POSI+ CANOPEN USER MANUAL
Contents
1. Access RO Read Only RW Read Write Object SS EE Name Format Access Default Save Description multitum Encoder type Bytes 0 1 RE DeviceType u32 RO GEN 0001 Monotum 0002 Multitum Profil 00010196h Bytes 2 3 0196h 406 1001 DO Genenc enor 0 EE We Re SE Bit4 Communication eror 1003 pre defined enor field Contains the last emor 1003 Number of stored messages Oor1 0 Number of actual enors U8 RW 00h MOOO EAE COUE Last Eror 1003 1000h Generic emor 1 New CIEL STS ue Be EE 8130h Life Guard emor or Heartbeat eror SE COBID SYNC Message u32 rw 00000080h Yes COBID of the sync object 1008 Name POSI standard 0 DeviceName SR CONST POSI Name POSI SF for compatibility with SHM5 MHM5 see Appendix Ge GuardTime U16 RW 0000h Yes Timer for nodeguarding 100D a 0 LifeTime Fa ctor U8 RW 00h Yes Multiplication of Guard time 1010 StorePa ra meters Save parametersto encoder 1010 s SC 0 LargestSupportedSubindex U8 RO olh No of save possibilities 1 SC SaveAllPara meters u32 RW 00000001h evas 0x65766173 to save 1011 Restore DefaultPa ra meters Rector CUM EE the encoder 1011 7 SE 0 LargestSupportedSubindex U8 RO olh No of restore possibilities 1 Page 14 Version 1 02 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 ue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex POSI CANOPEN USER MANUAL T l 433 0 3 88 20 80 802. A i T l 33 0 3 88 20 80 80 IDEACOD Ge l Entreprise Fax 33 0 3 88 20 87 87 penhague ar er B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 1010 StoreParameters 1010 LargestSup ported Subindex U8 RO Olh 0 1010 SaveAllPa ra meters U32 RW 00000001h 1 1011 RestoreDefa ultPa ra meters 1011 LargestSup ported Subindex U8 RO olh 0 1011 RestoreAllDefa ultPa rameters U32 RW 00000001h 1 1014 COB ID EMCY U32 RO 00000081h 0 1016 Consumer Heartbeat Time 1016 Number of entries U8 RO olh 0 1016 Consumer Heartbeat Time 1 U32 RW 00000000h Yes 1 1017 Producer HeartBeat Time U16 RW 0000h Yes 0 1200 Server SDO Parameter 0 1200 Number of entries U8 RO 02h 0 1200 COB ID Client gt Server U32 RO 00000601h 1 1200 COB ID S amp rver gt Client U32 RO 00000581h 2 Transmit PDO1 Communication 1800 Parameter 1800 NrOfEntres U8 RO 05h 0 1800 COBID U32 RW 00000181h Yes 1 1800 TransmissionType U8 RW FEh Yes 2 1800 InhibitTime U16 RW 0000h Yes 3 1800 Event Timer U16 RW 0000h Yes 5 Transmit PDO2 Communication 1801 Parameter 1801 NrOfEntres U8 RO 05h 0 1801 COBID U32 RW 00000281h Yes 1 1801 TransmissionType US RW olh Yes 2 1801 InhibitTime U16 RW 0000h Yes 3 Page 32 Version 1 02 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD Ge l Ent
3. Processdata Objects PDOs pre defined messages synchronization emergency messages PDOs Process Data Objects are needed for real time data exchange Since this messages possess a high priority the function code and therefore the identifier are low SDOs service data objects are necessary for the bus node configuration e g transfer of device parameters Because these message telegrams are tranferred acyclicly usually only while powering up the network the priority is low D I IDEACOD rotary encoders with CANopen interface support all CANopen functions The following operating modescan be programmed Response to a RTR message Polled mode The position value is only given upon request Cyclic Mode The postion value is written cyclic ally interval adjustable to the bus Sync mode After receiving a sync message by the host the encoder answers with the current process value If a node isnot required to answer after each sync message a parameter sync counter can be programmed to skip a certain number of sync messages before answering again Further functions direction of rotation resolution etc can be parametenzed BEI IDEACOD rotary encoders correspond with the class 2 profile for encoder DS 301 V4 0 2 DS 406 V3 1 whereby the characteristics of rotary encoders with CANopen interface are defined For configuration and parameterization various software tools are available from different providers With the he
4. 2 type 2 Byte 0 Byte3 of PDO Value of position Byte 4 5 of PDO Speed Byte 6 7 of PDO 0x00 0x00 After setting the baud rate the EEPROM must be saved and reinitia lized 0 10 kBit s 1 20 kBit s defa ult pa Transmission Rate U8 RW olh Yes eee 4 125 kBit s 5 250 kBit s 6 500 kBit s 7 800 kBit s 8 1000 kBit s 2101 Node number 1 127 possible After 0 Node Number U8 RW Olh Yes setting the baud rate the EEPROM must be saved and reinitia lized Object 2002h Speed Only for standard encoder with software version gt 1 01 DeviceName 1008h POSI Software Version 6507h gt 0x0101 CMS Index Default value Value range Data length SDO 2002h Signed 16 Description To measure the rotational speed of the encoder shaft the difference between two physical unscaled values of position with a time period of 5 ms is calculated The difference between the two values will be read out asa signed 16 bits value postive value clockwise direction of rotation The output of the speed by means of PDO is made possible by setting the desired PDOs to type 2 see object 2005h Object 2005h PDO Type Only for standard encoder with software version gt 1 01 DeviceName 1008h POSI Software Version 6507h gt 0x0101 CMS Index Default value Value range Data length SDO 2005h 00h Unsigned 8 This object helpsto determine the types forPDO1 and PDO2 Page 2
5. Sub index Desciption Dtat type Default value Access Number of sub 0 EE UNSIG NED8 1 Ro 1 Store all parameters UNSGNED32 rw Operation To save the parameters the save character string 6576 6173h must be written in the corresponding index Information on storage functionality is read from a sub index The result obtained 0000 0001h indicates that the module saves parameters only when it receivesthe command to do so Page 16 Version 1 02 BEI IDEACOD SAS Espace Europ en de l Entreprise T I 33 0 3 88 20 80 80 IDEACOD s nie de Co e oa g penhague ar e B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL Object 1011h Restore Default parameters Description This object is used to restore the encoder default parameters In order to avoid the restoring of default parameters by mistake restoring is only executed when the specific signature load 6461 6F6Ch is written to the appropriate sub index Characteristics The characteristics of thisobject are outlined in the following table Sub Index Description Data type Default value Access 0 Number 2 euo Unsigned8 il Ro indexes Restore all default parameters Unsigned 32 S x Note The restoration of parameters will only be taken into accountaftera power up or NMT Reset After the power on or the NMT Reset the tansmission Rate and the node number ar
