 5 1 1 Set Encoder Preset Value Master to Encoder with Node Number 1 Setting Preset Value Value 1000 Identifier DLC Command Index Subindex Service Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 601 8 22 03 60 00 00 10 00 00 Answer of the Encoder Identifier DLC Command Index Subindex Service Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 581 8 43 03 60 00 00 00 00 00 WV42HD CAN Date 03 02 2015 Page 11 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Read Preset Value from the Encoder Identifier DLC Command Index Subindex Service Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 601 8 40 03 60 00 00 00 00 00 Answer of the Encoder Identifier DLC Command Index Subindex Service Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 581 8 43 03 60 00 00 10 00 00 Save Preset Values Identifier DLC Command Index Subindex Service Process data NN 1 Download 1010h Byte 4 Byte 5 Byte 6 Byte 7 601 8 22 10 10 01 73 61 76 65 5 2 Communication Profile DS301 specific objects from 1000h 1FFFh In this manu
40. ng Node Number via LSS The node number can also be adjusted via Layer Setting Services LSS For further information regard chapter 4 5 Setting Baud Rate via LSS The baud rate can also be adjusted via Layer Setting Services LSS The default baud rate is 125 kbaud For further information regard chapter 4 5 Bus Termination If the encoder is the last device in the bus you can use the internal termination resistor which can be enabled with an SDO object WV42HD CAN Date 03 02 2015 Page 7 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Dann N SIKO Nes 4 Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with CANopen interface 4 1 Operating Modes 4 1 1 General The encoder accesses the CAN network after powerup in pre operational mode BootUp Message 700 hex Node Number It is recommended that the parameters can be changed by the user when the encoder is in preoperational mode Pre operational mode entails reduced activity on the network which simplifies the checking of the accuracy of the sent received SDOs It is not possible to send or receive PDOs in pre operational mode 4 1 2 Mode Preoperational To set a node to pre operational mode the master must send the following message Identifier Byte 0 Byte 1 Description Oh 80h 00 NMT PreOp all nodes Oh 80 h NN NMT PreOp NN NN no
41. r the boot loader feature see Boot loader chapter Use this entry to download your Intel hex file with the programming data Detailed information about Domain download and Block transfer in CiA Draft Standard 301 Application Layer and communication Profile Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 2h ro yes th DOMAIN wo yes 5 5 26 Object 1F51h Program Control This is a special boot loader object to update the firmware see Boot loader chapter This array controls the programs residing at index 0x1F50 Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of program Unsigned 8 2h ro yes control entries th Unsigned 32 rw yes Sub index 1h and higher control the memory block functionality They can have the following values for writing 1 start downloaded program 4 erase flash 5 5 27 Object 2000h Position Value This object contains the position value Subindex Description Data Type Default Value Access Restore after BootUp 0 Position Value Unsigned 32 ro n a WV42HD CAN Date 03 02 2015 Page 20 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme SIKO fee 5 5 28 Object 2100h Operating Parameters As operating parameters the code sequence Complement can be selected an
42. rmation The Boot loader starts up with a pre defined CANopen node ID of 1 0x1 and a fixed CAN baud rate of 125 kbits Subindex Restore after BootUp Description Data Type Default Value Access Oh Boot loader Control wo Unsigned 32 Note Activating the Boot loader courses a deep reset of the device After this only a few objects are still available the device does not behave like an encoder and waits for new programming That is the reason why the security code is not published in this document Please contact SIKO to obtain the code 5 5 45 Object 6000h Operating parameters This object shall indicate the functions for code sequence commissioning diagnostic control and scaling function control Subindex Description Data Type Default Value Access Restore after BootUp Oh Operating Parameter Unsigned 16 th rw yes Code sequence The code sequence defines whether increasing or decreasing position values are output in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft WV42HD CAN Date 03 02 2015 Page 25o0f 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Dan m Scaling function control With the scaling function the encoder numerical value is converted in software to change the physical resolution of the encoder The measuring units per revolution object 6001h and total m
43. rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam8 hyteresis channel1 rw 5 5 56 Object 6400h Area state register This object contains the area state register The object provides the actual area status of the encoder position Figure 9 specifies the object structure and Table 106 specifies the value definition Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th ro th Work area state channel Unsigned 8 romap yes 7 6 5 4 3 2 1 0 R r r r r Range underflow Range overflow Out of range MSB LSB Signal Value Definition out of range 0 Position between low and high limit 1 Position out of range refer to module identification object 650Ah is reached range overflow 0 No range overflow 1 Position is lower than the position value set in object 6402h work area low limit range underflow 0 No range underflow 1 Position is higher than the position value set in object 6401h work area high limit r 0 Reserved WV42HD CAN Date 03 02 2015 Page 29 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme am SIKO 5 5 57 Object 6401h Work area low limit This object indicates the position value at which bit 2 of the according work area state channel in object 6400h shall flag the underflow of the related work area
44. ss Restore after BootUp 0 Unsigned 8 N A ro no 5 5 3 Object 1003h Pre Defined Error Field The object holds the errors that have occurred on the device and have been signaled via the Emergency Object e The error code is located in the least significant word e Additional Information is located in the most significant word e Subindex 0 contains the number of recorded errors WV42HD CAN Date 03 02 2015 Page 14 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of recorded Unsigned 8 0 rw no errors 1 Most recent errors Unsigned 32 ro no 2 Second to last error Unsigned 32 5 ro no 10 Clearing Error Log The error log can be cleared by writing 0 to subindex 0 of object 1003 5 5 4 Object 1005h COB ID Sync This object contains the synchronization message identifier Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 80000080h rw no 5 5 5 Object 1008h Manufacturer Device Name This object contains the device name Subindex Description Data Type Default Value Access Restore after BootUp 0 String ro no 5 5 6 Object 1009h Manufacturer Hardware Version This object contains the article name of the circuit board Subindex Description Data Type D
45. steme 5 5 13 Object 1013h High Resolution Time Stamp This object contains a time stamp with a resolution of 1us Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 0 rw no 5 5 14 Object 1014h COB ID Emergency Object This object contains the EMCY emergency message identifier Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 80h Node ID rw no 5 5 15 Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms The device can only monitor one corresponding device If the time is set to 0 the monitoring is not active The value of this object must be higher than the corresponding time object 1017 of the monitored device 5 5 16 Object 1017h Producer Heartbeat Time The object contains the time intervall in milliseconds in which the device has to produce the a heartbeat message Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of indices Unsigned 8 1 ro no 1 Consumer heartbeat Unsigned 32 0 rw yes time The context of subindex 1 is as follows Bit 31 to 24 23 to 16 15t00 Value Oh reserved Address of monitored device Monitoring time ms Subindex Description Data Type
46. structure table to find more details about the supported alarms Subindex Description Data Type Default Value Access Restore after BootUp Oh Supported Alarms Unsigned 16 1000h ro no The CA encoder supports the position error alarm 5 5 64 Object 6505h Warnings This object shall provide the warnings Warnings indicate that tolerance for certain internal parameters of the encoder have been exceeded In contrast to alarm and emergency messages warnings do not imply incorrect position values All warnings shall be cleared if the tolerances are again within normal parameters Subindex Description Data Type Default Value Access Restore after BootUp Oh Warnings Unsigned 16 romap no Bit structure of the warnings Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Use MS IMS MS IMS R RIR IRIR RIRP BCJOT GCP LC FE Table Description MS Manufacturer Specific Warnings not supported R Reserved for future use RP Reference Point reached not reached not supported BC Battery charge not supported OT Operating Time limit not supported CP CPU watchdog status not supported LC Light control reserve not supported FE Frequency warning not supported WV42HD CAN Date 03 02 2015 Page 31 of 36 Art No 86374 Mod status 45 15 5 5 65 Object 6506h Supported warnings The object provid
