man_CANopen_eng_under prod.indd
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1. Table 1 Termination switch settings When encoder with M12 connectors is used the termination must be done using a terminating resistor plug The terminating resistor plug is available as an accessory from Leine amp Linde The plug is assembled in resemblance to the M12 cables and both male and female contacts are available in order to enable termination in both ends of the bus 2 4 Baud rate switch The communication baud rate can be set using the rotary switch inside the encoder The baud rate is set according to table 2 below If the baud rate switch is set to 9 the baud rate can be set by LSS service For more information regarding LSS see chapter 4 9 Baudrate Baudrate switch 10 kbit s 0 20 kbit s 1 50 kbit s 2 125 kbit s 2 250 kbit s 4 500 kbit s 5 800 kbit s 6 1000 kbit s 7 400 kbit s 8 LSS service 9 Table 2 Baud rate switch settings CANopen USER MAN UAL www leinelinde com 2 5 Connecting the encoder 2 5 1 Power supply The power supply connection of M12 equipped encoders are constituted by a male A coded 4 pin M12 connector Power supply Power supply M12 version a Function Pin EV 9 36Vdc 1 Not connected 2 OV 3 Not connected 4 Figure 2 Onentation of M12 Table 3 Pinning M12 power supply connector power supply connector Encoders eguipped with cable glands are delivered with a dust protection fo2. CAN in Automation A copy of the certificate is attached in this manual 1 4 References http www can cia org CAN Application Layer DS 201 207 CiA CAL Based Communication Profile DS 301 CiA Device Profile for Encoders DS 406 CiA CAN Specification Version 2 0 A Robert Bosch GmbH CANary CAN controller Atmel 1 5 Abbreviations CAN Controller Area Network CiA CAN in Automation CAL CAN Application Layer EDS Electronic Data Sheet DCF Device Configuration File SDO Service Data Object PDO Process Data Object TPDO Transmit PDO COB ID Communication Object Identifier NMT Network Management IRT Isochronous Real Time LSS Layer Setting Services CANopen USER MAN UAL www leinelinde com 2 Encoder Installation 2 1 Settings inside the encoder The encoder node address baud rate and bus termination must be configured during commissioning of the device This is done by removing the back cover and open up the three screws at the rear of the encoder Screw terminal for bus and power supply connection Node address switches Zero set button Bus termination on off Baud rate switch Figure 1 PCB view of a cable gland CANopen encoder 2 2 Node address The node address of the device can be set using two decimal rotary switches located inside the back cover The weighting x10 and x1 are specified beside the switches Permissible address ran
3. are output when the encoder shaft rotates clockwise or counterclockwise as seen on the shaft The scaling function control is used for enabling disabling the scaling parameters measuring units per revolution object 0x6001 and total measuring range in measuring units object 0x6002 see chapter 4 5 If the scaling function bit is set the scaling para meters will affect the output position value If the scaling function bit is set to zero the scaling function is disabled Note The position value will be affected when the code sequence is changed during operation It might be necessary to perform a preset after the code sequence has been changed 15 16 CANopen USER MAN UAL www leinelinde com 4 5 Scaling function 4 5 1 Overview With the scaling function the encoder internal numerical value is converted in software to change the physical resolu tion of the Encoder The parameters Measuring units per revolution object 0x6001 and Total measuring range in measuring units object 0x6002 are the scaling parameters set to operation with the scaling function control bit in object 0x6000 Note Total measuring range in measuring units Measuring units per revolution x Number of distinguishable revolutions When scaling a multiturn encoder the parameter Measuring units per revolution must be sent before the parameter Total measuring range in measuring units The data type for both sc
4. com 4 Encoder functionality 4 1 Basic encoder functionality The figure below gives an overview of the basic encoder functions and how the functionality is conducted within the encoder Physical position Code seguence Basic funtion p Singletum resolution Number of distinguishable revolutions Absolute position Measuring units per revolution Scaling function lt Total measuring range in measuring units Scaling function control status Preset function o u Offset value vw Output position value Figure 5 Basic encoder functionality 4 2 Default identifiers In order to reduce configuration effort a default identifier allocation scheme is defined for CANopen devices This ID allocation scheme consists of a functional part which determines the object priority and a module ID part which is equal to the node number 1 to 127 Broadcasting of non confirmed services NMT and SYNC is indicated by a module ID of zero In CANopen the 11 bit identifier is built as follows Bit Nr 10 9 8 7 6 5 4 3 2 1 0 Function Code Node Number Table 7 CANopen identifier The following broadcast objects with default identifiers are available in the encoder Object Function Code binary Resulting Identifier COB ID Priority group NMT 0000 0 0 SYNC 0001 128 0 Table 8 Broadcast objects CANopen USER M