6. 1 Description 00h 80h 00h NMTPreoperational all Node 00h 80h O1h 7Fh NMTPreoperational node number Mode Start For 1 orall the nodesto switch to operational mode the master sends the following message Command Node Number e COB ID Byte 0 Byte 1 Description 00h olh 00h NMT Start all Node 00h olh O1h 7Fh NMT Start node number Mode STOP For 1 orall the nodesto switch off operational mode the master sends the following message Command Node Number ere COB ID Byte 0 Byte 1 Description 00h 02h 00h NMT Stop all Node 00h 02h O1h 7Fh NMT Stop node number Version 1 02 Page 13 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 rue de C openhague B P 70044 Sc hiltigheim F 67013 Strasbourg Cedex POSI CANOPEN USER MANUAL 4 Communication objects 1000h to 1h DS 301 T l 433 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com Introduction This section lists the objects relating to the communication Each object with all its technical characteristics isdescrbed according to the CANopen standard EDS File PHM5V102 EDS Standard Encoder Device Name 1008h POS EDS File PHM5SFV102 EDS for the compatibility with old encoder SHM5 SHU9 MHM5 Device Name POSI4S5F not for new designs objects description in Appendix Format U8 Unsigned 8 bits U16 Unsigned 16 bits U32 Unsigned 32 bits
7. Data length Access SDO 6501h 00h 2000h Unsigned 32 ro Object 6502h Number of Distinguishable Revolutions Description This object indicates the number of revolutions that the encoder can execute The maximum number of revolutions of the encoder is 65536 cms Index Ee Default value Value range Data length Access SDO 6502h 00h FFFFh Unsigned 16 ro Page 26 Version 1 02 IDEACOD BEI IDEAC OD SAS Espace Europ en de l Entreprise 9 ue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex POSI CANOPEN USER MANUAL Object 6503h Alarms T l 433 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com Description This object contains the various alam messages An alarm will be displayed if a malfunction of the encoder cause a position enor The alam bit remains enabled until the alarm iscleared and the encoderisable to provide a correct position value Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 0 Position error No Yes Commissionning 1 diagnostics Not supported Supported Ps All Reserved Manufacturer specific e 12 nine Disabled Enabled 13 Manufacturer specific Disabled Enabled alarm 14 Se speche Uess Enabled alarm Manufacturer specific 7 15 alai Disabled Enabled Object 6504h Supported Alarms Description This object indicates the alarms
8. supported by the encoder Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 0 Position error No Yes Commissionning 1 diagnostics Ne Mise 2 11 Reserved 12 Manufacturer specific No Yes alam 13 Manufacturer specific No Yes alam Manufacturer specific 14 ein No Yes Manufacturer specific 15 SE No Yes Version 1 02 Page 27 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 IDEACOD 9 rue de Co Fax 33 0 3 88 20 87 87 penhague 1 inf iid a B P 70044 Schiltigheim Mall RE Ee cam F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL Object 6505h Wamings Description This object indicates if the tolerances of certain encoder intemal parameters have been exceeded Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 0 Position error No Yes 1 Ligth control reverse Not reached Eror 2 CPU watchdog status OK Reset 3 Operating time limit No Yes waming 4 Battery charge OK Too sow 5 Reference point Reached Not reached 6 11 Reserved 12 Manufacturer specific N A N A waming Manufacturer specific 13 waming N A N A Manufacturer specific 14 waming N A N A 15 Manufacturer specific N A N A waming Object 6506h Supported Wamings Description This object indicates the wa mings
9. 0 Version 1 02 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL The COBID and the transfertype forthe PDOsis determined in the objects 1800h and1802h With the software version 1 01 this value cannot be stored in the EEPROM and has to be transfered again after each activation Reset or Power On With the software version gt 1 02 this value can be stored in the EEPROM Data Bit 7 4 PDO2 Bit 3 0 PDO1 00h Default Default 02h Default Type2 20h Type2 Default 22h Type2 Type2 Standard POOL and PDO2 set to type Default 00h COBID Process data PDO 11 bit Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Default Value of position Type 2 Value of position Speed 00h 00h Object 2100h Transmission Rate Only for standard encoder DeviceName 1008h POSI Description This object contains the baud rate see table above forthe values Default 20kbit s Object 2101h Node Number Only for standard encoder DeviceName 1008h POSI Description This object contains the Node Number Default 1 Note After setting the baud rate or the node number the parameters must be saved in the EEPROM with StoreParameters Object 1010h and the new valuesare set valid after the device
10. 01h Sub Index O1h is set to 1 Low limit of CAM1 Object Cam1_low_limit_channel_1 Index 6310h Sub Index 01h High limit of CAM1 Object Cam1_high_limit_channel_1 Index 6320h Sub Index O1h Polarity of CAM1 bitO Index 6302h Sub Index 01h If the polarity bit is st to 1 the cam state of an active cam shall signal by setting the related cam state bit to zero In the othercase the cam state of the related cam shall not be inverted State of CAM1 Object Cam_state_channel_1 Index 6300h Sub Index 01h The status bit set to 1 shall define cam active The status bit set to 0 shall define cam inactive If the polarity bit of a cam is set refer to index 6302h Sub Index01h the actual cam state will be inverted Cam state register 6300h 01h CAM Active CAM Inactive Posion Low Limit High Limi polarity bit is set to 0 6302h 01 Cam state register 6300h 01h CAM Inactive CAM Active Position Low Limit High Limi polarity bit is set to 1 6302h 01 Nota The ESD can be downloaded free of charge from our Homepage www bei ideacod com We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice Page 30 Version 1 02 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com POSI CA
