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1. Step Action 6 Click on Object Configuration Node Configuration Node Osicoder Node ID address OK Description Node2 Configuration Error _ Cancel Filename TEXCC35CB_0100E EDS Gail Node BootUp Y Activate node in actual configuration Emergency COB ID 130 OPC Objects Rw Automatic COB ID allocation in accordance with Profile 301 Nodeguard COB ID 1794 Object o 5 a Configuratiop Device Profile Device type Absolute multi turn angular encoder fa Object Configuration E Node Osicoder Addr Node 2 OK Description Node2 Cancel 1801 TxPDO2 Comm Predefined supported Objects in the EDS file Access Filter Obj ldx Sub idx Settings Default value Access All Device Type 20196 Read only ErrorRegister no default value Read only Manufacturer Status Register no default value Read only Configured PDOs pre defined error field A Number of actual errors 0 ReadWrite TxPDOT PDO_1800 COB ID SYNC 80 Read Write Add to Configured Objects TxPDO2 PDO_1801 Configured Objects automatically written while Node startup sequence Obj Idx Sub ldx Settings Current Value PDO Dialog 4 1800 1 COB ID 182 x 1800 Transmission type FE 1800 Inhibit Time 1800 Event timer 1801 COB ID 1801 Transmission type Delete Configured Object This window is used to configure the default values of the configured objects that will be sent to the encoder the next time the node is powered up For further information on the variou
2. 1690023_02A55 02 03 2008 41 Configuration Step Action 3 Select the required transmission mode and click OK Node Receive PDO Characteristics Master Output Process Data Transmission Mode O Node shall use a synchronization message as trigger to send the transmit PDO cyclically O Node has to send the transmit PDO every 10 received synchronization message J Node shall use a synchronization message as trigger to send the transmit PDO when previously remote requested by the master O Node shall send the transmit PDO when remote requested Transmission event of transmit PDO full node manufacturer specific O Transmission event of transmit PDO defined in the device profile of the node Resulting CANopen specific transmission type 254 Communication Timer Node Event timer 10 ms Inhibit time 10 ms Master Remote Request Condition CANopen Every 0 Master cycle interval Request slow down 4 If you want to define the addresses of the activated PDOs manually e Select the master e Click on Settings and select Global settings e Deselect Enabled in the Process Data Auto Addressing area e Click OK Illustration Settings Process Data Auto Addressing OK Cancel COB ID Allocation during PDO insertion O Automatic Allocation in accordance with Profile 401 O Manual Allocation in r
3. BUS IN BUS OUT Description of the terminals Terminals Pin Description Supply voltage 0 V Supply voltage 24 V BUS IN CAN_SHLD CAN_V CAN_GND CAN_H CAN_L BUS OUT CAN_SHLD CAN_V CAN_GND CAN_H a BR o mM a AJOIN CAN_L 1690023_02A55 02 03 2008 21 Installation Wiring the Encoder Connecting the To supply the encoder via the central PG9 connect the base using the following Power Supply to procedure the Connection Step Action Base 1 Remove the screw the seal gasket and the cable gland collar 2 Prepare the cable as shown in the diagram below 3 Place the screw and the seal gasket on the cable 4 Fit the collar under the shielding 5 Insert the cable assembly in the cable gland and tighten the screw Wiring diagram 55 mm 2 16 inch 50 mm 1 96 inch 5 mm 0 19 inch 5 mm 0 19 inch Connecting the To connect the encoder to the bus simply connect the network cable to the female base to the bus M12 connector see Connection Base p 18 Note Shielded cables should be used for data transmission to avoid problems with electromagnetic interference The shielding must be connected to ground at both ends of the cable Note The encoder must be connected to the bus before being powered on
4. 1690023_02A55 02 03 2008 Safety Information PLEASE NOTE Electrical equipment should be serviced only by qualified personnel No responsi bility is assumed by Schneider Electric for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons O 2008 Schneider Electric All Rights Reserved 1690023_02A55 02 03 2008 About the Book Ata Glance Document Scope Related Documents User Comments This manual explains how to install and configure the absolute rotary encoder with CANopen interface connected on a bus Title of Documentation Reference Number W9 1690020 Instruction sheet We welcome your comments about this document You can reach us by e mail at techpub schneider electric com 1690023_02A55 02 03 2008 About the Book 10 1690023_02A55 02 03 2008 Introduction Presentation Overview What s in this Chapter The purpose of this section is to provide general information about the encoder described in this documentation This chapter contains the following topics Topic Page Introduction 12 General Presentation 15 1690023_02A55 02 03 2008 11 Introduction Introduction Principle Multi Turn Absolute Rotary Encoders This manual explains how to install and configure the absolute rotary enc
5. Step Action 1 Double click on the image of the encoder to be configured The configuration window appears 2 Select a configured PDO and click on PDO characteristics E File Edit View Insert Online Settings Window Help Bo DIS l EE CAN Node Configuration Node Osicoder Node ID ad Description Node2 File name TEXCC35CB_0100E EDS Y Activate node in actual configuration Y Automatic COB ID allocation in accordance with Profile 301 Configuration Error _ Cancel Control Protocol Node BootUp dress 2 OK Device Profile 406 Device type Absolute multi turn angular encoder Emergency COB ID 130 OPC Objects Nodeguard COB 1794 Object Configuration Predefined Process Data Objects PDOs from EDS fil Actual node Obj Idx PDO name Enable 1800 TxPDO1 Communication parameter 1801 TxPDO2 Communication parameter a A Configured PDOs 1 Osicoder l PDO mapping method DS301 V4 bl Add to configured PDOs PDO name Symbolic Name COB ID Type Ada O Type Addr OJO ler TxPDO1 PDO_1800 385 IB 0 TxPDO2 eugene 641 IB 0 n PDO Contents Mapping PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names Press F1 for Help CANopen Configuration
6. 22 1690023_02A55 02 03 2008 Installation Accessories List of The list of available accessories is as follows Accessories Description Type Bushing 15 mm to 14 mm 0 59 in to 0 55 in XCC R358RDL14 Bushing 15 mm to 12 mm 0 59 in to 0 47 in XCC R358RDL12 Bushing 15 mm to 10 mm 0 59 in to 0 39 in XCC R358RDL10 Bushing 15 mm to 8 mm 0 59 in to 0 31 in XCC R358RDL08 Bushing 15 mm to 6 mm 0 59 in to 0 24 in XCC R358RDL06 Only for hollow shafts Assembly Encoder with output shaft instructions Connect the encoder shaft to the revolving shaft using an XCC RA coupling Encoder with hollow shaft Position the encoder fix it on the revolving shaft using the loop clamp with or without the bushing Then attach the flexible kit to a fixed support Do not tighten the fixing ring if the driving shaft and the bushing are missing from the encoder 1690023_02A55 02 03 2008 23 Installation Installation Precautions Precautions The following points must be adhered to Do not drop the encoder and do not expose itto excessive vibration The encoder is a precision device Do not open the encoder casing this does not mean that the connection base cannot be removed The encoder shaft must be connected to the shaft to be measured by means of an appropriate coupling This coupling is used to dampen vibrations and compensate for any imbalance at the encoder shaft
7. Default 250 olo NI oaJ a A OINI oO Node Address The rotary switches located in the base are used to set the encoder network address node number 907 907 rd co vV G W 96 x10 x1 The switch marked x1 is used to set the units and the switch marked x10 is used to set the tens The possible addresses are between 1 and 99 and any one address can only be used once in the network Two LEDs at the rear of the base indicate the encoder operating mode Note Address 0 is reserved NMT 1690023_02A55 02 03 2008 19 Installation Line Terminator If the encoder is connected at one end of the bus line the line terminator must be enabled set the switch to the ON position Encoder location on the bus Switch position Encoder in the middle of the bus R On LM Encoder at the end of the bus R On MM lt T_ _ Note If the terminator is set to ON the BUS OUT terminals See Wiring the Bus and the Power Supply p 21 are disconnected The base must be connected to the encoder for the bus to be wired correctly If the encoder has to be changed during operation a separate line terminator must be used 20 1690023_02A55 02 03 2008 Installation Wiring the Bus and the Power Supply Description Remove the base to access the encoder wiring
8. Object 1014h COB ID Emergency EMCY message Description Characteristics This object contains the EMCY emergency message identifier The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED32 80h NODE ID rw no yes Object 1015h Inhibit Time EMCY Description Characteristics This object contains the EMCY emergency message inhibit time This time must be a multiple of 100 us The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED16 0 rw no yes 64 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1016h Consumer Heartbeat Time Description Characteristics This object is used to configure the period required by the consumer the encoder for receiving the Heartbeat message from the bus master The value of this object must be greater than the value of object 1017h The time must be a multiple of 1 ms The characteristics of this object are outlined in the following table Sub index Description Data type Default Access PDO Backed up value Mapping 0 Number of sub UNSIGNED8 1 ro no yes ind