5. flash A guard event or a heartbeat event has occurred Red The encoder is Bus off Flashing red green The encoder does n ot have any Node_ID Table 6 Status LEI D indication When the encoder is on error free communication in operational state both the module and the status LED should shown gre en CANop en USER MAN UAL www leinelinde com 3 Profile overview The Encoder Profile defines the functionality of encoders connected to CANopen The operating functions are divided in two device classes CLASS 1 The Mandatory class with a basic range of functions that all Encoders must support The class 1 encoder can optionally support selected class 2 functions these functions must however be implemented according to the profile CLASS 2 Where the Encoder must support all class 1 functions and all functions defined in class 2 The full class 2 functionality includes Absolute position value transfer using either polled cyclic or sync mode Velocity and acceleration output values Change of code sequence Preset value settings Scaling of the encoder resolution Advanced diagnostics including Encoder identification Operating status Operating time Alarms and warnings All programming and diagnostic parameters are accessible through SDO s The output position value from the encoder is presented in binary format 13 14 CANopen USER MAN UAL www leinelinde
6. to anything else than 9 the baud rate will be according to table 2 in chapter 2 4 Baud rate switch A reset of the LSS setting will also be made which means that once the encoder is restarted with the baud rate switch set to 9 the encoder will use 125 Kbit until any other value has been stored CANopen USER MAN UAL www leinelinde com If both baud rate and Node_Id shall be set by LSS it is recommended to follow the sequence below 1 9 Start with enable LSS in all node on the network for both setting Node_Id and Baud rate This is done on the Leine amp Linde encoders by setting all three switches Baud rate Address X10 and Address X1 to 9 Switch on power supply Set all Nodes to LSS Configuration Set the new baud rate with Configure bit timing parameters Store the new value with Store configuration Activate the new baud rate with Activate bit timing parameters chose a delay that is long enough so you have time to change the LSS masters baud rate before the nodes starts to communicate with the new baud rate Set all Nodes to LSS Waiting mode with Switch state global Set one node at a time to LSS Configuration a First use LSS switch mode selective Vendor ID with the nodes vendor ID obj 0x1018 sub index 1 Leine amp Linde s Vendor ID is 0x00000194 b Then use LSS switch mode selective Product code with the nodes product code obj 0x1018 sub
7. AN UAL www leinelinde com The following Peer to Peer objects with default identifiers are available in the encoder Object Function Code binary Resulting Identifier COB ID Priority group EMERGENCY 0001 80 node id 0 1 PDO1 tx 0011 180 node id 1 2 PDO2 tx 0101 280 node id 2 3 SDO tx 1011 580 node id 6 SDO rx 1100 600 node id 6 7 Node guard 1110 700 node id z Table 9 Peer to Peer objects 4 3 Boot up message The encoder sends a Boot up message after power on and initialization This message uses the default Node guard identifier ID 700 node id and has no data bytes With this message the user can retrieve the sending node directly from the used identifier COB ID as it is a function of the node number see chapter 4 2 4 4 Operating parameters Object 0x6000h operating parameters controls the functions for Code seguence and Scaling and read position at Sync Bit Function Bit 0 Bit 1 Class 1 Class 2 0 Code Sequence CW CCW M M 1 N A 2 Scaling function control Disabled Enabled O M 3 N A 4 11 Reserved for further use 12 14 Manufacturer specific parameter N A N A O O 15 Read position at sync Disabled Enabled not for linear encoders not for rotary encoders Table 10 Operating parameters The code sequence defines whether increasing or decreasing position values
8. IC OPERATION Binary scaling Used when operating with 2 number of turns 2 4 8 16 32 64 128 256 512 1024 2048 and 4096 number of turns If the desired measuring range is equal to the specified singleturn resolution 2 where x lt 12 the encoder operates in endless cyclic operation 0 max 0 max For example If the position value increases above the maximum value measuring range 1 by rotating the encoder beyond the maximum value the encoder continues from 0 Example of a cyclic scaling Measuring units per revolution 1000 Measuring range 32000 2 32 number of turns CANopen USER MAN UAL www leinelinde com B NON CYCLIC OPERATION If the measuring range is used to limit the encoder value range to a value not equal to the specified singleturn resolution 2 the output position value is limited within the operating range If the position value increases or decreases outside the measuring range by rotating the encoder beyond the maximum value measuring range 1 or below 0 the encoder outputs the total measuring range value 4 5 2 Scaling formulas The scaling function used in the CANopen encoder is limited to a singleturn resolution within one step After downloading new scaling parameters the preset function should be used to set the encoder starting point Note Changing the scaling function parameters should only be used at encoder standstill In the following formula a 25 bit multiturn encode