11. 1100 1537 1663 601 67F 6 7 Prionty O maximum priority 7 ninimum priority Page 8 Version 1 02 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL 2 2 Service data communication The service data objects correspond to the standards of the CiA It is possible to accessan object via index and subindex The data can be requested or where applicable written into the object COB ID Command Index Sub Index Service Data Parameters F Byte 1 Byte 2 Byte 4 Byte 7 11 bit Byte 0 LSB MSB Byte 3 LSB Byte 5 Byte 6 MSB COB ID An SDO COBID is composed as follows Master gt Encoder 600h Node ID Encoder gt Master 580h Node ID Request for parameter Command Function Description 40h Master gt Encoder Request for parameter 43h Encoder gt Master Response 4 bytes unsigned 32 4Bh Encoder gt Master Response 2 bytes unsigned 16 4Fh Encoder gt Master Response 1 byte unsigned 8 80h Encoder gt Master Error Parameter to the encoder Command Function Description 23h Master gt Encoder Write 4 bytes unsigned 32 2Bh Master gt Encoder Write 2 bytes unsigned 16 2Fh Master gt Encoder Write 1 byte unsigned 8 60h Encoder gt Master Parameter received 80h Encoder gt Master Error Version 1 02 Page 9 BEI ID
12. 87 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL Object 6003h Preset Value Presentation The preset value is the required position value to be reached ata certain physical location of the axis The position value is fixed as being the process value required by the presetting of the parameters To avoid execution time emors the preset value must not exceed the total measuring range total resolution 1 of the parameters CMS Index Default value Value range Data length SDO 6003h 0 total resolution 1 Unsigned 32 Object 6004h Position Value Description This object is used to define the position of the encoder CMS Index Default value Value range Data length SDO 6004h 0 total resolution 1 Unsigned 32 Object 6200h Cyclic Timer Cyclic mode The absolute rotary encoder transmits the current process value cyclically without being polled by the host The cycle time can be programmed in milliseconds for values between 1msand 65535 ms For example 64h 100 ms CMS Index Default value Value Range Data length SDO 6200h oh Oh mmm Unsigned 16 This parameter is identical Event Timer of the transmit PDO1 Index 1800h Sub Index Oh See description of the object Transmit PDO 1 1800h forthe use of the cyclic timer If the value is 0 the cyclic timer is disabled and the posi
13. BEI IDEACOD SA e T l 433 0 3 88 20 80 80 ace Europ en de l Entreprise IDEACOD Se de EE p Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com Web www beiideacod com F 67013 Strasbourg Cedex POSI CANOPEN USER MANUAL u a j o e E 8 B Broche e ABSOLUTE ROTARY ENC ODER WITH CAN BUS INTERFACE POSI RANGE USER MANUAL BEI IDEACOD SAS Espace Europ en de l Entreprise T I 33 0 3 88 20 80 80 IDEACOD 9 ue de Copenhague Man REESEN F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL CONTENTS DL IOC UIC TION paana ea N ener E E E E E E E 3 11 Absolute rotary Encoder ssssssssnsunnunnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nunnan nunnan nnmnnn annann annann an nnnn ananman annann nannan nanan 3 1 2 CANopen technology ss sssssunsnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nunnan nunnan annann annann an nnnnan nnmnnn annan nnmnnn anmannan na 3 1 3 CAN Communication Reference Model sssssssusssnsnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nunnan nnmnnn nnn nnan nnna 5 LA e ss ciicecie sien eccssens tien dscsinn ceavssiinnteedeatindhailsvtiansestn aeaaea aaa Eaa aaraa aoaaa ai aaa Sinaia 6 1 5 Toubleshooting sss sssnsunnensunnunnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nannan nunnan nnmnnn anmannan nunnan annan nannan annann anmannan na 7 2 Device Configuration 2 seseeeseeeseeeseeeeeeeeneneeeenesneesneeesoeeseeeeeeea
14. DEACOD SAS Espace Europ en de l Entreprise Tel 433 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 IDEACOD Ge Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 1 5 Troubleshooting Malfunction of the position value during transmission Problem During the transmission of the position value occasional malfunctions occurs Possible solution Check if the last bus node has switched on the terminal resistor Too much ERROR Frames Problem The bus load istoo high in case of too much enor frames Possible solution Check if all bus node has the same baudrate If one node has another baudrate enor frames are produced automatically Installation hints Both the cable shielding and the metal housings of encodersand subsequent electronics have a shielding function The housing must have the same potential and be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line Potential compensating lines should have a minimum cross section of 6 mm2 Do not lay signal cable in the direct vicinity of interference sources air clearance gt 100 mm 4 in A minimum spacing of 200 mm 8 in to inductors is usually required for example in switch mode power supplies Configure the signal lines for minimum length and avoid the use of intermediate terminals In metal cable ducts sufficient decoupling of signal lines from
15. EACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL Index Sub index Data is transmitted solely using objects referenced by index The objects are simple or composed type In this case the index associated to the composed object will be subdivided into several sub index The number of sub index is specified into subindex 0 it can be from 1 to 254 Each object isdescribed into a object dictionary The organization of a standard object dictionary is shown in the following table Index hex Object 0000 Not used 0001 001F Static data types 0020 003F Complex data types 0040 005F Manufacturerspecific data types 0060 OFFF Reserved 1000 1 FFF Communication area see Communication profile objects 1000h to 1FFFh DS301 2000 5FFF Manufacturer specific area see Manufacturer specific Zone Objects 2000h to 5FFFh 6000 9FFF Device profile specific area see Hardware Profile objects 6000h to OFFFh DS406 A000 FFFF Reserved SDO examples Requestof a value by the master from the slave A frequent request will be a request for position Object 6004h COB ID Command Index Sub Index Service Data Parameters 600h4node ID 20 oa ea KE a a Response by the save to the requestfora value The position is 4 bytes long the precise valuescan b