9. Transmission of the Current Position For 1 or all the nodes to exit operational mode the master sends the following message FC NN Command S P data Description 0000 b 0d 02 h NMT start all nodes 0000 b NNd 02 h NMT start NN NN node number The process value is sent on the CAN network with the following message COB ID Process value Byte 3 11 Bits Byte 0 Byte 1 Byte 2 231 to 224 27 to 2 215 to 28 223 to 216 The COB ID contains the node number and the corresponding PDO tx By default the process value that is sent uses function code PDO tx 0011 and in response to the SYNC message uses function code PDO tx 0101 1690023_02A55 02 03 2008 36 Configuration 4 2 Software tools Introduction Presentation What s in this Section The encoders described in this document are CANopen certified with the DS 406 V3 1 profile They are compatible with other CANopen certified products The encoders described in this chapter are configured using the following software Setting the network parameters SyCon configuration tool version gt 2 9 PLC programming PL7 Pro software workshop version gt 4 4 Please refer to the software documentation for the minimum PC configuration used This section contains the following topics Topic Page Sett
10. Cc CAL CAN application layer CAN Controller Area Network or CAN multiplexing network CANopen Application layer of an industrial network based on the CAN bus CCW Counter clockwise 1690023_02A55 02 03 2008 105 Glossary CiA CAN In Automation organization of manufacturers and users of devices that operate on the CAN bus COB Elementary communication object on the CAN network All data is transferred using a COB COB ID COB Identifier Identifies an object in a network The ID determines the transmission priority of this object The COB ID consists of a function code and a node number CW Clockwise E EDS file Standardized file containing the description of the parameters and the communication methods of the associated device F FAQ Frequently Asked Questions FC Function code Determines the type of message sent via the CAN network L Line terminator LMT Resistor terminating the main segments of the bus Network management object This is used to configure the parameters of each layer in the CAN 106 1690023_02A55 02 03 2008 Glossary M Master Active device within the network that can send data without having received a request It controls data exchange and communication management N NMT Network management object This is responsible for managing the execution configuration and errors in a CAN network NN Node number P PCV Process Value PDO Communication object with a high pr
11. The bus and the power supply are routed into the base via M12 connectors and a PG9 cable gland respectively and are connected to the terminals This chapter contains the following topics Topic Page Connection Base 18 Wiring the Bus and the Power Supply 21 Wiring the Encoder 22 Accessories 23 Installation Precautions 24 1690023_02A55 02 03 2008 17 Installation Connection Base Description Unscrew the encoder base to access the encoder settings connector e Male M12 Female M12 6 connector Elements that can be accessed in the base No Description Application k Rotary switches Transmission speed and node number Switch Enables the line terminator 15 pin female SUB D Base encoder connection Terminals BUS IN BUS OUT and power supply 2 x M12 A coded connectors Cable base connection BUS IN BUS OUT 0J a A OJN PG9 cable glands Cable base connection for 24 VDC power supply cable Y 4 8 mm 18 1690023_02A55 02 03 2008 Installation Transmission The baud rate is set using the rotary switch on the base Speed 907 YO Ww 9 gx Bd The following baud rates are possible Speed kbaud Position of encoder rotary switch 10 20 50 125 250 500 800 1000 Reserved
12. and also to prevent any significant unauthorized force Telemecanique offers appropriate couplings Telemecanique absolute encoders are robust but when used in difficult environmental conditions they must still be protected appropriately The encoder must not be used as a handle or a step Only qualified personnel can commission and operate these encoders Such personnel are authorized to commission connect to ground and identify the devices systems and circuits in accordance with current safety standards No electrical modifications should be made to the encoder Route the connection cable from the bus to the encoder ensuring it is a sufficient distance or completely separate from the power supply cables and associated electromagnetic interference Use fully shielded cables to obtain reliable data transfer and ensure correct grounding In environments subject to interference it is advisable to connect the encoder to ground A WARNING INCORRECT HANDLING Only perform connection disconnection operations when the devices are not supplied with power Short circuits voltage peaks etc can be harmful to device operation and can generate uncontrolled states Failure to follow this instruction can result in death serious injury or equipment damage 24 1690023_02A55 02 03 2008 Installation WARNING INCORRECT INSTALLATION Before powering up the system check all the electrical connections Incorrect
13. index 05 corresponds to the event timer in ms The data transfer also takes place with no change to data 70 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1801h 2nd Transmit PDO Communication Parameter Description Characteristics This object contains the communication parameters for the second Transmit PDO The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of UNSIGNED8 5 ro no yes sub indexes 1 COB ID UNSIGNED32 280h Node ID rw no yes 2 Transmission UNSIGNED8 th rw no yes mode Inhibit time UNSIGNED16 0 rw no yes Not available Event timer UNSIGNED16 0 rw no yes Transmission Mode The PDO transmission mode can be configured as described in the table below Transfer Transmission mode Notes code Cyclic Acyclic Synchronous Asynchronous RTR only 0 x x Send PDO on first Sync message following an event 1 to 240 x x Send PDO every n n 0 240 Sync messages 241 to 251 Reserved 252 x x Update data immediately after the Remote Request and send the PDO at the next SYNC 253 x Update data and send PDO on Remote Request 254 Send PDO on specific manufacturer event 255 Send PDO on specific encoder event 1690023_02A55 02 03 2008 71 CANopen O
14. 5 1 Communication Objects 1000h to 1FFFh DS 301 Presentation Introduction This section lists the objects relating to communication Each object with all its technical characteristics is described according to the CANopen standard What s in this This section contains the following topics Section Object Description Data type Attribute Default value Page 1000h Device Type Unsigned 32 RO 0x02196 55 1001h Error Register Unsigned 8 RO 56 1002h Manufacturer Status Register Unsigned 32 RO 57 1008h Pre defined Error Field Unsigned 32 RO 58 1005h COD ID SYNC Unsigned 32 ROMAP 0x080 60 1008h Manufacturer Device Name Visible string Constant Osicoder 60 1009h Manufacturer hardware Version Visible string Constant HVC2 B1 60 100Ah Manufacturer Software Version Visible string Constant SV03 01 02 01 61 100Ch Guard Time Unsigned 16 RW 0 61 100Dh Life Time Factor Unsigned 8 RW 0 61 1010h Store Parameters Unsigned 32 RW 62 1011h Restore Default Parameters Unsigned 32 RW 63 1014h COB ID EMCY Unsigned 32 RW 0x80 Node ID 64 1015h Inhibit Time EMCY Unsigned 16 RW 0 64 1016h Consumer heartbeat Time Unsigned 32 RW 0 65 1017h Producer heartbeat Time Unsigned 16 RW 0 66 1018h Identity Project RO 67 1200h__ 1st Server SDO Parameter RO 68 1800h ist Transmit PDO Parameter RW 69 1801h 2nd Transmit PDO Parameter RW 71 1A00h 1st transmit PDO Mapping RW 7
15. Index Default value Value range Data length SDO 1801 2h th 1h 100h Unsigned 8 General description of the parameters Master to absolute rotary encoder parameter implemented FC NN Command Index Sub index Service data Process data SDO rx Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90 d 22 18 01 02 X 00 00 00 X Number of SYNC messages after which the encoder sends the process value Absolute rotary encoder to master Confirmation FC NN Command Index Sub index Service data Process data SDO tx Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90 d 60 18 01 02 00 00 00 00 As with cyclic mode SYNC mode can also be disabled using the same procedure To disable it PDO 2 must be addressed with index 1802h Example Number of SYNC messages Aim Absolute rotary encoder with 3 SYNC messages Number of SYNC messages X 03h Node number NN 01 d 1690023_02A55 02 03 2008 87 CANopen Object Dictionary Master to absolute rotary encoder parameter implemented COB ID Command Index Sub index Service data Process data Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7 601 22 18 01 02 03 00 00 00 Absolute rotary encoder to master Confirmation COB ID Command Index Sub index Service data Process data Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7 601 60 18 01 02 00 00 00 00 Pulled mode The connected host requ
16. Object 1003h Pre defined Error Field PEF Description Characteristics This object is a double word used to store the device faults indicated by the EMCY object This object is used to keep an error log e Sub index 0 contains the number of errors recorded A 0 value means that there is no error recorded for example after reinitialization of the PEF object e The least significant word contains the error code e The most significant word stores the additional information specific to the error indicated on the encoger Representation of the object 31 16 15 Additional information Error code Most significant word Least significant word The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Backed up Mapping 0 Number of sub UNSIGNED8 0 rw no no indexes Number of errors recorded 1 Most recent UNSIGNED32 ro no no error 2 Second to last UNSIGNED32 ro no no error FE Appearance of a New Fault When a new fault appears the codes that are already present are moved up to the next level sub index the fault in sub index 1 is moved to sub index 2 the fault in sub index 2 is moved to sub index 3 etc 58 1690023_02A55 02 03 2008 CANopen Object Dictionary Reset List of error codes The fault code log can only be cleare