9. LEINE k LINDE CANopen MANUAL USERS GUIDE FOR THE 600 SERIES CANopen Leine amp Linde AB T 46 0 152 265 00 F 46 0 152 265 05 info leinelinde com www leinelinde com Publication date 2012 06 20 LEINE amp LINDE CANopen USER MANUAL www leinelinde com Contents List of tables 4 List of figures 4 1 GENERAL INFORMATION 5 1 1 ABSOLUTE ENCODERS 5 1 2 CANOPEN TECHNOLOGY 5 1 3 ABOUT LEINE amp LINDE AB 5 1 3 1 Technical and commercial support 6 1 3 2 Certification of CANopen products 6 1 4 REFERENCES 6 1 5 ABBREVIATIONS 6 2 ENCODER INSTALLATION 7 2 1 SETTINGS INSIDE THE ENCODER 7 2 2 NODE ADDRESS 7 2 3 BUS TERMINATION 8 2 4 BAUD RATE SWITCH 8 2 5 GONNECTING THE ENCODE 9 2 5 1 Power supply 9 2 5 2 BUS lines 9 2 5 3 Shielding philosophy 10 2 6 EDS FILE 10 2 7 PARAMETERIZATION 11 2 8 LED INDICATION 11 2 8 1 Module LED 11 2 8 2 Status LED 12 3 PROFILE OVERVIEW 13 4 ENCODER FUNCTIONALITY 14 4 1 BASIG ENCODER FUNCTIONALITY 14 4 2 DEFAULT IDENTIFIERS 14 4 3 BOOT UP MESSAGE 15 4 4 OPERATING PARAMETERS 15 4 5 SCALING FUNCTION 16 4 5 1 Overview 16 4 5 2 Scaling formulas 17 4 6 PRESET VALUE 17 4 6 1 Overview 17 4 6 2 Preset formula 18 4 7 ZERO SET 18 4 8 VELOCITY AND ACCELERATION 18 4 9 LSS LAYER SE
10. RA TIONAL the reconfigured PDO mapping is enabled The PDO mapping can be securely stored to EEPROM by using the object 0x1010 Store parameter Field sub index 1 All parameters or sub index 2 communication parameters CANopen USER MANUAL www leinelinde com 4 10 2 PDO configuration example The following chapter shows how to map Pl all data in hexadeci mal format DO1 with position and speed the encoder has address OxOF Step ID Data 1 0 80 OF Set the encoder in NMT mode PRE OPERATIONAL 2 60F 23 00 18 01 8F 01 00 80 Set PDO1 to not valid and COB ID to 0x18F 3 60F 2F 00 1A 00 00 00 00 00 Set Transmit PDO mapping parameter sub index 0 to 0 mapping deactivated 4 60F 23 00 1A 01 20 00 04 60 Map position object 0x6004 to the first position in the PDO 5 60F 23 00 1A 02 10 01 30 60 Map Speed object 0x6030 to the second position in the PDO 6 60F 2F 00 1A 00 02 00 00 00 Set Transmit PDO mapping parameter sub index 0 to 2 The number of object mapped to the PDO 7 60F 23 00 18 01 8F 01 00 00 Set PDO1 to valid and COB ID to 0x18F 8 0 01 OF Set the encoder in NMT mode OPERATIONAL Table 16 PDO mapping example The mapping of the PDO1 is now finished The PDO1 message can for example look like ID Data 18F 4E C9 B2 00 53 01 Table 17 PDO ma
11. TTING SERVICES 18 4 10 PDO MAPPING 20 4 10 1 PDO configuration 20 4 10 2 PDO configuration example 21 4 11 HEARTBEAT 21 4 12 IRT MODI ETA N N CANopen USER MANUAL www leinelinde com 4 13 ENGODER DIAGNOSTICS 22 4 13 1 Operating status 22 4 13 2 Alarms and warnings 23 5 MANUFACTURER SPECIFIC OBJECTS 24 5 1 OBJECT 0x5003 SPEED TYPE 24 5 2 OBJECT 0x5A03 SERIAL NUMBER 24 6 ENCODER CONFIGURATION EXAMPLE 25 7 CERTIFICATE 26 8 REVISION HISTORY 27 List of tables Table 1 Termination switch settings 8 Table 2 Baud rate switch settings 8 Table 3 Pinning M12 power supply connector 9 Table 4 Pinning bus in out lines M12 version 9 Table 5 Module LED indication 11 Table 6 Status LED indication 12 Table 7 CANopen identifier 14 Table 8 Broadcast objects 14 Table 9 Peer to Peer objects 15 Table 10 Operating parameters 15 Table 11 Singleturn scaling parameter format 16 Table 12 Multiturn scaling parameter format 16 Table 13 Preset value format 17 Table 14 Objects available for PDO mapping 20 Table 15 PDO mapping parameter 20 Table 16 PDO mapping example 21 Table 17 PDO mapping example output data 21 Table 18 PDO mapping example save to EEPROM 21 Table 19 Operating parameters object 0x6000 22 Table 20 Alarms object 0x6506 0x6505 and Warnings object 0x6504 0x6503 23 Table 21 Speed resolution setting 24 Table 22 Accuracy of speed measurement 24 Table 23 SDO
12. aling parameters is unsigned 32 with a value range from 1 to 2 limited by the encoder resolution For a 25 bit multiturn encoder with a singleturn resolution of 13 bits resolution the permissible value for the Measuring units per revolution is between 1 and 2 8192 The permissible value for the Total measuring range in measuring units is between 1 and 2 33 554 432 To achive the highest permissible value of 2 33 554 432 for the Total measuring range in meausuring units the Measuring units per revolution must be set to 2 8192 The scaling parameters are securely stored in case of voltage breakdown and reloaded at each start up Byte 3 2 1 0 Bit 31 24 23 16 15 8 7 0 Data 231 224 223 216 215 m 28 27 20 Object 0x6001 Measuring units per revolution Table 11 Singleturn scaling parameter format Byte 3 2 1 0 Bit 31 24 23 16 15 8 7 0 Data 231 224 223 216 215 u 28 27 20 Object 0x6002 Total measuring range in measuring units Table 12 Multiturn scaling parameter format The measuring range is set by the object Total measuring range in measuring units The encoder has two dif ferent operating modes depending on the specified measuring range If the scaling is binary the encoder enter operation mode A Cyclic operation and if the scaling value is non binary the encoder enters operation mode B Non cyclic operation A CYCL