16. F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 6507 Profile Version U32 RO 01020301h 0 6508 Operating Time U32 RO FFFFFFFFh 0 6509 Calculated Offset Value INT32 RO 00000000h 0 650A Module Identification 650A Manufacturer Offset Value INT32 RO 00000000h 0 650A Manufacturer Minimum Position INT32 RO 00000000h 1 Value Multi Manufacturer Maximum Position 1FFFFFFFh 650A Value INT32 RO Mono 2 O0001FFFh 650B Serial Number U32 RO 12345678h 0 2000 Process Value U32 RO 1FFFFDE6h 0 2100 Operating Parameter U16 RW 0000h Yes 0 2101 Resolution per Revolution U16 RW 2000h Yes 0 2102 Total Resolution U32 RW 20000000h Yes W 2103 Preset Value U32 RW 00000000h Yes 0 2104 Limit Switch Min U32 RW 00000000h Yes W 2105 Limit Switch Max U32 RW 00000000h Yes 0 2200 Cyclic Time U16 RW 0000h Yes 0 2300 Save Parameter U32 wo HHHHHHHEH 0 3000 C5 Node number U8 RW olh Yes 0 3001 C5 Baud Rate U8 RW 00h Yes 0 Page 34 Version 1 02
17. Fax 433 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com PE RestoreAllDefaultParameters U32 RW 00000001h daol 0x64616F6C to load 1014 COB ID of the emergency object 0 COBID EMCY U32 RO 00000081h 80h Node ID 1016 Consumer Heartbeat Time ae Number of entries U8 RO olh 1016 Bit0 15 Consumer heartbeat in ms 1 Consumer Heartbeat Time 1 U32 RW 00000000h Yes 5446 23 Node ID ae Producer HeartBeat Time U16 RW 0000h Yes Producer heartbeat time in ms 1018 Identity Object 1018 i 0 LargestSupportedSubindex U8 RO 04h 1018 f 1 Vendor ID U32 RO 00000184h Vendor no issued by CiA KC Product code U32 RO 354D4850h 1018 ee Sr 3 Revision number U32 RO 00010000h Curent revision number ae Serial number U32 RO XXXXXXXXN Unique consecutive serial number 1200 Server SDO Parameter 0 SE Number of entnes U8 RO 02h 1200 e 1 COB ID Client gt Server U32 RO 00000601h 600h Wode ID 1200 z 2 COB ID Server gt Client U32 RO 00000581h 580h Node ID Transmit PDO1 1800 Communication Parameter ot NrOfentries us RO 05h 1800 1 COB ID U32 RW 00000181h Yes PDO ID 180h node ID 1800 we i 2 Transmission Type U8 RW FEh Yes FEh User defined cyclical 1800 minimum interval for PDO 3 InhibitTime U16 RW 0000h Yes transmission multiple of 100s 1800 l 5 Event Timer U16 RW 0000h Yes Cycle time in ms Transmit PDO2 Loi Communication Parame
18. NOPEN USER MANUAL Appendix Software forthe compatibility with with the old encoders SHM5 SHU9 C HU9 MHM5 Do not use this version forthe new designs only to replace old encoders EDS File PHM 5SFV102 EDS Device Name 0x1008 POSI SF for this version and the following objects are supported See the SHM5 MHM5 Manual forthe complete description of these objects Object Name Format Access Default Save Description SubIndex multitum 00020196h 1000 DeviceType U32 RO MOREE 0 00010196h 1001 ErrorRegister U8 RO 00h 0 1018 Identity Object 1018 LargestSup ported Subindex U8 RO 04h 0 1018 Vendor ID U32 RO 00000184h 1 1018 Product code u32 RO 354D4850h 2 1018 Revision number U32 RO 00010000h 3 1018 Seral number U32 RO OK A 1003 pre defined enorfield 1003 Number of actual errors U8 RW 00h 0 1003 New actual enor U32 RO HHHHHHH H 1 1004 Number of PDOs supported 1004 Number of PDOs supported U32 RO 00000002h 0 1004 Number of synchronous PDOs U32 RO 00000001h 1 1004 Number of asynchronous PDOs U32 RO 00000001h 2 1005 COB ID SYNC Message U32 RW 00000080h Yes 0 1008 DeviceName SR CONST POSI SF 0 100C GuardTime U16 RW 0000h Yes 0 100D Life Time Factor US RW 00h Yes 0 100F number of SDOs supported U32 RO 00000001h 0 Version 1 02 Page 31 BEI IDEACOD SAS
19. Object 6003h Preset Value p 83 It isthen used by the encoder to offset the position value The offset value is recorded and can be read in the encoder Object 650Ah Module identification Description This object indicates the manufacturerspecific offset value as well as the minimum and maximum position values The offset value is stored in sub index 1 The minimum and maximum postion values are stored in sub indices 2 and 3 respectively Characteristics The characteristics of thisobject are outlined in the following table Sub Index Dec ription Data type Default value Access 0 Number of inputs Unsigned 32 ro Manufacturer 1 Breese Unsigned 32 Oh Ro Manufacturer 2 minimum value Unene z Ro Manufacturer 3 maximum postion Unsgned 32 ro value Object 650Bh Serial Number Description This object indicates the encoder serial number Linked with serial number object 1018 4 Version 1 02 Page 29 BEI IDEACOD SAS Espace Europ en de l Entreprise T I 433 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 IDEACOD Ge Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL EncoderCam1 Only for standard encoder DeviceName 1008h POSI Only one CAM isavailable Cam1 has parameters for the minimum switch point the maximum switch point The encoder calculates the cam state if the bitO of the Object Cam Enable channel 1 Index 63
20. Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL Event Timer Sub index 5 In mode 254 255 if a value gt 0 is written in this 16 bit field the TPDO is always sent after the event timer expires The value written in 1800sub05 and 1801sub05 corresponds to the event timer in ms Object 1801h 2nd Transmit PDO communication Parameter Description This object contains the Transmit PDO communication parameter Characteristics The characteristics of thisobject are outlined in the following table Sub Index Description Data type Default value Access 0 Number of sub indexes UNSIGNED8 5 Ro 1 COD ID UNSIG NED32 280h mode ID Rw 2 Transmission mode UNSIGNED8 al Rw 3 Inhibit time UNSIG NED16 0 Rw 4 Not available 5 Event timer UNSIGNED16 0 Rw Version 1 02 Page 19 BEI IDEACOD SAS Espace Europ en de l Entreprise T I 33 0 3 88 20 80 80 IDEACOD 9 ue de Co Er Oe g penhague ar e B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 5 Manufacturer specific objects 2000h to PF Object Kg Subindex Name Fomat Access Default Save Description 2002 Speed of the encoder shaft o Speed 116 RO No Number of physical impulses with a time period of 5 ms Types for PDO1 and PDO2 Bit 3 0 PDO1 Bit 7 4 PDO 2 O Default Byte 0 Byte3 of PDO Yes Value of position an ee tyne Ca f R 00h L02