17. Server to UNSIGNED32 580h Node ID ro no no Client 68 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1800h 1st Transmit PDO Communication Parameter Description Characteristics This object contains the communication parameters for the Transmit PDO The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of sub indexes UNSIGNED8 5 ro no possible 1 COB ID UNSIGNED32 180h Node ID rw no possible 2 Transmission mode UNSIGNED8 FEh rw no possible 3 Inhibit time UNSIGNED32 0 rw no possible 4 Not available 5 Event timer UNSIGNED32 0 rw no possible Transmission The PDO transmission mode can be configured as described in the table below Mode Transfer Transmission mode Notes code Cyclic Acyclic Synchronous Asynchronous RTR only 0 x x Send PDO on first Sync message following an event 1 to 240 x x Send PDO every n n 0 240 Sync messages 241 to 251 Reserved 252 x x Update data immediately after the Remote Request and send PDO at the next SYNC 253 x x Update data and send PDO on Remote Request 254 x Send PDO on specific manufacturer event 255 x Send PDO on specific encoder event 1690023_02A55 02 03 2008 69 CAN
18. connections can prevent the system from operating properly Failure to follow this instruction can result in death serious injury or equipment damage 1690023_02A55 02 03 2008 25 Installation 26 1690023_02A55 02 03 2008 Characteristics Encoder Characteristics Mechanical The mechanical characteristics are as follows characteristics Shaft type 10 h8 0 39 in h8 15 F7 0 59 in F7 Maximum rotation speed 6000 rpm Moment of inertia 30 g cm Torque 0 3 N cm Maximum load Radial 10 daN Electrical The electrical characteristics are as follows characteristics Supply voltage 11 30 V Max ripple 500 mV No load current consumption 100 mA Output level 5 V max for a max current of 40 mA Clock input 7 mA current loop for 5 V voltage 1690023_02A55 02 03 2008 27 Characteristics Environmental characteristics The environmental characteristics are as follows Conformity CE Ambient air Operation 40 85 C 40 185 F temperature Storage 40 85 C 40 185 F Degree of protection IP 64 Vibration resistance 100 g f 10 500 Hz acc to IEC 60068 2 6 Shock resistance 100 g 6 ms 1 2 sine wave acc to IEC 60068 2 27 10 g 16 ms 1 2 sine wave acc to IEC 60068 2 29 Withstand to electromagnetic disturbance Electrostatic discharges acc to IEC 61000 4 2 level 2 gt
19. encoder operating time The operating time is recorded in the EEPROM memory as long as the encoder is powered up This function is not available for this encoder The value given is FFFFFFFFh Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 32 FFFFFFFh ro No Yes Object 6509h Offset Value Description This object indicates the offset value The offset value is calculated by the Preset value function see Object 6003h Preset Value p 83 It is then used by the encoder to offset the position value The offset value is recorded and can be read in the encoder Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 32 ro No No 1690023_02A55 02 03 2008 95 CANopen Object Dictionary Object 650Ah Module identification Description This object indicates the manufacturer specific offset value as well as the minimum and maximum position values The offset value is stored in sub index 1 The minimum and maximum position values are stored in sub indices 2 and 3 respectively Characteristics The characteristics of this object are outlined in the following table Su
20. no no Objet 1009h Manufacturer Hardware Device MHV Description This object contains the hardware version of the device Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default Access PDO Backed up value Mappin g 0 STRING ro no no 60 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 100Ah Manufacturer Software Version MSV Description Characteristics This object contains details of the device software version in the form SWxx yy The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 STRING ro no no Object 100Ch Guard Time Description Characteristics Object 100Ch contains the Guard Time parameter expressed in milliseconds This is the time between two pollings of the node by the master presence of the node Guard Time is zero if the protocol is not used The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED16 0 rw no yes Object 100Dh Life Time Factor Description Characteristics Obj
21. sent for write only e Click on Send For further details on the various objects see CANopen Object Dictionary p 53 The example below shows setting the number of points per revolution to 4096 Enter CANopen Request Request Write SDO v Node 10 Index 16 6001 Subindex 16 O Value 16 00 10 00 00 120 bytes max The value 00 10 00 00 corresponds to the number 1000 in hexadecimal format and thus to 4096 in decimal format 3 After a Read SDO request the value obtained can be read in the Received response area at the bottom right of the debug screen r Slave information ____ Node 10 Status 08h Addinfo 0001h Profile 406 NodeStat Total A La No of slaves No Input MW No Output MW r Request to be sent Received response 0011 83 113 Enter request es lt 1690023_02A55 02 03 2008 49 Configuration Examples of SDO Requests Programmed This example gives the program for reading object 1000h After a request is made SDO Request the data obtained is read in table Diag0 4 defined below Example 1 Variables used and parameters of the function Variable Type Description Read_sdo Boolean Request launch bit Index Word Index of the object to poll LSB of the double word Index_dw Sub index Word Sub
22. 0 60 02 00 00 00 00 00 82 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6003h Preset Value Presentation General description of the parameters The preset value is the required position value to be reached at a 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 errors the preset value must not exceed the total resolution of the parameters CMS Index Default value Value range Data length SDO 6003h oh Oh total resolution Unsigned 32 Master to absolute rotary encoder parameter implemented FC NN Command Index Sub index Service data Process data SDO rx Load 6003h Byte 4 Byte 5 Byte 6 Byte 7 1100 b 1 90 d 22 60 03 00 X Xx X Xx X Required preset value When transmission has been successful the encoder responds with a confirmation message like the following FC NN Command Index Sub index Service data Process data SDO tx Load 6003h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90 d 60 60 03 00 00 00 00 00 1690023_02A55 02 03 2008 83 CANopen Object Dictionary Programming Aim Absolute rotary encoder with a preset value at 0 example The preset value at 0 is equivalent to X Oh Node number N
23. 3 1A01h 2nd Transmit PDO Mapping RW 74 54 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1000h Device Type Description This object indicates the device type and its functionalities lt consists of a 16 bit field indicating the profile used 406 for DS406 encoder profile and a second 16 bit field giving information on the type of encoder Representation of the object 31 16 15 0 Encoder type Profile used MSB LSB Encoder type Value Description 0001 Single turn absolute rotary encoder 0002 Multi turn absolute rotary encoder 0003 Single turn absolute rotary encoder with electronic revolution counter 0004 Incremental rotary encoder 0005 Incremental rotary encoder with electronic counting 0006 Incremental linear encoder 0007 Incremental linear encoder with electronic counting 0008 Absolute linear encoder 0009 Absolute linear encoder with cyclic coding 000Ap Multi sensor encoder interface OOOB FFFFh Reserved Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED32 N A ro no no 1690023_02A55 02 03 2008 55 CANopen Object Dictionary Object 1001 h Error Register Description Characteristics Thi
24. 4 kV Radiated electromagnetic fields electromagnetic waves acc to IEC 61000 4 3 level 3 10 V m Rapid transients Start Stop interference acc to IEC 61000 4 4 level 3 2 kV 1 kV for the I O Voltage wave impulse acc to 61000 4 5 level 1 500 V Materials Base Aluminum Cover Aluminum Shaft Stainless steel Bearings Steel balls 6000ZZ1 solid shaft 6803ZZ hollow shaft 28 1690023_02A55 02 03 2008 Configuration Presentation Overview What s in this Chapter The purpose of this chapter is to describe the configuration parameters of the absolute encoder with a CANopen interface This chapter contains the following sections Section Topic Page 4 1 Configuration 30 4 2 Software tools 37 1690023_02A55 02 03 2008 29 Configuration 4 1 Configuration Introduction Presentation This subsection describes how to configure a CANopen absolute encoder What s in this This section contains the following topics ion Section Topic Page Encoder Configuration EDS File 31 CANopen Data Transmission 32 Operational Mode 35 30 1690023_02A55 02 03 2008 Configuration Encoder Configuration EDS File General Configuration principle The absolute encoder with CANopen interface can be configured to suit the user s requirements The EDS file corresponding to the encoder must be loa
25. ED LED 2 GREEN LED 98 1690023_02A55 02 03 2008 Diagnostics LED status table for diagnostics conforming to DR 303 3 V1 2 No LED Type of Status Possible cause flashing 1 CAN ERR Off No error 2 red 1 flash The internal error counter has reached or exceeded the maximum level 2 flashes Detection of a guard event or a heartbeat event 4 3 flashes Synchronization error message not received within the defined period 5 Flashing Error in the bus address or speed 6 On Bus off 7 CAN RUN 1 flash Module in Stopped mode a green Flashing Module in pre operational mode 9 On Module in operational mode When both LEDs are off the encoder is not supplied with power 1690023_02A55 02 03 2008 99 Diagnostics 100 1690023_02A55 02 03 2008 Appendices Ata Glance Introduction What s in this Appendix This appendix provides additional informations The appendix contains the following chapters Chapter Chapter Name Page A FAQ 103 1690023_02A55 02 03 2008 101 Appendices 102 1690023_02A55 02 03 2008 FAQ FAQ Problem Possible cause Possible solution The encoder does not respond after power up The bus is active but the installed encoder is not responding to the bootup message from the master e Turn off the PLC e Turn of