13. ample shows a simple setup of the encoder for cyclic transmission of the position value B Set the physical address Node Number of the encoder using the address switches see section s 2 for further information 2 Verify that the baud rate of your CANopen network and the baud rate of the encoder is the same See section 2 3 for further information regarding the baud rate setting of the encoder 3 Power up the encoder 4 The encoder will send a Boot up message on the default Node guard identifier ID 700 encoder address the message has no data bytes 5 The next step is to configure the encoder through the SDO message To set a cyclic transmission of the position value with 10ms repetition rate an SDO reguest message ID 600 encoder address sent to the cyclic timer object 0x6200 with the data below is reguired The encoder will confirm with the SDO response message ID 508 encoder address Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x22 0x00 0x62 0x00 O0x0A 0x00 0x00 0x00 Command Object Subindex 4 byte Data Table 23 SDO request message 6 To get the encoder in operation we need to send an NMT start remote node message ID 0 two data bytes with the following contents Byte 0 Byte 1 0x01 The encoder address Node Number Table 24 NMT start remote node message 7 The encoder has now entered the operational
14. an 0 34mm Permissible outer cable diameter is 66mm to 68mm Located inside the back cover are six screw terminals containing the required bus line terminals marked H L and G Cable glands not used should be replaced with a M16 filler plug to ensure proper sealing The M16 filler plug is available as an accessory from Leine amp Linde The H terminal shall be connected to CAN_H line The L terminal shall be connected to CAN L line The G terminal shall be connected to CAN_GND line Note The two H and L terminals are internally connected to each other i e it does not matter to which pair the bus lines are connected to 2 5 3 Shielding philosophy Figure 4 Cable assembling principal To achieve the highest possible noise immunity and resistance against other EMI related disturbances the bus and power supply cables shall always be shielded The screen should be connected to ground on both ends of the cable In certain cases compensation current might flow over the screen Therefore a potential compensation wire is recommended 2 6 EDS file An EDS file is available for downloading at our homepage www leinelinde se Due to Leine amp Linde s constant drive to support our customer with the latest updates of encoder functionality it is recommended to consult Leine amp Linde representative for the latest releases The EDS file describes e The communication functionality and objects as defined in the CANopen commu
15. c timer and PDO2 sent when a SYNC message is received Both PDO s are as default mapped to send only position data Both PDO s can independently be change to send any combination and order of the object above The structure of the entries of object Transmit PDO mapping parameter sub index 1 3 is as follows Byte MSB Byte MSB 1 Byte LSB 1 Byte LSB Object Sub index Object length Nr of bits Table 15 PDO mapping parameter 4 10 1 PDO configuration To change the PDO mapping the encoder must be in NMT mode PRE OPERATIONAL The PDO must be set to not valid This is done by clearing bit 31 MSB in sub index 1 COB ID used by PDO in object Transmit PDO communication parameters The PDO must be deactivated set Transmit PDO mapping parameter sub index 0 to 0 rn To reconfigure the PDO mapping send data of which object sub index and length of the first object to Transmit PDO mapping parameter sub index 1 Then do the same for the optionally second and third object to Transmit PDO mapping parameter sub index 2 and 3 The Transmit PDO mapping parameter sub index 0 must be set to the number of objects mapped to the PDO 1 3 The reconfigured PDO mapping must be set to valid by setting bit 31 MSB in sub index 1 COB ID used by PDO in object Transmit PDO communication parameters After setting the encoder in NMT mode OPE
16. er object 0x6000 the following changes are made e Speed object 0x6030 and the acceleration object 0x6040 is disabled because cyclic position sampling is mandatory for calculating these values DO1 send data cyclic is disabled object 0x1800 sub index 1 bit 31 is set and stored to EEPROM he object PDO1 transmit object 0x1800 is read only when the Read position at sync bit is set he PDO2 send data at sync will be set to only send position data and the new PDO2 mapping will be tored in EEPROM e The object PDO2 tx mapping 0x1A01 will be read only if the Read position at sync bit is set o gyw 1 Note If speed and acceleration values is requested during operation in IRT mode it is recommended to calculate these values in the master application and use the master clock sync message as reference Bit Parameter 0 Code sequence 1 N A 2 Scaling function control 3 14 N A 15 Read position at sync Table 19 Operating parameters object 0x6000 4 13 Encoder diagnostics The encoder diagnostics can be read from objects 0x65xx The operating status alarm and warning diagnos tics are described in the following chapters For complete overview of the diagnostics supported please view the EDS file 4 13 1 Operating status In object 0x6500 the operating status can be read The function for each bit is in reassembles to the operating paramet