21. arms ae Wa mings U16 RO 0000h Wamings 6506 0 Supported Wamings U16 RO 0000h Supported Wamings Byte 0 1 Profile version 6507 a 3 1 0301h 0 Profile amp Software Version U32 RO 01020301h Byte 2 3 Software verson 1 02 0102h ae S Operating Time U32 RO FFFFFFFFh not used 6509 Offset calculated from 0 Calculated Offset Value INT32 RO preset 6003h 650A Module Identification aise NrO f ntries us RO 03h 650A manufacturer_offset_value U32 RO 00000000h Manufacturer offset 1 value EE te Kee Minimum position value Multi 650A Manufacturer Max Position_Va U32 RO LFFFFFFFh Maximum postion value 3 lue Mono 00001FFFh 650B 4 Linked with senal 0 zatial Number Wee RO number object 1018 4 Version 1 02 Page 23 BEI IDEACOD SAS 4 v A T l 33 0 3 88 20 80 80 ace Europ en de l Entre IDEACOD see Se Copenhague Se Fax 433 0 3 88 20 87 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL Object 6000h Operating Parameters Presentation The code sequence Complement can be selected asthe operating parameter CMS Index Default value Value range Data length SDO 6000h Oh Oh FFFFh Unsigned 16 Bit Function Bit 0 Bit 1 0 Code Sequence CW CCW 1 Commissionning Diagnostic control Not used 2 Scaling function control Disa bled Enabled 3 Measuring direction Not used CODE SEQUENCE The code sequence defines whether inc
22. c Acylic Synchronous Asynchronous RTR only Send PDO on firt Sync 0 x x S message following an event 1 to X x Send PDO every n n 0 240 240 Sync messages 241 to 251 Reserved Update data immediately 252 z after Remote request and z send PDO on next SYNC message Update data and send PDO a Z x on Remote Request 254 S Send PDO on manufacturer event 255 x Send PDO on encoder event COB ID Structure The structure of a COB ID for CAN2 0 is shown in the following table Bit No Value Meaning 0 The PDO object exists 31 MSB 7 1 The PDO object doesn t exist 30 0 RIR mechanism authorized 1 RTR mechanism unauthorized 29 0 11 bit ID CAN 2 0A 28 11 0 If bit 29 O 10 0 LSB X Bit 10 0 of the identifier Inhibit Time Sub index 3 For Transmit PDOs the 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 254 255 to avoid overoadson the CAN bus The inhibit time is a multiple of 100us of object 1800sub03 1801sub 03 Page 18 Version 1 02 BEI IDEACOD SAS 4 T l 33 0 3 88 20 80 80 ace Europ en de l Entreprise IDEACOD oa See ounces p Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013
23. e found under object 6004h COB ID Command Index Sub Index Service Data Parameters 580h4node ID 43h om Goh om Poso Post Pos Pos Whiting of a value by the master into the save Position setting can be performed with preset Object 6003h COBID Command Index Sub Index Service Data Parameters 600h node ID 22h 03h 60h 00h Pred Prel Pre2 Pre3 Slave s response to the writing ofa value COB ID Command Index Sub Index Service Data Parameters 580h node ID 60h FER 60h Ke o lo lol o Page 10 Version 1 02 BEI IDEACOD SAS P Espace Europ en de l Entreprise T I 33 0 3 88 20 80 80 IDEACOD 9 ue de Copenhague ee i 33 0 3 88 2087 07 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 2 3 Process data communication Process data objects are used for real time data exchange for process data position PDOs can be transmitted synchronously or cyclically asynchronously The encoder supports the PDO1 and the PDO2 Both PDOs supply the curent position of the encoder and are defined in the objects 1800h 1801h 1A00h 1A01 Synchronous In order to transmit the process data synchronously a value between 1 and FOh 240 must be written into the object 1800h 1801h Subindex 2 If the value is 3 the PDO is transmitted on every third sync telegram if the value 1 is entered transmission takes place on every sy
24. e the default values Operation To restore the parameters the cormesponding index must be written in the load character string 6461 6F6Ch Most significant word Least Significant word ISO 8859 ASCII S d a o signature Hex value 64h 61h 6Fh 6Ch Information on whether it is possible to restore the module s factory parameters is read from a sub index The result obtained 00000001h indicates that the factory parameters can only be restored when the module receives the command to do so Object 1800h 1st Tansmit PDO communication Parameter Description This object contains the Transmit PDO communication parameter Characteristics The characteristics of thisobject are outlined in the following table Sub Index Description Data type Default value Access 0 ie of sio Unsigned8 5 ro 1 COB ID Unsigned32 180h Node ID rw 2 Transmission mode Unsigned8 FEh rw 3 Inhibit time Unsigned32 0 rw 4 Not available 5 Event timer Unsigned 32 0 rw Version 1 02 Page 17 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL Transmission mode The PDO transmission mode can be configured asdescribed in the table below Tranfer Transmission code ES Notes ee Cycli
25. eenaeseoesoesneeseeesneeseeysoeeseeeaeseaeeseenaeenaeenaeenaess 8 2 1 CANopen Data Transmission sssssssnsunsunsunnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nunnan nnmnnn annann anmannan nunnan annann annann nannan nann 8 Data Transmission COB ID 2 2 Service data COMMUNIC ATION 1 cseeceeecesseeeneeeeseeeeneeeeseeeseeeesneeseeeenseeeseneessnaesnneessnaeseneessaeseenseeeenenes 9 Request for parameter Parameter to the encoder Index Sub index SDO examples Request of a value by the master from the slave Writing of a value by the master into the slave 2 3 Process data COMMUNIC ATION ccssesenecsseeesneeesseeesnneesseaeseeesseeesnneessnaesnneessneesnneessnaesneessnaesnneensaesnes 11 Synchronous Cyclical asynchronous Response to an RTR message Transmission of the current position 3 Operational mode ssssssssnsunnunnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nanum nannan nnmnnn annann anmannan nunnan annan nnnn ananman annann 12 Init Pre operational mode Operational mode Stopped mode Reset of the absolute rotary encoder 4 Communication objects 1000h to LAFF DS 301 s sssssansunnunnnnnnnnnnunnnnnunnunnnnnnnnnnnnnannnnnnnnnnnnn nnmnnn annann 14 Object 1010h Store parameters Object 1011h Restore Default parameters Object 1800h 1st Transmit PDO communication Parameter Transmission mode COB ID Structure Inhibit Time Sub index 3 Event Timer Sub index 5 Object 1801h 2nd Transmit PDO communication Paramet