26. N 1 Master to absolute rotary encoder parameter implemented COB ID Command Index Sub index Service data Process data Load 6003h Byte 4 Byte 5 Byte 6 Byte 7 601 22 60 03 00 00 00 00 00 Absolute rotary encoder to master Confirmation COB ID Command Index Sub index Service data Process data Load 6003 Byte 4 Byte 5 Byte 6 Byte 7 601 60 60 03 00 00 00 00 00 84 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6004h Position Value Description Characteristics This object is used to define the position of the encoder The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 32 ROMAP _ Optional No 1690023_02A55 02 03 2008 85 CANopen Object Dictionary 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 1 ms and 65535 ms For example 64h 100 ms CMS Index Default value Value range Data length SDO 6200h 0h Oh 10000h Unsigned 16 General description of the parameters Master to absolute rotary encoder parameter implemen
27. N network four seconds after power up in pre operational mode FC NN Command S P data Description 1110 XXXXXXX Bootup message It is recommended that the parameters are entered when the encoder is in pre operational mode Pre operational mode entails reduced activity on the network which simplifies the checking of the accuracy of the sent received SDOs It is not possible to send or receive PDOs in pre operational mode If a node is not operating correctly it is advisable to carry out a reinitialization FC NN Command S P data Description 0000 b NN d 81h NMT Reinitialization NN 0000 b Od 82h NMT Reinitialization all nodes NN node number After reinitialization the absolute rotary encoder accesses the bus in pre operational mode To set a node to pre operational mode the master must send the following message FC NN Command _ S P data Description 0000 b NNd 80h NMT Pre operational NN NN node number For 1 or all the nodes to switch to operational mode the master sends the following message FC NN Command S P data Description 0000 b 0d 01h NMT start all nodes 0000 b NN d 01h NMT start NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to operational mode 1690023_02A55 02 03 2008 35 Configuration Mode STOP
28. Nopen Object Dictionary 53 Presentation pa a e yo a ee eet 53 Communication Objects 1000h to 1FFFh DS 301 oococcococoo o 54 Presentation ni lia dde Lek Ai iu 54 Object 1000h Device Type LL 55 Object 1001h Error Register LL 56 Object 1002h Manufacturer Status Register 57 Object 1003h Pre defined Error Field PEF 00 e eee eeee 58 Object 1005h COB ID SYNC Message cece eee eee 60 Object 1008h Manufacturer Device Name 000 cee eee eee 60 Objet 1009h Manufacturer Hardware Device MHV nsnasannanannn 60 Object 100Ah Manufacturer Software Version MSV 000005 61 Object 100Ch Guard Time LL 61 Object 100Dh Life Time Factor 02 00 c cee eee eee 61 Object 1010h Store Parameters 0000 e cece ee eee eens 62 Object 1011h Restore Default Parameters cece eee 63 Object 1014h COB ID Emergency EMCY message 64 Object 1015h Inhibit Time EMCY 0000 e eee eee eee 64 Object 1016h Consumer Heartbeat Time 65 Object 1017h Producer Heartbeat Time 66 Object 1018h Identity Object 67 Object 1200h Server SDO Parameter c eee eee eee 68 Object 1800h 1st Transmit PDO Communication Parameter 69 Object 1801h 2nd Transmit PDO Communication Parameter 71 Object 1A00h 1st Transmit PDO Mapping Parameter 73 Object 1A01h 2nd
29. Osicoder CANopen Multi Turn Absolute Encoder User s Manual 1690023_02A55 02 03 2008 a brand of oD Telemecanique 1690023 _02A55 02 Table of Contents Chapter 1 Chapter 2 Chapter 3 Chapter 4 4 1 4 2 Safety Information Liri 7 About the Book iii ONE eae ee ee 9 Introduction as 11 Presentation A A A ee ali 11 Introduction Hui ir AA 12 General Presentation 2 lt 2 66 cee peto tada ii ado i 15 Installation oi a a A E 17 Presentation visir A A A ala pale te 17 GonnectioniBas cuts ele dai O iolanda 18 Wiring the Bus and the Power Supply 0c ee eee eee eens 21 Wiringithie Encoder iii ii e A AR dad aed 22 Accessories rie a E A ea 23 Installation Precauti0nS ooooooooocorcrr teas 24 Characteristics iia il cdta ae a 27 Encoder Characteristics oooooocococoocorr ete 27 Configuration id RIE RR 29 Presentation seca Ti een ba 29 Configuration ur irreale 30 Introductio aee reer ia ieri ia 30 Encoder Configuration EDS File 1 0 0 0 0 cece eee 31 CANopen Data Transmission oocccoocccccco tees 32 Operational Mode 35 SOfWare tools emesa a ors sec lilla Seamed es 37 Introduction capri A cel erate alinea 37 Setting the Network Parameters SyCon 0 00 eee eee eee ee 38 Integration and Use under PL7 0 0 eee eee 45 Examples of SDO Requests eee 50 Chapter 5 5 1 5 2 5 3 CA
30. The absolute rotary encoder corresponds to the class 2 encoder profile DS 406 in which the characteristics of rotary encoders with CANopen interface are defined The node number and speed in bauds are determined via rotary switches The transmission speed can range from 10 kbauds up to 1 Mbaud Various software tools for configuration and parameter setting are available from different suppliers It is easy to align and program the encoders using the EDS electronic data sheet configuration file provided Note As well as the manufacturer specific functions this encoder supports Class 2 configurations in accordance with the Profile for absolute encoders this profile is available from CiA 1690023_02A55 02 03 2008 13 Introduction More extensive information on the CANopen technology functionality manufacturer products encoder standards and profiles are available from the CiA CAN In Automation CiA International Users and Manufacturers Group e V Am Weichselgarten 26 D 91058 Erlangen Germany www can cia org 14 1690023_02A55 02 03 2008 Introduction General Presentation Description The absolute rotary encoder with CANopen interface looks like this Encoder elements No Description 1 Encoder body Connection base Sealing plug The encoder body connects to the base via a 15 pin SUB D connector 1690023_02A55 02 03 2008 15 I
31. Transmit PDO Mapping Parameter 74 Manufacturer Specific Objects 2000h to 5FFFh 00s 75 Object 5FFFh SED Data Object 75 Encoder Specific Objects 6000h to 9FFFh DS 406 76 Presentation ji iii dee hs edt lea Lean o pl 76 Object 6000h Operating Parameters cece eee eee eee 77 Object 6001h Measuring Units per Revolution 79 Object 6002h Total Measuring Range in Measuring Units 81 Object 6003h Preset Value 83 Object 6004h Position Value LL 85 Object 6200h Cyclic Timer 86 Object 6500h Operating Status 89 Object 6501h Singleturn Resolution Rotary 90 Object 6502h Number of Distinguishable Revolutions 90 Object 6503h Alarms acaricia AR A n 91 Object 6504h Supported Alarms 0 00 e eee ee eee eee eee 92 Object 6505h Warnings LL 93 Object 6506h Supported Warnings i 94 Object 6507h Profile and Software Version aanere 95 Chapter 6 Appendices Appendix A Glossary Index Object 6508h Operating Time o oococcoccocccc eee 95 Object 6509h Offset Value i 95 Object 650Ah Module identification oooooooooooooooooo 96 Object 650Bh Serial Number 96 Diagnostics a Sek Soe ee ae a aj wie a ea 97 Pr sentation tocas a set a SE ew ae gee ee Race be 97 Status Indication Provided by the LEDs in the Connection Base 98 A
32. Unsigned 16 RO 86 6500h Operating Status Unsigned 16 RO 89 6501h Singleturn Resolution Unsigned 32 RO 90 6502h Number of distinguishable Revolutions Unsigned 16 RO 90 6503h Alarms Unsigned 16 RO 91 6504h Supported Alarms Unsigned 16 RO 92 6505h Warnings Unsigned 16 RO 93 6506h Supported Warnings Unsigned 16 RO 94 6507h Profile and Software Version Unsigned 32 RO 95 6508h Operating Time Unsigned 32 RO 95 6509h Offset Value Unsigned 32 RO 95 650Ah Module identification Unsigned 32 RO 96 650Bh Serial Number Unsigned 32 RO 96 76 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6000h Operating Parameters Presentation The code sequence Complement can be selected as the operating parameter CMS Index Default value Value range Data length SDO 6000h 4h Oh 5h Unsigned 16 Bit Function Bit 0 Bit 1 Service 0 Angular measurement direction Clockwise Counter clockwise Available 1 Diagnostic control Inhibited Enabled Not available 2 Scaling function Inhibited Enabled Available 3 Linear measurement direction Front Rear N A 4 11 Reserved N A 12 Manufacturer specific function N A 13 Manufacturer specific function N A 14 Manufacturer specific function N A 15 Manufacturer specific function N A If bit 2 0 objects 6001h and 6002h are not operational General Master to absolute rot
33. _v0_04 co File name island_v0_04 co File type CANopen FILE co 1690023_02A55 02 03 2008 45 Configuration Steps Actions Complete the fields in the Input input data exchange area and Output output data exchange area boxes i TSX 57353 RACK 0 POSITION 1 OX Configuration v Designation TSX P 57353 PROCESSOR CHANNEL 1 CHANNEL 1 gt Tsx CCP 100 110 CAN OPEN PCMCIA CARD v CANopen v MAST v Bus startup Inputs Outputs o Maintain C Reset Olona No of words Mw 500 Semi Automatic bus only ___ No of words MW o si Index of 1st MW 1000 By program w Index of 1st MW 1500 Configuration loading mode Wi Select Database D document QSF CanOpen FTM work pro e Enabled Configuration size 5223 words Disabled e PL7 SyCon Transmission Speed 1 MBit s _ r SyCon Tool COB ID SYNC Message 128 SYNC Message Period 1000 ms x Auto Clear 0 cl 46 1690023_02A55 02 03 2008 Configuration Steps Actions 3 Click on the Bus Configuration button SX 57353 RACK 0 POSITION 1 oix Conf