17. er receives the preset_value see setup calculation below The offset_value is then used during runtime to shift the current position to get the required output position see runtime calculation below Note In the formulas below the current_position is the Absolute position of the encoder disk after the scaling function The calculations are made with signed values Setup calculation offset_value preset_value_current_value Note A previously set offset_value is not included in the current position Runtime calculation output_position current_position offset_value 4 7 Zero set Zero setting of the encoder can be done two folded Using the preset object 0x6003 and set the preset value to zero 00 00 00 00 makes a zero set of the encoder Also if the zero set button is pushed for at least 1 second the position off the encoder will be set to zero 00 00 00 00 The module LED will signal green off green off green off to confirm that the position value is set to zero 4 8 Velocity and Acceleration The encoder supports output of both speed object 0x6030 and acceleration object 0x6040 In order to maintain accuracy independently of the rotation speed of the encoder various measuring unit can be set The speed object is limited to a signed 16 bit value and an optimization of assumed rotation speed of the shaft with respect to chosen resolution is required in order to avoid data overflow Object 0x5003 speed type is a man
18. ers see chapter 4 4 Bit 2 scaling function control in operating status is set depending on the settingin operating parameters in addition the actual scaling values used in the encoder can be read out as diagnostics object 0x6501 singleturn resolution and object 0x6502 multiturn resolution CANopen USER MANUAL www leinelinde com 4 13 2 Alarms and warnings If an internal alarm is detected by the encoder it automatically enters pre operational state A COB ID EMCY g what type of alarm has occurred To re enter the oder supports the following alarms object 0x1014 operational sta message is sent by the encoder transferrin te a NMT command has to be sent The enc Bit Supported_alarms Alarms Bit Supported_warnings Warnings 0 Position error 0 1 11 1 Light control 12 E2prom error 2 Watchdog 13 15 3 15 Table 20 Alarms object 0x6506 0x6505 Warnings object 0x6504 0x6503 23 24 CANopen USER MAN UAL www leinelinde com 5 Manufacturer specific objects 5 1 Object 0x5003 Speed type Object 0x5003 sets the update time and resolution Steps second or RPM of the velocity information This object affects both the speed object 0x6030 and the acceleration object 0x6040 Speed type Setting 0 200 mS update time Steps S al 10 mS update time Steps 10 mS 2 100 mS update time Steps 100 mS 3 200 mS update time RPM Table 21 S
19. ge is between 1 and 98 99 is used for accessing LSS Address 0 is used for broadcasting i e the master broadcasting to multiple slaves Note Each address used in a CANopen network must be unique and may not be used by other devices The device address is read and adopted when the encoder power supply is switched on or NUT command Reset_Communication or Reset_Node Either of these actions is therefore required in order to adopt changes done to the address settings except when LSS service is used CANopen USER MAN UAL www leinelinde com 2 3 Bus termination In a CANopen network all devices are connected in a bus structure Up to 126 devices master and or slaves can be connected in one segment When more devices are needed repeaters should be used to amplify the signals between segments An active termination need to be placed in the beginning and end of each bus segment in order to ensure error free operation In case of cable gland encoder such terminators are integrated inside the back cover and can be activated via the dip switches The active termination is only activated when the encoder is powered on If the device is un powered the CAN_H and CAN_L lines are internally terminated by a 1210 resistor Bit 1 Bit 2 Effect ON ON There is a 121 ohm resistor between CAN_H and CAN_L ON OF Not a valid setting OFF ON Not a valid setting OFF OFF There is no resistor between CAN H and CAN_L