47. t 1016h Consumer Heartbeat Time mrrnnanvrnrnrvvnnnrrnnnnrnnenvrnnnrrvnnnrnnrnnnnrrrrennnrnnsnnnnnenneeenn 17 5 5 16 Object 1017h Producer Heartbeat Time cccccccceeeeeeeeeeeeneeseeeeeceaeeesaaeseeeeeseeeesaeeeeeeseeneess 17 5 5 17 Object 1018h Identity Object 0 2 eee cece cece ee eeeeeee ee cee eeeeaeeeeeee eases cage eeeaaesgeeeeseaeeseaaeseeaeeeeeeeess 17 5 5 18 Object 1020h Verify configuration ce eeeceeeeeceeeeeeeee eee aeeeeeee sents eaaeeeeaaeeeeeeeseaeeesaeeeeeeteeeeess 18 5 5 19 Object 1029h Error behaviour mmnnvennnvvnnnvrnannvnnnnnvnnrrrennnrnnennvenenrennnr are nnnnenneennnresnnrnnsnnnenenneeenn 18 5 5 20 Object 1800h 1 Transmit PDO Communication Parameter rervrvvrvrvrrrrrereresevevrererereveverernnnn 18 5 5 21 Object 1801h 2 Transmit PDO Communication Parametel c ccccccsscsessesesesseseseseeeseeees 18 WV42HD CAN Date 03 02 2015 Page 2of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme 5 5 22 Event TIMEN ananas Bassen EE E ted de 19 5 5 23 Object 1A00h 1 Transmit PDO Mapping Parameter soensvvrvrvvrverrvvrrrvvererresevrvverererseversevennn 19 5 5 24 Object 1A01h 2 Transmit PDO Mapping Parameter c cssessessesseesessessessessessesseeessesseeees 20 5 5 25 Object 1F50h Download Program Area cccccceeeeeceeeeeeeeeeeeeeeseneeesaeeesaaeseeeeeeeeeesaeeeeeeseeneess 20 5 5 26 Object 1F51h Program Control ccccccecceeeeeeee
48. t dictionary The already in the non volatile memory programmed parameters are not overwritten Only after a new store command the default parameters are stored in the non volatile memory To restore the default parameter the following telegram is used The restored parameters are equal for every type of CANopen encoder and might not fit with the status after delivery Please check the restored parameters before you store them to the non volatile memory 4 5 Usage of Layer Setting Services LSS To configure the encoder via LSS the encoder will be the LSS slave device and the control has to support LSS master device functionality The LSS master device requests services that are performed by the LSS slave devices encoder The LSS master device requests the LSS address vendor id product code revision number serial number from the LSS slave device After receiving this information the control can unequivocally identify the encoder and the node number and baud rate can be set 5 Programmable Parameters Objects are based on the CiA 406 DS V3 2 CANopen profile for encoders www can cia org Command Function Telegram Description 22h Domain Download Request Parameter to Encoderr 23h 27h 2Bh 2Fh Domain Download Request Parameter to Encoder Bytes indicated 60h Domain Download Confirmation Parameter received 40h Domain Upload Request Parameter request 43h 47h 4Bh 4Fh Domain Upload Reply Parame
49. ter BootUp 0 Node Number Unsigned 8 1Fh rw yes Note To avoid the node number 0 one will be added to the value of this object E g 1Fh 1h 20h 32 dec 5 5 38 Object 3001h Baud rate This object contains the baud rate of the device Subindex Description Data Type Default Value Access Restore after BootUp 0 Baud rate Unsigned 8 rw yes Eight different baud rates are provided To adjust the baud rate only one byte is used Baud rate in kBit s Byte 20 00h 50 Oth 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h 5 5 39 Object 3002h Termination Resistor Subindex Description Data Type Default Value Access Restore after BootUp 0 Termination Resistor Unsigned 8 rw yes By writing 01h to this object the internal galvanic isolated termination resistor is activated Note that the resistor is only activated when the device is powered If you have more CAN nodes on the Bus be sure to power them approx 700 ms after the device with the programmed termination Resistor 5 5 40 Object 3010h Speed Control This object contains the speed control The speed measurement is disabled by default Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 2h ro th Enable Speed Unsigned 8 Oh rw yes 2h Speed modus Unsigned
50. ter to Master Bytes indicated 80h Warning Reply Transmission error Tab 3 General Command Byte Description WV42HD CAN Date 03 02 2015 Page 10 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme The value of the command byte depends on the data length of the called parameter Command Data length Data type 23h 4 Byte Unsigned 32 27h 3 Byte Unsigned 24 2Bh 2 Byte Unsigned 16 2Fh 1 Byte Unsigned 8 43h 4 Byte Unsigned 32 47h 3 Byte Unsigned 24 4Bh 2 Byte Unsigned 16 4Fh 1 Byte Unsigned 8 Tab 4 Detailed Command Byte Description Object Dictionary The data transmission according to CAL is realized exclusively by object oriented data messages The objects are classified in groups by an index record Each index entry can be subdivided by sub indices The overall layout of the standard object dictionary is shown beside Index hex Object 0000 not used 0001 001F Static Data Types 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 0FFF Reserved for further use 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FFF Standardized Device Profile Area A000 FFFF Reserved for further use Tab 5 Overview Object Dictionary 5 1 Programming example Preset Value If a CANopen device is connected and configured with the right baud rate and also co