34. ad from a sub index The result obtained 0000 0001h indicates that the module saves parameters only when it receives the command to do so 62 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1011h Restore Default Parameters Description Characteristics This object restores the device s default parameters To restore the parameters the load character string 6461 6F6Ch must be written in the relevant sub index which prevents unintended restoring The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of sub indexes UNSIGNED8 1 ro no no 1 Restore all default UNSIGNED32 rw no no parameters Operation Note The restoration of parameters will only be taken into account after a power up To restore the parameters the load 6461 6F6Ch character string must be written in the corresponding index Most significant word Least significant word ISO 8859 ASCII signature d a o 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 1690023_02A55 02 03 2008 63 CANopen Object Dictionary
35. ange 0 2047 Otherwise go directly to step 6 42 1690023_02A55 02 03 2008 Configuration Step Action 5 Enter the required values in the I Addr boxes opposite the activated PDO Node Configuration Node Osicoder Node ID address OK Description Node2 Coniguraton Erto Cancel File name TEXCC35CB_0100E EDS Calalazani Node BootUp Activate node in actual configuration Emergency COB ID 130 OPC Objects E p culo COB ID allocation in accordance with Profile 30 Nodeguard COB ID 1794 Object Configuration Devic Profile 406 Device type Absolute multi turn angular encoder Predefined Process Data Objects PDOs from EDS file Actual node Obj ldx PDO name 1 Osicoder v 1800 TxPDO1 Communication parameter 1801 TxPDO2 Communication parameter PDO mapping method DS301 V4 lv Add to configured PDOs Configured PDOs PDO name Symbolic Name COB ID I Type llen O TypefAddr O PDO Contents Mapping TXPDO1 PDO_1800 385 IB gt TxPDO2 PDO_1801 641 B 27 R PDO Characteristics Define new Receive PDO Define new Transmit PDO Delete configured PDO Symbolic Names 1690023_02A55 02 03 2008 43 Configuration
36. ary encoder parameter implemented description of the parameters FC NN Command Index Sub index Service data Process data SDO rx Load 6000h Byte 4 Byte 5 1100b 1 90 d 22 60 00 00 x 00 X Required direction The code sequence Complement determines the counting direction in which the output process value increases or decreases The code sequence is determined by Bit O in index 6000h Bit 0 Code sequence Code 0 Clockwise Increasing CW 1 Counter clockwise Decreasing CCW 1690023_02A55 02 03 2008 77 CANopen Object Dictionary When transmission has been successful the encoder responds with a confirmation message FC NN Command Index Sub index Service data Process data SDO tx Load 6000h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90 d 60 60 00 00 00 00 00 00 Example Aim Absolute rotary encoder in CCW direction decreasing Bit matrix Bit 0 1 Decreasing CCW Result bit matrix X 01h Node number NN 01 Master to absolute rotary encoder parameter implemented COB ID Command Index Sub index Service data Process data Load 6000h Byte 4 Byte 5 601 22 60 00 00 01 00 Absolute rotary encoder to master Confirmation COB ID Command Index Sub index Service data Process data Load 6000h Byte 4 Byte 5 Byte 6 By
37. as eu ce ae ae ee eee eae Seale Dateien nua 101 At amp Glance siea feces ki tebe a eet eile tes eo et agi 101 FAO eee ite AA ea ee 103 PA O r ibid Wan a ed eae 103 LAG A dae lia fae wees ek oneal seater 105 Hae bye a e eee Gra a ee Bee a 109 Safety Information Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates A that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death serious injury or equipment damage A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage
38. at all devices can access the bus In simple terms each user checks whether the bus is free and if it is the user can send messages If two users try to access the bus at the same time the user with the higher priority level lowest ID number has permission to send its message Users with the lowest priority level must cancel their data transfer and wait before re trying to send their message Data communication is carried out via messages These messages consist of 1 COB ID followed by a maximum of 8 bytes of data The COB ID which determines the priority of the message consists of a function code and a node number The node number corresponds to the network address of the device It is unique on a bus The function code varies according to the type of message being sent e Management messages LMT NMT e Messaging and service SDOs e Data exchange PDOs e Predefined messages synchronization emergency messages The absolute rotary encoders support the following operating modes e Pooled mode The position value is only given on request e Cyclic mode The position value is sent cyclically regular adjustable interval on the bus e SYNC mode The position value is sent after a synchronization message SYNC is received The position value is sent every n SYNCs n gt 1 e State change mode The position value is transferred as soon as it changes Other functions direction of rotation resolution etc can be configured
39. b Description Data type Default value Access PDO Mapping Backed up index 0 Number of inputs Unsigned 32 ro No No 1 Manufacturer offset value Unsigned 32 oh ro No No 2 Manufacturer minimum Unsigned 32 ro No No position value 3 Manufacturer maximum Unsigned 32 ro No No position value Object 650Bh Serial Number Description This object indicates the encoder serial number Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 32 0 ro No No 96 1690023_02A55 02 03 2008 Diagnostics Presentation Overview What s in this Chapter This section describes the various diagnostic messages that can be generated by the encoder This chapter contains the following topics Topic Page Status Indication Provided by the LEDs in the Connection Base 98 1690023_02A55 02 03 2008 97 Diagnostics Status Indication Provided by the LEDs in the Connection Base Principle Two LEDs are located on the base They indicate the status of the encoder in the CANopen network The red CAN ERR LED indicates errors The green CAN RUN LED indicates the encoder status Description LEDs on the connection base CIA Certified DS 406 No Description 1 R
40. bject Dictionary Inhibit Time Sub index 3 Event Timer Sub index 5 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 overloads on the CAN bus The inhibit time is a multiple of 100 us of object 1800 sub index 03 1801 sub index 03 The following table shows some examples of values Value Time in ms 0000h 0 64h 10 3E8h 100 1388h 500 2710h 1000 FFFFh 6553 The event timer only operates in asynchronous transmission mode transmission mode 254 255 If the data changes before the event timer expires a temporary telegram is sent If a value gt 0 is written in this 16 bit field the TPDO is always sent after the event timer expires The value written in 1800 sub index 05 1801 sub index 05 corresponds to the event timer in ms The data transfer also takes place with no change to data 72 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1A00h 1st Transmit PDO Mapping Parameter Description Characteristics This object is used to describe the objects that will be transported by the PDO The characteristics of this
41. cription Data type Default value Access PDO Mapping Backed up index 0 Unsigned 16 ro No No 92 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6505h Warnings Description This object indicates if the tolerances of certain encoder internal parameters have been exceeded Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 C1 C2 0 Position error No Yes Optional Optional 1 Light control reserve Not reached Error Optional Optional 2 CPU watchdog status OK Reset Optional Optional 3 Operating time limit warning No Yes Optional Optional 4 Battery charge OK Too slow Optional Optional 5 Reference point Reached Not reached Optional Optional 6 11 Reserved 12 Manufacturer specific warning N A N A Optional Optional 13 Manufacturer specific warning N A N A Optional Optional 14 Manufacturer specific warning N A N A Optional Optional 15 Manufacturer specific warning N A N A Optional Optional Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 16 ro No No 1690023_02A55 02 03 2008 93 CANopen Object Dictionary Object 6506h Supported Warnings Description Thi
42. d by writing the value O in sub index O of object 1003h Note Eliminating the cause of a fault does not delete the error code from the PEF Error code Diagnostics Cause Hex 0000 ERROR_RESET_OR_NO_ERROR An error has been rectified 1000 GENERIC_ERROR Internal communication error 6101 SOFTWARE_RX_QUEUE_OVERRUN Overrun of the receive memory 6102 SOFTWARE_TX_QUEUE_OVERRUN Overrun of the transmit memory 8100 COMMUNICATION Transmission reception counter synchronization error EMCY transmit message if the counter value is gt 96 8120 CAN_IN_ERROR_PASSIVE_MODE Interruption of the CAN controller 8130 LIFE_GUARD_ERROR Node Guarding Error 8140 BUS_OFF Transmission counter buffer overrun 1690023_02A55 02 03 2008 59 CANopen Object Dictionary Object 1005h COB ID SYNC Message Description This object contains the synchronization message identifier Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default Access PDO Backed up value Mapping 0 UNSIGNED32 80H ROMAP no yes Object 1008h Manufacturer Device Name Description This object contains the device name Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Backed up Mapping 0 STRING ro
43. ded in the software tool used for the configuration of the CANopen network The user can then access the parameters and functions of the encoder Download the EDS file and its 3 associated image files from the www telemecanique com site TEXCC35CB_0100E EDS TEXCC35CB_0100E_R dib TEXCC35CB_0100E_S dib TEXCC35CB_0100E_D dib The system is configured as shown in the diagram below EDS file 7 Software tool Database Encoder Parameter settings 1690023_02A55 02 03 2008 31 Configuration CANopen Data Transmission Data Transmission Data is transmitted in a CANopen network in the form of messages These messages consist of a COB ID and 8 bytes of data as shown in the following table COB ID Command Index Sub index Service data Process data 11 Bits Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Low High LSB gt gt MSB 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 xX X Xx X Xx Xx X Xx X Xx Xx X Free choice 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 address of the absolute encoder The node number is set using the two rotary switches located on the ba