26. er 5 Manufacturer spe cific Objects 2000h to SFP ssssnssnsensunnannnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnn nunnan nnmnnn annann na 20 Object 2002h Speed Object 2005h PDO type Object 2100h Transmission Rate Object 2101h Node Number 6 Encoder specific objects 6000h to 9FFFh DS 406 ssssssnsunnunnnnnnnnnnnnnnnnunnunnnnnnnnnnnnnnnnnnnannnnnnn annann nnmnnn 22 Object 6000h Operating Parameters Object 6001h Measuring Units per revolution Object 6002h Total measuring range in measuring units Object 6003h Preset Value Object 6004h Postion Value Object 6200h Cyclic Timer Object 6500h Operating Status Object 6501h Singletum Resolution Rotary Object 6502h Number of Distinguisha ble Revolutions Object 6503h Alarms Object 6504h Supported Alarms Object 6505h Wamings Object 6506h Supported Wamings Object 6507h Profile and Software Version Object 650Ah Module identific ation Object 650Bh Serial Number Appendix Compatibility with with the old encoders SMS SHU9 C HU9 MHM5 1scsssressscsseeressee 31 Page 2 Version 1 02 BEI IDEACOD SAS 4 T l 33 0 3 88 20 80 80 ace Europ en de l Entreprise IDEACOD oa See ounces p Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 1 Introduction This manual describes the implementing and configuration of an absolute rotary encoder with CANope
27. fAvailableC hannel U8 RO OI only CAM1 DO CAM1 6301 0 cam disable 1 Cam enable channel 1 U8 RW 00h Yes 1 cam state calculated by the device 6302 Cam polarity E NrOfAvailableC hanne U8 RO olh DO CAM1 6302 0 cam state not 1 Cam polarity channel 1 U8 RW 00h Yes inverted 1 cam state not inverted 6310 Cam1 low limit Page 22 Version 1 02 IDEACOD BEI IDEACOD SAS Espace Europ en de l Entreprise 9 ue de Copenhague B P 70044 Schiltigheim F 67013 Strasbourg Cedex POSI CANOPEN USER MANUAL T l 433 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 Mail info bei ideacod com Web www bei ideacod com rise NrOfAvailableC hannel U8 RO olh only CAM1 6310 switch point for the 1 Cam1 low limit channel 1 U32 RW 00000000h Yes lower limit setting for CAM1 6320 Cam high limit 6320 0 NrOfAvailableC hannel U8 RO olh only CAM1 6320 switch point for the 1 Caml high limit channel 1 U32 RW 00000000h Yes higher limit setting for CAM1 DO Position increasing OCW 6500 1CCW 0 Operating Status U16 RO 0004h Bit2 0 Scaling function disabled 1 Scaling function enabled 6501 Max Resolution in steps 0 Single Tum Resolution U32 RO 00002000h epitome 13 bits Number of disting uisha ble E Number of Revolutions U16 RO eee oe revolutions Multitum FFFFh Monotum 1 SH Alarms ue RO 0000h Alams 6504 0 Supported Alarms U16 RO 0000h Supported Al
28. h message identifiers Access to the bus is performed according to the CSMA CA principle camer sense multiple access with collision avoidance i e each user listens if the busis free and if so is allowed to send messages If two users attempt to access the bus simultaneously the one with the highest priority lowest identifier receives the permission to send Users with lower priontty interupt their data transfer and will access the bus when it is free again Messages can be received by every participant Controlled by an acceptance filter the participant accepts only messages that are intended for it Version 1 02 Page 3 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 433 0 3 88 20 80 80 Fax 433 0 3 88 2087 87 IDEACOD Ge Mail info bei ideacod com F 67013 Grasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL CANopen Transmission Technology Two core cable Baud rates 10 kBaud up to 1 MBaud Participants maximum 127 Cable Length 30 m for 1 MBaud 1000 m for 20 kBaud The data communication is done via message telegrams In general telegrams can be split ina COB lIdentifier and up to 8 following bytes The COB Identifier which determines the priority of the message ismade from the function code and the node number The node number is uniquely assigned to each user The function code varies according to the type of message transmitted Administrative messages LMT NMT Service data objects SDOs
29. interference signal transmitting cable can usually be achieved with a grounded partition Version 1 02 Page 7 BEI IDEACOD SAS Espace Europ en de l Entreprise T l 33 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 9 rue de Copenhague er e IDEACOD B P 70044 Schiltigheim Mail info bei ideacod com Web www bei ideacod com F 67013 Strasbourg Cedex POSI CANOPEN USER MANUAL 2 Device Configuration 2 1 CANopen Data Transmission Data Transmission Data is transmitted in a CANopen network in the form of messages These messages basically consist of a COB ID and 8 data bytes COB ID The 11 bit COB ID is made up as follows 10 9 8 7 6 5 4 3 2 1 0 Function code Node number X X X X X X X X X X X X free to be selected The COB ID only determines the message object It consists of a function code which identifies the message class and the node number which is the absolute encoder address The node numberis fixed using the CAN interface The following function codesare available rm and tx asviewed by the master Object e code COBID result Hex Priority class NMT 0000 0 0 SYNC 0001 128 80 0 Emergency 0010 129 255 81 FF 0 1 PDO tx 0011 385 511 181 1FF 1 2 PDO m 0100 513 639 201 27F 2 PDO tx 0101 641 767 281 2FF 2 3 PDO rx 0110 769 895 301 37F 3 4 SDO tx 1011 1409 1535 581 5FF 6 SDO rx
30. is reset NMTreset node orpowercycled Version 1 02 Page 21 BEI IDEACOD SAS Espace Europ en de l Entreprise T I 33 0 3 88 20 80 80 IDEACOD 9 ue de Co Er Oe g penhague n Za e B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 6 Encoder specific objects 6000h to S9FFFh DS 406 Introduction This section lists the encoder specific objects Each object with all its technical characteristics isdescribed according to the CANopen standard Object SS Subindex Name Format Access Default Save Description DO Position increasing OCW 6000 1CCW 0 Operating Parameters U16 RW 0004h Yes Bit2 0 Scaling function disabled 1 Scaling function enabled 6001 o Resolution in steps 0 Measuring Units per Revolution U32 RW 00002000h Yes roe lune 13 bits Multi Overall measuring 6002 20000000h range in increments 0 Total Measuring Range U32 RW Mong Yes 29Bit multitum 00002000h 13Bit singletum SC Preset Value U32 RW 00000000h Yes Preset in increments 6004 CS Se 0 Position Value U32 RO 00000EC Bh Postion value 6200 Sa In ms identical object 0 Cyclic timer U16 RW 0000h Yes 1800h subindex 5 6300 Cam state register 6300 0 NrOfAvailableC hannel U8 RO olh only CAM1 status bit of the cam in 6300 a cam channel 1 Cam sate channe 1 U8 RO 00h DO CAM1 0 CAM Inactive 1 CAM active 6301 Cam enable 6301 0 NrO