20. il from the factory The protection foil needs to be removed prior to installing the cables The cable gland encoders should always be eguipped with a shielded power supply cable with conductor area between 0 34mm to 1 5mm Permissible outer cable diameter is 8mm to 910mm Located inside the back cover are two screw terminals containing the required power supply terminals marked and In the case were the encoder is the last node in the bus structure and only the cable for the Supply and Bus in is in use the Bus out cable gland should be replaced with a M16 filler plug to ensure proper sealing The M16 filler plug is available as an accessory from Leine amp Linde The terminal shall be used to connect the EV line 9 36Vdc The terminal shall be used to connect the OV line 2 5 2 BUS lines The CANopen bus line connections of the M12 equipped encoder are constituted by a male A coded 5 pin M12 connector bus in and a female A coded 5 pin M12 connector bus out Bus in out lines M12 version Bus out Bus in Function Pin CAN shield 1 CAN V NC CAN GND 3 CAN_H 4 CAN_L 5 Figure 3 Orientation of M12 Table 4 Pinning bus in out lines M12 version bus connectors 10 CANopen USER MAN UAL www leinelinde com The cable gland encoders shall be eguipped with twisted pair shielded cable in accordance with EN 50170 The guidelines recommend a conductor area higher th
21. index 2 Leine amp Linde product code for the 600 series is 600 258 c Then use LSS switch mode selective Revision number with the nodes revision number 0x1018 sub index 3 The revision number is written on the encoder label For example 11 0 is written on the encoder label 11 0 gt 0x000B0000 where 000B is the major and 0000 is the minor value d Then use LSS switch mode selective Serial number with the nodes serial number 0x1018 sub index 4 The serial number of the encoder is written on the encoder label as anumerical value in decimal form Now one and only one CAN node is in LSS Configuration mode Set the Node Id with Configure Node ID 10 Store the Node id with Store configuration 11 Set the node to LSS Waiting The node will now exit LSS and start up with the new Node id and it will send a Boot up message 12 Repeat step 8 to 11 for all nodes 19 20 CANopen USER MAN UAL www leinelinde com 4 10 PDO mapping Dynamic PDO mapping enable changes of the objects sent in a PDO The Leine amp Linde 600 series encoder can map three different objects in to the PDO s These are Name Object Sub index Length Position 0x6004 4 byte Speed 0x6030 1 2 byte Acceleration 0x6040 1 2 byte Table 14 Objects available for PDO mapping The encoder has two transmit PDO named PDO1 sent cyclically by Cycli
22. nication profile DS 301 e The device specific objects as defined in the Encoder Profile DS 406 e Manufacturer specific objects The EDS file serves as a template for different configurations of one device type A DCF file is generated from the EDS file describing a specific configuration of the device including object values selected baud rate and module Id CANopen configuration tools are available to support CANopen network configuration and device configuration via the CAN bus The information about the device is obtained from the EDS file Note The EDS Installation procedure depends on your configuration tool please consult your tool supplier if problems occur CANopen USER MAN UAL www leinelinde com 2 7 Parameterization The parameters are set from the configuration tool when the device is in the Pre Operational state using the objects obtained from the EDS file The parameters can also be changed during runtime Operational state please be careful as the position data is directly affected by some parameters and will change directly following such parameter message Therefore changing the scaling function parameters and the code sequence should only be used at encoder standstill Note The parameterization procedure depends on your configuration tool please consult your tool supplier if problems occur 2 8 LED indication n order to determine the status of the encoder two LED s are
23. pect to resolution electrical connections and interfaces casings etc That is due to the fact that tomorrow s technology already is used today in Leine amp Linde s product ines Leine amp Linde concentrate on advanced development of intelligent encoders with integrated ASICs new special features and with adaptations to different fieldbus systems such as CANopen This enables us to meet the need for increasingly effective and dependable machines and automation to an even higher degree CANopen USER MAN UAL www leinelinde com 1 3 1 Technical and commercial support Leine amp Linde are represented by subsidiaries in many countries around the world In addition there are many services agencies and distributors located worldwide ready to reply to commercial enquires or technical support For more contact information please visit our web site or contact Leine amp Linde in Strangnas Sweden Leine amp Linde AB Box 8 SE 645 21 Str ngn s Sweden Tel 46 0 152 265 00 Fax 46 0 152 265 05 E mail info leinelinde com Web www leinelinde com 1 3 2 Certification of CANopen products In order to achieve interoperability between vendors and appropriate device functionality CANopen products developed and manufactured by Leine amp Linde AB has been verified by external bodies Leine amp Linde AB are proud to announce that CANopen enabled products successfully passed a certification process performed by CiA
