OPTOCODE-II-CAN
Contents
1. The software of the encoder will simulate eight cams whose value is free programmable The reaching of these values will effect a message to the control 1 4 Verify Configuration Object 1020h This additional object allows an easy administration of parameter configuration A time stamp will be stored in this object with every reconfiguration After a reenergising of the network the control can verify if any changes had been done 1 5 Customer specific data storage The encoder provides a data area that can be used by the customer for his own purposes e g to cache process data like position values 1 6 Bootloader A bootloader allows to reprogram the encoder directly via the CAN Bus This function can be used for firmware updates 1 7 Event triggered Process Data Object PDO This function gives the possibility to transmit process data depending on events E g position values can be sent with a change of the position FRABA AG 2 POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE 1 8 Internal terminal resistor controllable via SDO A CAN bus terminal resistor of 1200Ohm will be integrated in the new encoder series The resistor can be switched galvanically isolated via object 3002h The galvanic isolation is realized by MOS FET 2 Simplification of the type key 2 1 New type key for CAN encoders The notations C2 C5 and C6 have their origin in technology The type key describes internal functional groups witho2. glow in red o Remove connection cap again and set back to the needed node number o Reconnect connection cap gt C2 C5 Behavior e Via SDO commando Software o Write the security code 47111147h to object 3030h subindex Oh o Set object 3030h subindex 1h to ONE o Hard or Software RESET 3 8 Fully software compatible CA variants for C2 C5 und C6 e g for spare parts In principle it is still possible to order CA types which are fully software back compatible to the old C2 and C5 versions CA is already fully software back compatible to C6 This is done by adding 2 more CA variants OCD CAC2B xxXxXxX XXXX xxx These additional CA variants should only be ordered in exceptional cases e g for repairs as we would like to minimize the numbers of variants that we offer FRABA AG 8
3. manuals on our homepage For the beginning the datasheets of the older OCD series will stay on the website If you have questions or problems please do not hesitate to contact your Posital contact person We want to offer you our best support in order to have a smooth and successful transition towards our new OCD Il series With kind regards Your Posital Team FRABA AG 1 POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE Technical information 1 Enhanced Functionality The new CA encoder line will have enhanced functionality as the following table shows e Layer Setting Services e Velocity and Acceleration output e Eight additional software programmable Cams e Verify Configuration Object 1020h e Customer specific data storage 4 Objects e Bootloader e Event triggered PDO e Internal terminal resistor controllable via SDO 1 1 Layer Setting Services The abbreviation LSS stands for Layer Setting Services and is an extension packet of the CANopen Stack This packet provides functions to find not configured encoders or encoders with unknown configuration in a CANopen network This can be unequivocally done by vendor ID product code serial and revision number to set a new baud rate and node number 1 2 Velocity and Acceleration output The new encoder line will be able to calculate the velocity and acceleration in real time and transmit it to the control 1 3 Eight additional software programmable Cams
4. one of the error counters of the CAN controller has reached reached or exceeded the warning level too many error frames Double flash A guard event NMT slave or NMT master or a heartbeat event event heartbeat consumer has occurred Triple flash Sync error The sync message has not been received within the configured communication cycle period time out see object dictionary entry 1006n Quadruple Event timer An expected PDO has not been received before the event timer flash error elapsed On The CAN controller is bus off FRABA AG 6 POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE 3 2 Boot up time The encoder line needs less time to send the Boot Up message after switching on old OCD series new OCD ll series Boot up time Ca 3000ms Ca 250 ms 3 3 Object 1802h In the past the second PDO could be parameterised by the object 1801h and 1802h This is not consistent with the CiA standards and will be ended with the new encoder line This means in the future the second PDO can only be parameterised via object 1801h New versions C6 CA CiA Contorm COB ID 1800h PDO an o o oo 1801h PDO2 Cyclic 80h 1802h PDO3 Optional Cyclic not used 380h in C6 Old versions pCR and C85 COB ID 1800h PDO1 ar a 1801h PDO2 Cyclic 0 Notused sid used C2 C5 3 4 Objekt 1000h Device Type is not 196h Object 1000h contains a coded description of CAN devices Until now 196h was written to all encode
5. POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE Dear Customer This document informs you about the new encoder line OCD II CANopen that replaces the older OCD CAN series since the beginning of 2010 As you perhaps recognized the received encoder has a different type key and is shorter than before In the past we were forced to overhaul and redesign our CANopen encoder series due to discontinuation and availability of some electronic components This was also an attractive opportunity to improve the functionality of our CAN encoders series Additionally we changed some details to gain conformity to manufacturer spanning standards released by the CAN in Automation e V user group Unfortunately these changes can lead to minor incompatibilities to the OCD version before We expect that these incompatibilities get noticed by only a few customers who use the CAN communication in a specific way In these cases we are able to provide a simple procedure to set the new OCD II CA into a compatibility modus that emulates the old behaviour Several field tests at customers have successfully been completed The following pages will inform you about e Enhanced Functionality e Important Enhancement of the Product Portfolio Through Hollow Shaft Encoder e Conformity to manufacturer spanning Standards and Device Profiles e Simplified Product Range and consistent Typekey e 10mm shorter housing Please find the new datasheets and