51. tion the parameter total resolution must be a multiple of the physical total resolution 5 5 31 Object 2103h Preset Value The preset value is the desired position value which should be reached at a certain physical position of the axis The position value is set to the desired process value by the parameter preset The preset value must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Subindex Description Data Type Default Value Access Restore after BootUp 0 Preset Value Unsigned 32 0 rw yes 5 5 32 Object 2104h Limit Switch min Two position values can be programmed as limit switches By reaching this value one bit of the 32 bit process value is set to high Both programmed values must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Bit 30 1 Limit Switch Min reached or passed under Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch min Unsigned 32 0 rw yes The limit switch Min sets Bit 30 1 with the next message telegram if the process value reaches or passes under the value of the limit switch Function Status Process value bits Bit 31 30 29 28
52. two are valid otherwise the error code O6090030h Value range of parameter exceeded will appear 5 5 30 Object 2102h Total Resolution This object contains the desired total resolution of the encoder Subindex Description Data Type Default Value Access Restore after BootUp 0 Total Resolution Unsigned 32 see type sign rw yes This parameter is used to program the desired number of measuring units over the total measuring range This value must not exceed the total resolution of the absolute rotary encoder which is printed on the type sign of the encoder WV42HD CAN Date 03 02 2015 Page 21 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Pan SIKO PP Attention Following formula letter will be used PGA Physical total resolution of the encoder PAU Physical resolution per revolution GA Total resolution AU Resolution per revolution see type sign see type sign customer parameter customer parameter RIR Please use the following formula to calculate the total resolution of the encoder If the desired resolution per revolution is less than the really physical resolution per revolution of the encoder then the total resolution must be entered as follows Total resolution Calculation example Customer handicap AU 2048 Encoder type sign PGA 24 bit PAU 12bit If the total resolution of the encoder is less than the physical total resolu
53. uasemmsa enst eaaa aa anaa a aaa Ea 24 5 5 39 Object 3002h Termination ReSIStOM cccceesceeeeeceeeeeeeaeeeeeeeseeeeeseaeeeeaaeseeeeeseaeeeeaeeseaeeteeneess 24 5 5 40 Object 3010h Speed Control marnnnnnnvnnnnrrnannvnnonnvnnvrrennnrnnnnnvnnennennr ane nnnnenneennnressnrnnannnenenneeenn 24 5 5 41 Object 3011h Speed Value sssniisseuiirieiriiressiiriiieiveniinnininnn iniaiaiai iiaia 25 5 5 42 Object 3020h Acceleration Control c cccccceeseeceeeeeeeeeeeeaeeeeneeceeeeeseaeeesaaeseeeeeseaeeesaeeeeeeseeeeees 25 5 5 43 Object 3021h Acceleration Value cccccccceeeeeceeeeeceeeeeeeaeeeeeee scenes seaeeesaaeseeeeeseeeeenaeeeeeeteeeeess 25 5 5 44 Object 4000h Boot loader Control cccccceeseeceeeeeeeeeeeeeaeeeeeee scenes saeeesaaeseeeeeseaeessaeeseeeseeeeess 25 5 5 45 Object 6000h Operating parameters ccccececeeeeeeeee cess eeeeeeseeeeeseaeeesaaeseeeeeeeeeesaeeeeeeseeeeess 25 5 5 46 Object 6001h Measuring units per revolution rurrrrrannrrnnnnrnnrnvrnnnrrvnnnrnnrnnnnrrrrerrnrnnrnnnnnen vener 26 5 5 47 Object 6002h Total measuring range in measuring UNItS eeeceeeeeeeeeeeeeeeeeeeteeeseaeeeeeeteeeees 26 5 5 48 Object 6003h Preset value ccecececeeeeeceeeeeeeeeeeeee seas eeeaaeeeeaeeseeeeseaeeesaaeseeeeeseeeesaeeeeeeseeneess 26 5 5 49 Object 6004h Position VAlUC ccecceecceceeeeeeeeeeeeeee cee eeeeaeeseaeeseeeeseaeeesaaeseeeeeseeeesiaeeeeeeseneeess 26 5 5 50 Object 6030h Speed Va
54. y e Reprogram the encoders baud rate e Restart encoder so the new baud rate setting will be valid 6 1 3 Malfunction of the position value during transmission Problem During the transmission of the position value occasional malfunction occurs The CAN bus can be temporary in the bus off state also Possible solution Check if the last bus node has switched on the terminal resistor 6 1 4 Too much ERROR Frames Problem The bus load is too high in case of too much error frames Possible solution Check if all bus node has the same baud rate If one node has another baud rate error frames are produced automatically WV42HD CAN Date 03 02 2015 Page 33 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme Pan SIKO PP 6 1 5 Limit switches without function Problem The encoder didn t transmit the bits for the limit switches Possible solution The limit switch functionality has to be activated once Please follow the description you can find at 4 5 6 1 6 Baud rate and Node Number changes Notice The changing of baud rate and node number are only valid after storing the parameter with the store parameters command and a new power up or a NMT Reset WV42HD CAN Date 03 02 2015 Page 34 of 36 Art No 86374 Mod status 45 15 intelligente Weg und Winkelmess Systeme 7 Appendix Glossary A Address APV B Baud rate Byte C CAL CAN CANopen CCW CiA COB COB ID CW
Download Pdf Manuals
Related Search