31. k lessone second after powerup in pre operational mode Init Following initalization the encoder logson to the CAN bus with a BootUp message The encoder then goes automatically to the pre operational mode status The COBID of the BootUp message ismade up of 700h and the node ID COBID Byte 0 700h Node ID 00 Pre operational mode In the pre operational mode SDOscan be read and written Operational mode In the operational mode the encoder transmits the requested PDOs In addition SDOs can be read and written Stopped mode In the stopped mode only NMT communication is possible No SDO parameters can be read or set Reset of the absolute rotary encoder Ifa node isnot operating correctly itis advisable to cany out a Reset Command Node Number Se COB ID Byte 0 Byte 1 Description 00h 81h 00h NMT Reset Remote Node all Node 00h 81h O1h 7Fh NMTReset Remote Node node number After Reset the absolute rotary encoder accesses the busin pre operational mode Page 12 Version 1 02 BEI IDEACOD SAS Espace Europ en de l Entreprise Tel 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 33 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL Mode Preoperational To seta node to pre operational mode the master must send the following message Command Node Number Hee COBID Byte 0 Byte
32. lp of the provided EDS file electronic datasheet simple line up and programming are possible Page 4 Version 1 02 BEI IDEACOD SAS Espace Europ en de l Entreprise T I 33 0 3 88 20 80 80 IDEACOD 9 rue de Copenhague Fax 433 0 3 88 20 87 87 B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Grasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL 1 3 CAN Communication Reference Model The communication concept can be described similar to the ISO OSI Reference Model ISO OSI Layer 7 CAL CMS ISO OSI Layer 2 Data Link Layer ISO OSI Layer 1 Physical Layer CANbus The communication model supports synchronous and asynchronous messages With respect to the functionality four different message objects are provided Administra tional Messages LMT NMT Service Data Messages SDO Process Data Messages PDO Pre defined Messages Synchronisation and Emergency Messages Further information is available at CAN in Automation CiA Intemational Users and Manufacturers Group e V Am Weichselgarten 26 D 91058 Erlangen Reference CAN Application Layer for Industral Applications CiA Draft Standard 201 207 Version 1 1 CAL based Communication Profile for Industrial Systems CiA Draft Standard 301 Version 1 02 Page 5 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD GE Ee EE Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasb
33. n interface The device fullfills the requirements of a CANopen device regarding the device specification DS406 of the CANopen user group 1 1 Absolute rotary encoder The basic principle of an absolute rotary encoder is the optical sampling of a transparent code disc which is fixed with the driving shaft The absolute rotary encoder has a maximum resolution of 8192 steps per revolution 13 Bit The Multi Tum version can detect up to 65536 revolutions 16Bit Therefore the largest resulting resolution is 29 Bit 22 536 870 912 steps The standard Single Tum version has 13 Bit the standard Multi Tum version 29 Bit Open functions The following modescan be programmed and enabled ordisabled RTR Message Polled mode Cyclic Mode Sync Mode The protocol supports the programming of the following additional functions Code sequence Complement Resolution per revolution Total revolutions Preset value Two limit switches Baudrate Node number The general use of absolute rotary encoders with CAN Bus interface using the CAN Open protocol is guaranteed 1 2 CANopen technology CAN stands for Controller Area Network and was developed by the company Bosch for applications within the automobile area In the meantime CAN has become increasingly used for industrial applications CAN isa multi masterable system i e all users can access the bus at any time aslong asitis free CAN doesn t operate with addresses but wit
34. nc telegram In synchronous operation the PDO is requested by the master via the Sync telegram COBID 80h Cyclical asynchronous If you wish the PDOs to be transmitted cyclically the value FEh must be written into the object 1800h 1801h Subindex 2 In addition the cycle time in milliseconds must be entered in the same object subindex 5 The entered time is rounded off to 1 ms If the value is stored for 0 ms the PDOs are not transmitted The function is switched off Response to an RIR message by means of the remote frame recessive RIR bit precisely the message with the transfered identifier will be requested Transmission of the current position The process value issent on the CAN network with the following message COB ID Process value 11 bits Byte 0 Byte 1 Byte 2 Byte 3 27 to 20 255 to 28 223 to 216 231 to 224 The COB ID contains the node number and the coresponding PDO tx By default the sended process value use the COB ID 0180h Node ID and in response to the SYNC message use the COB ID 0280h Wode ID The PDO COB ID are defined in the object 1800h 1801h subindex 1 Version 1 02 Page 11 BEI IDEACOD SAS Espace Europ en de l Entreprise Tel 433 0 3 88 20 80 80 Fax 433 0 3 88 20 87 87 IDEACOD Ge Mail info bei ideacod com F 67013 Grasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 3 Operational mode Principle The absolute rotary encoder accesses the CAN networ
35. ourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 1 4 Definitions CAN ControllerArea Network CAL CAN Application Layer CMS CAN Message Specification One of the service elements of the application layerin the CAN Reference Model COB Communication Object CAN message A unit of transportation ina CAN Network Data must be sent acrossa Network inside a COB COB ID COB Identtfier Identifies a COB uniquely in a Network The identifier determines the prionty of that COB LMT Layer Management One of the service elements of the application layer in the CAN Reference Model It serves to configure parameters of each layer in the CAN Reference Model NMT Network Management One of the service elements of the application layer in the CAN Reference Model It performs initialisation configuration and erorhandling ina CAN network SDO Service Data Object A data object with low prority to configure a CAN node PDO Process Data Object A data object with high priority to transmit data in synchronous and asynchronous modes Additionally following abbreviations are used in the manual APV Absolute Position Value CW Clockwise Tuming direction asseen on shaft CCW Counterclockwise Tuming direction asseen on shaft FC Function code It determines the kind of message which is sent across the CAN network NN Node number It determines uniquely the CAN device PV Preset value PCV Processvalue Page 6 Version 1 02 BEI I