24. peed resolution setting The speed object is limited to a signed 16 bit value In order to avoid data overflow and optimize the accuracy it is recommended to calculate the optimal speed type setting Also adopt scaling to the encoder limits the amount of data avoiding overflow as the speed value calculation is based on the scaled singleturn value For example if the rotation of the shaft is faster than 1000 rpm and the speed type are 0 steps S a data overflow will occur In this case a higher resolution is required i e steps 100ms The accuracy of the speed measurement is dependent on the resolution chosen The figure in this table should be considered as a guideline Speed type Shaft rotation 0 gt 100 RPM 1 gt 1000 RPM 2 gt 1000 RPM 3 gt 100 RPM Table 22 Accuracy of speed measurement The table shows at from which shaft rotation speed the accuracy of the measured value deviates less than 1 General independent of speed type chosen the accuracy improves the higher the shaft rotation is 5 2 Object Ox5A03 Serial number 2 Object 0x5A03 is a manufacturer specific object were the serial number of the including base encoder can be read This object is mainly useful when a gateway solution is used but it is implemented for the integrated encoders as well to maintain a general approach for the supported objects CANopen USER MANUAL www leinelinde com 6 Encoder configuration example This ex
25. pping example output data Where 4E C9 B2 00 is position data and 53 01 is the speed value To save the PDO mapping to EEPROM send ID Data 60F 23 10 10 02 73 61 76 65 Save all communication parameters by sending the ASCII code for SAVE to object 0x1010 sub index 2 Table 18 PDO mapping example save to EEPROM 4 11 Heartbeat The Leine amp Linde CANopen encoder can act as a heartbeat producer The time between two heartbeats is configured in object Producer heartbeat time 0x1017 and is in the unit milliseconds 1 65535 If the Producer heartbeat time 0x1017 is zero 0 the heartbeat is deactivated The object Producer heartbeat time 0x1017 is securely stored in the EEPROM and reloaded at start up 21 22 CANopen USER MAN UAL www leinelinde com 4 12 IRT mode In order to enhance the real time characteristics the encoder can operate in IRT Isochronous Real Time mode In normal operating mode the position value is sampled cyclically every 0 5 mS If the Read position at sync is disabled the PDO2 send data at sync uses the last sampled position of the encoder This adds a non real time characteristics to the output position value In IRT mode Read position at sync is set the position value is only sampled when the sync message is received When the Read position at sync bit is set in the operating paramet
26. r with a singleturn resolution of 13 bits is used as an example A singleturn_position x measuring_units_per_revolution 7 8192 output_position revolution_number x measuring_units_per_revolution A Where singletum_position the Absolute singleturn position value revolution_number the Absolute multiturn number 4 6 Preset value 4 6 1 Overview The preset function object 0x6003 supports adaptation of the encoder zero point to the mechanical zero point of the system The preset function sets the actual position of the encoder to the preset value The preset function is used after the scaling which means that the preset value is given in the current measuring units A preset is handled by the encoder in the following way The encoder reads the current position value and calculates an offset value from the preset value and the read position value The position value is shifted with the calculated offset value The offset value can be read with object 0x6509 and is securely stored in case of voltage breakdown and reloaded at each start up Note The preset function should only be used at encoder standstill Byte 3 2 1 0 Bit 31 24 23 16 15 8 7 0 Data 931 _ 924 93 _ 216 215 _ 98 27 90 Object 0x6003 Preset Value Table 13 Preset value format 17 18 CANopen USER MAN UAL www leinelinde com 4 6 2 Preset formula An offset_value is calculated when the encod
27. request message 25 Table 24 NMT start remote node message 25 Table 25 Revision history 27 List of figures Figure 1 PCB view of a cable gland CANopen encoder 7 Figure 2 Orientation of M12 power supply connector 9 Figure 3 Orientation of M12 bus connectors 9 Figure 4 Cable assembling principal 10 Figure 5 Basic encoder functionality 14 Leine amp Linde AB claims copyright on this documentation This documentation may not be modified extended or passed onto to a third party and or copied without written approval from Leine amp Linde AB Specifications and content in this document are subject to change without prior notice due to our continuous efforts to improve the functionality and performance of our products CANopen USER MAN UAL www leinelinde com 1 General information 1 1 Absolute Encoders With an absolute encoder each angular position is assigned a coded position value generated by a code disc equipped with several parallel fine graduations tracks which are scanned individually On singleturn encoders i e an encoder producing absolute positions within one revolution the absolute position information repeats itself with every revolution A multiturn encoder can also distinguish between revolutions The numbers of unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the total resolution is reached 1 2 CANopen technology The CANopen communication profile is ba