44. ect 100Dh contains the Life Time Factor parameter which multiplied by the value of the 100Ch Guard Time object is the time allowed by the master before stopping the node when the node does not respond to the master Life Time Factor is zero if the protocol is not used The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED8 0 rw no yes 1690023_02A55 02 03 2008 61 CANopen Object Dictionary Object 1010h Store Parameters Description Characteristics This object supports the saving of the parameters to the non volatile memory To save the parameters the save character string 6576 6173h must be written in the sub index which prevents unintended saving The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of sub indexes UNSIGNED8 1 ro no no 1 Store all parameters UNSIGNED32 rw no no Operation To save the parameters the save character string 6576 6173h must be written in the corresponding index Most significant word Least significant word ISO 8859 ASCII signature e v a s Hex value 65h 76h 61h 73h Information on storage functionality is re
45. eristics The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Unsigned 16 ro No No 1690023_02A55 02 03 2008 89 CANopen Object Dictionary Object 6501 h Singleturn Resolution Rotary Description This object indicates the number of steps per revolution according to the position of the encoder The maximum encoder resolution is 213 Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Unsigned 32 ro No No Object 6502h Number of Distinguishable Revolutions Description This object indicates the number of revolutions that the encoder can execute The maximum number of encoder revolutions is 212 Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Unsigned 16 ro No No 90 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6503h Alarms Description This object contains the various alarm messages An alarm will be displayed if an encoder malfunction causes a position error The alarm bit remains enabled until the alarm is cleared and the encoder is able t
46. ests the current process value using a remote transmission request message The absolute rotary encoder reads the current position value optionally calculates the adjustment parameters and using the same COB ID sends the process value that is obtained The PDO rx with function code 001 is used by the encoder to transmit the position value This type of transmission mode must only be used in operational mode CMS Bit remote transmission request RTR Data length PDO 1 0 88 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6500h Operating Status Description This object contains the operating status of the encoder It provides information on the encoder internal parameters Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 C1 C2 0 Code sequence CW CCW Mandatory Mandatory 1 Commissioning Diagnostic Control Not supported Supported Optional Optional 2 Scaling function control Disabled Enabled Optional Mandatory 3 Measuring direction CW CCW Optional Optional 4 11 Reserved 12 Manufacturer specific function Disabled Enabled Optional Optional 13 Manufacturer specific function Disabled Enabled Optional Optional 14 Manufacturer specific function Disabled Enabled Optional Optional 15 Manufacturer specific function Disabled Enabled Optional Optional Charact
47. exes 1 Consumer UNSIGNED32 0 rw no yes heartbeat time Content of the The content of sub index 1 is as follows Variable Bit 31 to 24 23 to 16 15to0 Value Oh Reserved Encoder address Monitoring time in ms If the value of the object is 0 no encoder is monitored 1690023_02A55 02 03 2008 65 CANopen Object Dictionary Object 1017h Producer Heartbeat Time Description Characteristics This object is used to configure the cycle time of the Hearbeat transmission message The time must be a multiple of 1 ms If the value of the object is 0 the object is not used The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up UNSIGNED16 0 rw no yes If the Heartbeat error monitoring protocol is selected the producer transmits a Heartbeat message periodically depending on the Producer Heartbeat Time parameter The nodes responsible for monitoring this message Heartbeat Consumer generate a Heartbeat event if the message is not received within the configured time Consumer Heartbeat Time 66 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1018h Identity Object Description Characteristics This object contains general information about the device The Vendor ID is the manufacturer s identifier s
48. f the encoder power supply e Remove the encoder base e Check the baud rate using the two rotary switches e Refit the base e Turn the encoder power supply back on e Turn the PLC back on There is a position value error during transmission Malfunctions may occur during transmission of the position value The CAN bus may also be temporarily in off mode The messages transmitted are therefore incorrect Check that each end of the bus is fitted with a line terminator see Line Terminator p 20 If the last node of the bus is an encoder the line terminator is placed in the base and activated by a switch Too many ERROR frames The bus is overloaded by too many ERROR frames Check that all the nodes are configured atthe same speed If one of the nodes is at a different speed correct this speed see Transmission Speed p 19 If a node is incorrectly configured it automatically generates error frames 1690023_02A55 02 03 2008 103 FAQ 104 1690023_02A55 02 03 2008 Glossary A Address Number assigned to each node irrespective of whether it is a master or slave The encoder address non volatile is configured in the base with rotary switches APV Absolute Position Value B Baud rate Transmission speed formulated in number of bits per second Bus node Device that can send and or receive or amplify data by means of the bus Byte 8 bit unit of data 1 byte
49. f this Command byte depends on the data length of the required parameter Command Data length Data length 43h 4 bytes Unsigned 32 4Bh 2 bytes Unsigned 16 4Fh 1 byte Unsigned 8 1690023_02A55 02 03 2008 33 Configuration Index Sub Index Data is transmitted solely using objects referenced by an index The objects are simple or compound type In this case the index associated with the object will have several sub indexes The number of sub indexes is specified in sub index 0 and can be from 1 to 254 Each object is described in a structure called the 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 Manufacturer specific data types 0060 OFFF Reserved 1000 1FFF Communication area see Communication Objects 1000h to 1FFFh DS 301 p 54 2000 5FFF Manufacturer specific area see Manufacturer Specific Objects 2000h to 5FFFh p 75 6000 9FFF Device profile specific area see Encoder Specific Objects 6000h to 9FFFh DS 406 p 76 A000 FFFF Reserved 34 1690023_02A55 02 03 2008 Configuration Operational Mode Principle Reinitialization of the Absolute Rotary Encoder Mode Pre operational Mode Start The absolute rotary encoder accesses the CA
50. iguration da Designation TSX P 57353 PROCESSOR CHANNEL 1 CHANNEL i7 TSX CCP 100 110 CAN OPEN PCMCIA CARD v CANopen v MAST v Bus startup Inputs Outputs Annan Ra Maintain C Reset sennome lee By program Index of 1 CANopen slaves Inputs Add Device Name Act Life T Parameter Symbol a Configuration loading mode pee ede i 400 VA 300 Select Database D documd 000 FTM 1CN10 0 400 000 o 400 Configuration size 5223 y 001 FTB1CN16EPO_ 1 400 PL7 002 FTB 1CNT2E045P0 1 400 Outputs Cor m 1003 FTB 1CN08E08SPO _1 400 Parameter Symbol Transmission Speed 1 MBit s 004 FIB 1CN16CPO 1 400 COB ID SYNC Message 128 009 FIM 1CNi0 1 400 SYNC Message Period 1000 ms OSICODER 1 ae SES 0 CANopen Device Details Bus or Device Name OSICODER Vendor Name Telemecanique Description OSICODER bribes I Git ata COB ID EMCY 224 TxPDO 768 ooro Jes ria Close The bus configuration window is used to display the exact address of the data associated with the devices The start address of each PDO is defined by the start address of the exchange area configured using PL7 to which the PDO offset defined using SyCon is added 4 Execute the required SDO requests either from the debug screen or via the program 1690023_02A55 02 03 2008 47 Configuration SDO Request from the Debug Screen Follow the steps below Step Action 1 Click on the Enter request button at
51. index of the object to poll LSB of the double word Index_dw Slave_add Word Address of the slave to poll Diag0 4 Word table Data exchange area Status0 4 Word table Exchange control and status words ADR y SYS Immediate value Master board address SDO Character string Type of SDO object SDO always in upper case Index_dw Double word Most significant word sub index Least significant word index Node_ld Word Word or value identifying the destination device on the CANopen bus Program Slave_add 2 node at address 2 on the CANopen network Index 16 1000 index 1000h Sub_index 0 sub index 0 IF Read_sdo THEN initialize command Read_sdo FALSE Parameter update Node_Id Slave_add Slave address Diag0 4 16 FFFF Initialize diagnostics receive table Status2 0 Initialize exchange report Status3 6 Time out request 50 1690023_02A55 02 03 2008 Configuration READ_VAR ADR y 1 SYS SDO Index_dw Node_Id Diag0 4 Status1 4 END_IF 1690023_02A55 02 03 2008 51 Configuration Programmed This example shows the program for saving parameters with object 1010h The data SDO Request to be sent is contained in table Diag0 4 defined below Example 2 Variables used and parameters of the function Variable Type Description Write_sdo Boolean Request launch bit Index Word Index of the object to poll Sub index Wo