36. reasing or decreasing postion values are output when the encoder shaft rotates clockwise or counterclockwise as seen on the shaft SCAUNG 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 measuring range in measuring units object 6001h are the scaling parameters The scaling function bit is set in the operating parameters If the scaling function bitis set to zero the scaling function is disabled Object 6001h Measuring Units per revolution Presentation The Measuring Units per revolution parameter is used to program the required numberof steps per revolution Choose a value between 2 and 8192 CMS Index Default value Value range Data length SDO 6001h oh 2000h Unsigned 16 Object 6002h Total measuring range in measuring units Presentation This parameter is used to program the required number of measuring units from the global measuring range This value must not exceed that of the total resolution of the absolute rotary encoder CMS Index Default value Value range Data length SDO 6002h 2000 0000h 2 2000 0000h Unsigned 32 Total measuring range total resolution Number of revolutions x Measuring Units per resolution Page 24 Version 1 02 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 20
37. reprise Fax 33 0 3 88 20 87 87 pennague S E Sei B P 70044 Schiltigheim Mail info bei ideacod c om F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 1801 Event Timer U16 RW 0000h Yes 5 1A00 Transmit PDO 1 Mapping 1A00 NrOfEntries U8 RO olh 0 1A00 Mapped Object U32 RO 60040020h 1 1A01 Transmit PDO2 Mapping 1A01 NrOfEntries U8 RO olh 0 1A01 Mapped Object U32 RO 60040020h 1 6000 Operating Parameters U16 RW 0004h Yes 0 6001 Measuring Units per Revolution U32 RW 00002000h Yes 0 Multi e 20000000h 6002 Total Measuring Range U32 RW Mono Yes 0 00002000h 6003 Preset Value U32 RW 00000000h Yes 0 6004 Position Value U32 RO 1FFFFDE6h 0 6005 Limit Switch Min U32 RW 00000000h Yes 0 6006 Limit Switch Max U32 RW 00000000h Yes 0 6100 Transmission Rate U16 RW 0002h Yes 0 6101 Node Number U16 RW 0001h Yes 0 6200 Cyclic timer U16 RW 0000h Yes 0 6500 Operating Status U16 RO 0004h 0 6501 Single Tum Resolution U32 RO 00002000h 0 Multi FFFFh 6502 Number of Revolutions U16 RO Mono 0 0001h 6503 Ala ms U16 RO 0000h 0 6504 Supported Alarms U16 RO 0000h 0 6505 Wamings U16 RO 0000h 0 6506 Supported Wamings U16 RO 0000h 0 Version 1 02 Page 33 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD Ge l Entreprise Fax 33 0 3 88 20 87 87 pennague S E Sei B P 70044 Schiltigheim Mail info bei ideacod c om
38. supported by the encoder Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 0 Frequency exceed Not supported Supported 1 Light control reverse Not supported Supported 2 CPU watchdog status Not supported Supported Operating time limit 3 waming Not supported Supported 4 Battery charge Not supported Supported 5 Reference point Not supported Supported 6 11 Reserved Not supported Supported Manufacturer spec ific 12 waming Not supported Supported Manufacturer spec ific 13 waming Not supported Supported 14 Menuaciuerspeclie Not supported Supported waming Manufacturer spec ific 15 waming Not supported Supported Page 28 Version 1 02 BEI IDEACOD SAS A i T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL Object 6507h Profile and Software Version Description This object indicates the encoder hardware profile version and software version Object 6508h Operating Time Description This object indicates the encoder operating time The operating time is recorded in the EEPROM memory as ong asthe encoder is powered up This function is not available for this encoder The delivered value is FFFFFFFFh Object 6509h Offset Value Description This object indicates the offset value The offset value is calculated by the Preset value function see
39. ter a NrOfEntries ug RO 05h 1801 1 COB ID U32 RW 00000281h Yes PDO ID 280h node ID Version 1 02 Page 15 BEI IDEACOD SAS 4 T l 33 0 3 88 20 80 80 IDEACOD Ge l Entreprise Fax 33 0 3 88 20 87 87 pennague S E Sei B P 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www bei ideacod com POSI CANOPEN USER MANUAL 1801 SEN 2 TransmissionType U8 RW olh Yes 0lh synchronous operation 1801 minimum interval for PDO InhibitTime U16 RW 0000h Yes transmission 3 multiple of 100us 1801 eer 5 Event Timer U16 RW 0000h Yes Cycle time in ms 1A00 Transmit PDO 1 Mapping Kee NrOfentries us RO Olh mapping forthe PDO1 the device is able to transmit 1A00 e b0 67 object length 1 Mapped Object U32 RO 60040020h 20h Unsigned32 b8 b15 sub index 00h b16 b31 Index 6004h 1A01 Transmit PDO2 Mapping SE NrOfentries us RO Olh mapping forthe PDO2 the device is able to transmit 1A01 b0 b7 object length 1 Mapped Object U32 RO 60040020h 20h Unsgned32 b8 b15 sub index 00h b16 b31 Index 6004h Object 1010h Store parameters Description This object supports the saving of parameters in non volatile memory In order to avoid storage of parameters by mistake storage is only executed when the specific Signature save is written to the Sub Index Characteristics The characteristics of thisobject are outlined in the following table
40. tion is never sent Note After setting the encoder parameters they must be saved in the EEPROM with StoreParameters Object 1010h If the encoder parameters are not saved the configuration will be lost at the next power up Version 1 02 Page 25 BEI IDEACOD SAS p e T l 33 0 3 88 20 80 80 IDEACOD SA er aes Fax 33 0 3 88 2087 87 BP 70044 Schiltigheim Mail info bei ideacod com F 67013 Strasbourg Cedex Web www beiideacod com POSI CANOPEN USER MANUAL Object 6500h Operating Status Description This object contains the operating status of the encoder It provides information on the encoder intemal parameters Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 0 Code sequence CW CCW Commissionning 1 Diagnostic Control Not supported Supported 2 Scaling function control Disabled Enabled 3 Measuring direction Not used 4 11 Reserved 12 Manufacturer specific SE alam 13 Manufacturer specific Not used alam Manufacturer specific 14 GE Not used Manufacturer specific 15 GE Not used Sub CMS Index index Default value Value range Data length Access SDO 6500h 00h z Unsigned 16 ro Object 6501h Singletum Resolution Rotary Description This object indcates the number of steps per revolution according to the postion of the encoder The maximum encoder resolution is 8192 CMS Index Sue Default value Value range
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