28. sed on the CAN Application Layer CAL specification from the CiA CAN in Automation CANopen is regarded as a robust field bus with highly flexible configuration possibilities It is used in many various applications all based on different application profiles CANopen comprises a concept to configure and communicate real time data using both synchronous and asynchronous messages Four types of message objects are distinguished 1 Administrative messages Layer Management Network Management and Identifier Distribution Messages 2 Service Data Messages SDO Process Data Messages PDO 4 Pre defined Messages Synchronization Time stamp Emergency Messages For further information please view the CANopen specification 1 3 About Leine amp Linde AB For more than 40 years the Swedish based company Leine amp Linde has concentrated on one thing development and manufacturing of advanced encoders that meet the most rigorous demands That is why a wide selection of incremental and absolute encoders with obvious concentration on robust products and quality down to the ast detail can be offered Leine amp Linde encoders provide the utmost in reliability year after year in working conditions where vibration dirt cold and other harsh environments are common Leine amp Linde can meet very specific individual customer demands The encoders are easily adapted due to a modular design to the customer s exact need with res
29. state and the position message ID 180 encoder address is transferred with a 10ms repetition rate If an error occur the encoder will send an emergency message ID 80 encoder address 25 26 CANopen USER MANUAL www leinelinde com 7 Certificate Certificate CiA200911 301V402 20 0111 VendoriD 00 00 01 94 Manufacturer Leine amp Linde AB CANopen Encoder RXA 600 Product code 00000258h Revision number 00UB0000h Object 1018h 02h Object 1018h 03h Hardware version 1 01 Software version 1 10 Object 1009h Object 100Ah RXA 600 CANopen v 1 05 eds File version 1 File revision EDS version Nuremberg 16 11 2009 DL A echnical Manager CAN in Automation GmbH Kontumazgarten 3 90429 Nuremberg Germany phone 49 911 928819 0 fax 49 911 928819 79 CANopen USER MANUAL www leinelinde com 8 Revision history Revision Date Changes Rev 1 0 2012 06 20 First release Table 25 Revision history 27 The best encoders are those you never have to think about Those that simply do their job year after year Leine amp Linde develops and manufactures custom ised encoder solutions for demanding environments advanced measuring systems for accurate feedback of speed and position LEINE amp LINDE 46 0 152 26500 wwwieinelinde com Part no 634815 01 ver 1 0
30. ufacturer specific object that sets the update time and resolution Steps second or RPM of the speed object 0x6030 and acceleration object 0x6040 value The speed type object is described in chapter 5 1 4 9 LSS Layer Setting Services The encoder supports LSS functionality which is a service to remotely set Node_ID and communication baud rate The LSS function is not available when the encoder is in the NMT mode Operational To change the Node_ID by LSS both address switches X10 and X1 must be set to 9 At first start up with the address switches set to 99 the encoder will have a invalid Node_Id The encoder will therefore not send a boot up message and will only communicate with LSS messages all other messages like PDOs and SDOs will be ignored until a valid Node_ID has been set If the address switches are set to anything else than 99 at start up the Node_Id will be set according to the position of the switches A reset of the LSS setting will also be made which means that once the encoder is restarted with the address switches set to 99 the encoder will have an invalid Node_Id as in the first start up If the baud rate switch is set to 9 the encoder also enters LSS and the baud rate can be set by LSS When the encoder starts with the baud rate switch set to 9 the encoder uses the stored baud rate Before any baud rate has been stored the encoder will use 125 Kbit If the encoder starts up with the baud rate switch set
31. visible from the rear end of the encoder The module LED indicates status of the module itself The status LED shows the module status on the bus The ED s can be constantly on off blinking and flashing Blinking means on for 200 mS and off for 200 mS If the ED s is flashing it is on for 200 mS and off for 1000 mS single flash or on 200 mS off 200 mS on 200 mS and off 1000 mS double flash 2 8 1 Module LED The module LED is a bicolor LED with functionality as below LED Indication Off No power Green OK Red Position error the encoder is not able to give a correct position value 3 x Blinking Green Off Zero set button pushed and position set to zero After 3 blinks the led will automatically go back to the previous state Blinking red Faulty switch settings Table 5 Module LED indication 11 12 CANop en USER MANUAL www leinelinde com 2 8 2 Status LED The status LED is a bicolor LED with two functions one green LED Run status and one red LED Error status RUN STATUS GREEN LED Indication Blinking green The encoder is NMT state Pre operational Single green flash The encoder is NMT state Stopped Green The encoder is NMT state Operational ERROR STATUS RED LED Indication Off No error Single red flash Warning limit reached on Receive error counter or Transmit error counter Double red
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