52. ing the Network Parameters SyCon 38 Integration and Use under PL7 45 Examples of SDO Requests 50 1690023_02A55 02 03 2008 37 Configuration Setting the Network Parameters SyCon Description of SyCon The configuration tool SyCon is used to draw a diagram of a network using a graphic representation of the nodes on the network SyCon is then used to generate the complete configuration of the network that has been drawn It provides access to the various configuration parameters and the communication parameters Method Within the PL7 programming software launch the SyCon network tool and follow the steps below Steps Actions 1 Open a CANopen type file 2 Click on File and select Copy EDS la SyCon UG ES View Insert Online Settings New Ctrl N Open Ctrl O jai Close Save Ctrl S Save As Export gt Print Ctrl P Print Preview Print Setup 1 D document ftm_v0_04 co 2 D document ana co 3 D document ana 4 20 co 4 D document 500k pb Exit 38 1690023_02A55 02 03 2008 Configuration Steps Actions Select the file to be imported and click on Open MH SyCon t File Edit View Insert Online Settings Window Help Cisa 4 LAS Copy EDS Look in can config y a et Edy JTEXCC35CB_0100E EDS File name TEXCC35CB_0100E EDS O
53. iority for sending process data PV Preset Value Configuration value R RO Read Only Parameter that is only accessible in read mode ROMAP Read Only MAPable Parameter that can be polled by the PDO RW Read Write Parameter that can be accessed in read or write mode 1690023_02A55 02 03 2008 107 Glossary S SDO Communication object with a low priority for messaging configuration error handling diagnostics Slave Bus node that sends data at the request of the master Absolute rotary encoders are always slaves SyCon Dedicated software tool with a uniform interface under Windows for configuring industrial networks and setting device parameters This tool uses the description files GSD EDS etc W wo Write Only Parameter that is only accessible in write mode 108 1690023_02A55 02 03 2008 Index A Accessoires 23 Assembly instructions 23 C CANopen Data Transmission 32 COB ID 32 Command Byte 33 Connecting the base to the bus 22 Connecting the Power Supply to the Connection Base 22 Connection Base 18 Cyclic mode 86 D Description 18 Disabling cyclic mode 86 E EDS File 31 Electrical characteristics 27 Encoder Configuration 31 Environmental characteristics 28 G Guard time 61 Index Sub Index 34 L Life Time Factor 61 Line Terminator 20 List of accessories 23 M Measuring Units per Revolution 79 Mechanical characteristics 27 Mode P
54. ith AU lt PAU If the total resolution of the encoder is lower than the total physical resolution the resolution in the parameters must be a multiple of the total physical resolution k PGA GA with k being a whole number 1690023_02A55 02 03 2008 81 CANopen Object Dictionary General Description of the Parameters Master to absolute rotary encoder parameter implemented FC NN Command Index Sub index Service data Process data SDO rx Load 6002h Byte 4 Byte 5 Byte 6 Byte 7 1100 b 1 90 d 22 60 02 00 x x Xx x X Required measuring units per revolution gt 15 bits When transmission has been successful the encoder responds with a confirmation message FC NN Command Index Sub index Service data Process data SDO tx Load 6002h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90 d 60 60 02 00 00 00 00 00 Programming Aim Absolute rotary encoder with a total resolution of 24 bits Example A total resolution of 24 bits is the equivalent of 1000000 h Node number NN 1 Master to absolute rotary encoder parameter implemented COB ID Command Index Sub index Service data Process data Load 6002h Byte 4 Byte 5 Byte 6 Byte 7 601 22 60 02 00 00 00 00 01 Absolute rotary encoder to master Confirmation COB ID Command Index Sub index Service data Process data Load 6002h Byte 4 Byte 5 Byte 6 Byte 7 601 6
55. nsported be transported Example 6004h 00h 20h Note The maximum total length of data transported by the PDO is 8 bytes 74 1690023_02A55 02 03 2008 CANopen Object Dictionary 5 2 Manufacturer Specific Objects 2000h to 5FFFh Object 5FFFh SED Data Object Description Characteristics This object contains the manufacturer s name and the conformity class for Transparent Ready The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of inputs 2 ro No 1 Manufacturer Telemecanique Constant No 2 Conformity class S10 Constant No 1690023_02A55 02 03 2008 75 CANopen Object Dictionary 5 3 Encoder Specific Objects 6000h to 9FFFh DS 406 Presentation Introduction This section lists the encoder specific objects Each object with all its technical characteristics is described according to the CANopen standard What s in this This section contains the following topics Section Object Description Data type Attribute Page 6000h Operating Parameters Unsigned 16 RW 77 6001h Measuring Units per revolution Unsigned 32 RW 79 6002h Total measuring range in measuring units Unsigned 32 RW 81 6003h Preset Value Unsigned 32 RW 83 6004h Position Value Unsigned 32 ROMAP 85 6200h Cyclic Timer
56. ntroduction Networking Bus Architecture The absolute rotary encoder interface is based on the CANopen standard The CANopen master is generally a PLC to which the encoders are attached via M12 connectors The power to the encoders is supplied directly via the central PG9 of each base PLC CANopen master I z 11 30 V su The maximum number of stations on the bus is 127 with addresses from 1 to 99 The available speeds are 10 20 50 125 250 500 800 1000 kBaud The cable length is limited by the transmission speed due to bit by bit arbitration Speed kbaud 1000 800 500 250 125 50 20 10 Max length m 20 40 100 250 500 1000 2500 5000 You will often find 40 m given as the maximum length for 1Mbaud in documents about CANopen This length is calculated without electrical isolation as used in Schneider Electric s CANopen devices The minimum calculated network length with electrical isolation is 4 m for 1Mbaud However experience has shown that 20 m is the nominal length that could be shortened by connectors or other influences 16 1690023_02A55 02 03 2008 Installation Presentation Overview What s in this Chapter The absolute encoder is connected to a connection base by means of a 15 pin SUB D connector The base can be removed from the encoder by undoing two screws located on the side of the base
57. o provide a correct position value Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 C1 C2 0 Position error No Yes Optional Optional 1 Commissioning diagnostics Not supported Supported 2 11 Reserved 12 Manufacturer specific alarm Disabled Enabled Optional Optional 13 Manufacturer specific alarm Disabled Enabled Optional Optional 14 Manufacturer specific alarm Disabled Enabled Optional Optional 15 Manufacturer specific alarm Disabled Enabled Optional Optional Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 16 ro No No 1690023_02A55 02 03 2008 91 CANopen Object Dictionary Object 6504h Supported Alarms Description This object indicates the alarms 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 1 Commissioning diagnostics No Yes 2 11 Reserved 12 Manufacturer specific alarm No Yes 13 Manufacturer specific alarm No Yes 14 Manufacturer specific alarm No Yes 15 Manufacturer specific alarm No Yes Characteristics The characteristics of this object are outlined in the following table Sub Des
58. object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of sub indexes UNSIGNED8 1 rw no yes 1 1st object in PDO UNSIGNED32 60040020h rw no yes Data Field Each data object to be transported is represented in the following way Structure Bits 31 to 16 15 to 8 7t00 Data Index number of the Sub index number of the Length of the object to object to be transported object to be transported be transported Example 6004h 00h 20h Note The maximum total length of data transported by the PDO is 8 bytes 1690023_02A55 02 03 2008 73 CANopen Object Dictionary Object 1A01h 2nd Transmit PDO Mapping Parameter Description Characteristics This object is used to describe the objects that will be transported by the PDO The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of sub indexes UNSIGNED8 1 rw no yes 1 1st object in PDO UNSIGNED32 60040020h rw no yes Data Field Each data object to be transported is represented in the following way Structure Bits 31 to 16 15 to 8 7t00 Data Index number of the Sub index number of the Length of the object to object to be transported object to be tra
59. oder with CANopen interface The products are fully compliant with standard DS406 and are CIA certified Absolute rotary encoders identify all the points of a movement by means of a single digital signal Due to their capacity to give a single exact position value to all linear and angular positions absolute rotary encoders have become one of the most important links between the mechanical system and the control system The basic principle behind a rotary encoder is the optical sampling of a transparent code disk fixed on the rotating shaft Resolution Type Value No of bits Maximum no of steps per revolution 8192 13 Maximum no of detectable revolutions 4096 12 Maximum resolution no of steps 33554432 25 The CANopen bus interface on absolute rotary encoders permits speeds up to 1 Mbaud 30 m cable for a maximum speed of 1Mbaud 5000 m cable for a maximum speed of 10 kbaud The encoder connection base provides access to three rotary switches for configuring the address and transmission speed It also incorporates two LEDs that provide assistance with diagnostics The encoder acts as a T junction with two M12 connectors for the BUS IN and BUS OUT signals 12 1690023_02A55 02 03 2008 Introduction General CANopen Information The CANopen system is used in industrial applications It is a multiple access system maximum 127 participants which means th