6. der a connection cap is needed To order this encoder type only makes sense for spare part replacement usage FRABA AG 5 POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE 3 Conformity to CiA Norm and Compatibility To guarantee conformity to CiA standard the encoders had to be changed in a way that they are not fully compatible to the old types anymore Overview of the incompatibilities e LED behaviour e Object 1802h second TPDO e Object 1000h Device Type is not 196h e Restore command e BCD switch position 9 in the connection cap 3 1 LED behaviour The behaviour of the diagnosis and error LEDs was modified to fulfil the DR3803 3 CANopen Indicator Specification of the CiA organisation CAN Run LED State Description Flickering The auto bitrate detection is in progress or LSS services are in progress alternately flickering with run LED 1 Blinking The device is in state PREOPERATIONAL Single flash STOPPED The device is in state STOPPED Double flash Pe Reserved for further use Triple flash Program Firmware A software download is running on the device download On OPERATIONAL The device is in state OPERATIONAL ERR LED State Description Off The device is in working condition Flickering AutoBitrate LSS The auto bitrate detection is in progress or LSS services are in progress alternately flickering with run LED Blinking Invalid General configuration error Configuration Single flash At least
7. eter will become an integral part of the encoder type key Example 0149000039 Set encoder Reducing adapter Full type key is Set OCD C5B1B 1213 B150 PA9 Reducing adapter RR12 will become OCD CAA1B 1213 B120 PA9 FRABA AG 4 POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE 2 3 Ordering description Description Type key Optocode OCD CA A1 B _ Interface CANopen CA Version Al Code Binary B Revolutions Bits Singleturn 00 Multiturn 4096 revolutions 12 Multiturn 16384 revolutions 14 Steps per revolution 4096 0 09 12 8192 0 04 13 65536 0 005 16 Flange Clamp flange Synchro flange Through Hollow Shaft Blind shaft Shaft diameter 06 mm 06 10 mm 10 12 mm Through Hollow Shaft 12 15 mm Hollow shaft 15 Mechanical options without Shaft sealing IP66 Stainless steel version Heavy Duty Customized Connection Cap encoder without connection cap HCC Cap encoder with three PG cable glands in connection cap H3P Cap encoder with two M20 cable glands in connection cap H2M Cap encoder with one M12 connector connection cap H1B Cap encoder with two M12 connector connection cap H2B noAanoao QOorzr lt NO Cable exit 1m radial open cable ends CRW Cable exit 1m axial open cable ends CAW Two 5pin M12 Connectors PRN Connector exit radial 5 pin male M12 PRM Connector exit axial 5 pin male M12 PAM Connector exit axial 9 pin D Sub PAQ for the function of the enco
8. r connection cap where different encoder types cannot be distinguished at a glance On request of some customers we will combine the encoder type key and the connection cap type key into one as follows FRABA AG 3 POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE As an example the set 0149000090 Set OCD C2B1B 1213 C100 0CC AH58 B1CA 3PG should be considered The future type key will be generated by adding to the old encoder type key a new electrical connection class called connection cap indicated by the letter H and two more digits which result from the first two letters of the electrical interface from the old type key of the connection cap OCD CAA1B 1213 C100 HXX AH58 B1CA 3PG resulting in the final new type key OCD CAA1B 1213 C100 H3P IMPORTANT To avoid wrong orders the type key ending with OCC will not exist any longer In case of repair and replacement the encoder with the ending HCC has to be ordered Replacement means that the old connection cap remains at the customer and an encoder without connection cap will be ordered 2 2 Integration Set Encoder Reducing Adapter The application of a reducing adapter allows the reduction of the diameter of a blind hollow shaft encoder It is reducible down to 6mm and is currently handled as Set Encoder Reducing Adapter Until now this was handled as Set Encoder Reducing Adapter In future the reduced inner diam
9. r types According to the standards singleturn and multiturn must be distinguished e Singleturn gt 10196h e Mutliturn gt 20196h 3 5 Restore Command In the past the restore command set the encoder to customised default values The restore command sets the encoder to POSITAL default values which are defined in the user manual Communication parameters like node number and baud rate are not restored FRABA AG 7 POSITAL FRABA RELEASE INFORMATION OPTOCODE II CAN ENCODER LINE 3 6 Connection Cap BCD switch setting 9 The former undefined BCD switch setting 9 in the connection cap is used to set the encoder in a mode that ignores the switch setting for baud rate and node number The parameters can be modified by SDO messages and LSS only 3 7 C2 C5 Work around With little limitations the new OCD ll encoder line will be compatible to the current version It will be possible to use the old EDS file for configuration purposes in the PLC with the new encoder and no errors will occur Merely the enhanced functions like velocity and acceleration output will not be available In case for unexpected problems there is the possibility to set the CA encoder in a compatibility mode that will restore the old C2 C5 behavior There are the following procedures to set this mode e Manual with the BCD switch in the connection cap o Remove cap from encoder o Set node number 97 o Reconnect connection cap gt Both LEDs will
10. ut relevance for the customer Mostly it leads to redundant information in the type key The functional groups will be replaced by one single PCB that fulfils all functions and hence leads to a simplification Generally the transfer can be done by replacing C2 C5 and C6 by the letters CA Please note that the CA version is not fully downwards compatible For reference see info in chapter 3 The following examples show the transcode x is a wildcard that replaces parameters that are not important in this context OCD C2B1B xxxx xxxx OCC gt OCD CAA1B xxxx xxxx XXX The old C2 Typekey contains redundant information Both C2 and OCC mean connection cap In the new encoder line the software interface CAN and the electrical interface will separated clearly The last three digits will contain additional information concerning the connection cap For more details see chapter Integration Set Encoder Connection Cap OCD C5B1B 1x1x xxxx xxx gt OCD CAA1B 1xX1X xxxx xxx The C5 version was a multiturn encoder with plug or cable exit OCD C6B1B 001x xxxx xxx gt OCD CAA1B 001xX xxxx XXX The C6 encoder can be recognised by the singleturn resolution 2 2 Integration Set Encoder Connection Cap We are about to restructure our typekey for connection cap encoders as well The introduction will be in line with the new CANopen encoder series beginning of September Currently this product type key is described by 0149000090 Set encode
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OPTOCODE II CAN