60. oder with 4096 steps per revolution Steps per revolution 4096 steps 1000 h Node number NN 01 Master to absolute rotary encoder parameter implemented COB ID Command Index Sub index Service data Process data Load 6001h Byte 4 Byte 5 Byte 6 Byte 7 601 22 60 01 00 00 10X 00 00 Absolute rotary encoder to master Confirmation COB ID Command Index Sub index Service data Process data Load 6001h Byte 4 Byte 5 Byte 6 Byte 7 601 60 60 01 00 00 00 00 00 80 1690023_02A55 02 03 2008 CANopen Object Dictionary 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 printed on the encoder nameplate CMS Index Default value Value range Data length SDO 6002h 2 000 000h Oh 2 000 000h Unsigned 32 Caution The following combinations of letters will be used e PGA Total physical resolution of the encoder e PAU Physical resolution per revolution e GA Total resolution client parameter e AU Measuring units per revolution client parameter If the required measuring units per revolution is lower than the actual physical resolution per revolution of the encoder then the total resolution must be written as follows Total resolution GA PGA AU PAU w
61. open Object Dictionary COB ID Structure Inhibit Time Sub index 3 Event Timer Sub index 5 The structure of a COB ID for CAN2 0 is shown in the following table Bit No Value Meaning 31 MSB 0 The PDO object exists 1 The PDO object does not exist 30 0 RTR mechanism authorized 1 RTR mechanism unauthorized 29 0 11 Bit ID CAN 2 0A 28 11 0 if bit 29 0 10 0 LSB X Bit 10 0 of the identifier 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 overloads on the CAN bus The inhibit time is a multiple of 100 us of object 1800 sub index 03 1801 sub index 03 The following table shows some examples of values Value Time in ms 0000h 0 64h 10 3E8h 100 1388h 500 2710h 1000 FFFFh 6553 The event timer only operates in asynchronous transmission mode transmission mode 254 255 If the data changes before the event timer expires a temporary telegram is sent If a value gt 0 is written in this 16 bit field the TPDO is always sent after the event timer expires The value written in 1800 sub index 05 1801 sub
62. pen File type EDS Files eds Cancel Click on Yes to import the 3 associated image files Question Do you want to import the corresponding bitmap files If the image files are in the same directory as the EDS file they are found automatically Imported files 2 EDS files 1 Bitmap files Click OK 1690023_02A55 02 03 2008 39 Configuration Steps Actions 6 Click on Insert and select Node or click on the associated button E File Edit MESES Online Settings Window a E El Master L a HR umm 7 Select the devices to be inserted in the network enter the node address given by the rotary switches see Node Address p 19 and the node description and click OK lar File Edit View Insert Online Settings Window Help Dies 4 Adri Insert Node conh Node filter Available devices Selected devices Osicoder Add gt gt Telemecanique Add All gt gt lt lt Remove lt lt Remove All Vendor name Telemecanique Node ID addre Product number 90157 Description Node2 Product version No entry Product revision No entry File name TEXCC35CB_0100E EDS EDS Revision 2 40 1690023 _02A55 02 03 2008 Configuration Setting the PDO Parameters Follow the steps below
63. rd Sub index of the object to poll Slave_add Word Address of the slave to poll Diag0 4 Word table Data exchange area Status0 4 Word table Exchange control and status words ADR y SYS Immediate value Master board address SDO Character string Type of SDO object SDO always in upper case Index_dw Double word Most significant word sub index Least significant word index Node_ld Word Word or value identifying the destination device on the CANopen bus Program Slave_add 2 node at address 2 on the CANopen network Index 16 1010 index 1010h Sub_index 1 sub index 1 Diag0 16 6173 as Diag0 1 16 6576 ev IF write_sdo THEN initialize command write_sdo FALSE Parameter update Node_Id Slave_add Slave address Status2 0 Initialize exchange report Status3 6 Time out request WRITE_VAR ADR y 1 SYS SDO Index_dw Node_Id Diag0 4 Status1 4 END_IF 52 1690023_02A55 02 03 2008 CANopen Object Dictionary Presentation Introduction What s in this Chapter This section describes each CANopen network interface module dictionary object This chapter contains the following sections Section Topic Page 5 1 Communication Objects 1000h to 1FFFh DS 301 54 5 2 Manufacturer Specific Objects 2000h to 5FFFh 75 5 3 Encoder Specific Objects 6000h to 9FFFh DS 406 76 1690023_02A55 02 03 2008 53 CANopen Object Dictionary
64. re operational 35 Start 35 STOP 36 N Node Address 19 O Operating parameters 77 Operational Mode 35 P Preset Value 83 Pulled mode 88 1690023_02A55 02 03 2008 109 Index R Reinitialization of the Absolute Rotary Encoder 35 S SYNC mode 87 T Total Measuring Range in Measuring Units 81 Transmission Mode 86 Transmission of the Current Position 36 Transmission Speed 19 W Wiring the Bus and the Power Supply 21 Wiring the Encoder 22 110 1690023_02A55 02 03 2008
65. s object can store internal faults It is mandatory for all devices and is used with the EMCY object which indicates errors The following fault can be displayed Bit Meaning 0 Generic error These bits represent the Boolean OR for the faults present on the node The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED8 ro no no 56 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 1002h Manufacturer Status Register Description Diagnostics data is saved in this double word This object is used with the EMCY message Representation of the object Bit Assignment Characteristics 31 16 115 0 Additional information Error code MSB LSB Registers Description Bits 0 15 Bits O 8 not used Bit 9 communication fault or external fault Bits 10 15 not used Bits 16 31 Bits 16 31 not used Note Bit values e 0 no fault e 1 fault The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED32 ro no no 1690023_02A55 02 03 2008 57 CANopen Object Dictionary
66. s object indicates the warnings supported by the encoder Values The values of this object are outlined in the following table Bit Function Value 0 Value 1 0 Frequency exceeded Not supported Supported 1 Light control reserve Not supported Supported 2 CPU watchdog status Not supported Supported 3 Operating time limit warning Not supported Supported 4 Battery charge Not supported Supported 5 Reference point Not supported Supported 6 11 Reserved 12 Manufacturer specific warning Not supported Supported 13 Manufacturer specific warning Not supported Supported 14 Manufacturer specific warning Not supported Supported 15 Manufacturer specific warning Not supported Supported Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 16 ro No No 94 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6507h Profile and Software Version Description This object indicates the encoder hardware profile version and software version Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Unsigned 32 ro No No Object 6508h Operating Time Description This object indicates the
67. s objects seeCANopen Object Dictionary p 53 7 Select the objects to be sent to the device click on Add to Configured Objects then click OK 8 Select File Save A CO configuration file is created which contains the complete network architecture and the initial configuration of each node This file is used by PLC programming software eg PL7 etc 44 1690023_02A55 02 03 2008 Configuration Integration and Use under PL7 Configuration Follow the steps below Steps Actions 1 In the master configuration window select the network configuration file generated with SyCon TSX 57353 RACK 0 POSITION 1 a Configuration Vv Designation TSX P 57353 PROCESSOR CHANNEL 1 CHANNEL 1 lr Tsx CCP 100 110 CAN OPEN PCMCIA CARD v CANopen Te mast v Bus startup Inputs r Outputs al e Maintain Reset SRO No of words Mw 500 E Semi Automatic bus only No of words MW 500 gt Index of ist MW 1000 gt By program Index of 1st MW 1000 Configuration loading mode Watchdog Select Database D document QSF CanOpen FTM work pro CS Enabled Configuration size 5223 words PL7 Transmission Speed Look in gt conf can ve ek Ey COB ID SYNC Message ana SYNC Message Period speeds ftm_l Auto Clear e ana co al island_v0_01 co le island_v0_03 co E island
68. se Node Address p 19 The following function codes are available rx and tx as viewed by the master Object Function COB ID result Hex Priority class code binary 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 rx 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 1100 1537 1663 601 67F 6 7 Priority O maximum priority 7 minimum priority 32 1690023_02A55 02 03 2008 Configuration Command Byte The Command byte determines the type of message sent via the CAN network A byte includes three types of message e Parameter settings These are used to send parameter data to the encoder node for its configuration e Requests These are used by the master to read the parameters recorded in a node e Warnings These are sent to the master by the rotary encoder if a message that has been sent cannot be processed correctly The description of the commands is as follows Command Function Message Description 22h Master gt Encoder Request Parameter to the encoder 60h Master gt Encoder Confirmation Parameter received 40h Encoder gt Master Request Request for parameter 43h 4Bh 4Fh Encoder gt Master Response Parameter to the master 80H Warning Response Transmission error The value o
69. te 7 581 60 60 00 00 00 00 00 00 78 1690023_02A55 02 03 2008 CANopen Object Dictionary Object 6001h Measuring Units per Revolution Presentation General Description of the Parameters The Measuring Units per Revolution parameter is used to program the required number of steps per revolution Choose a value between 1 and 8192 CMS Index Default value Value range Data length SDO 6001h Oh 2000h Unsigned 32 Master to absolute rotary encoder parameter implemented FC NN Command Index Sub index Service data Process data SDO rx Load 6001 Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90 d 22 60 01 00 Xx X 00 00 X Required measuring units per revolution lt 13 bits If the required value exceeds that of the encoder resolution the code will not be transmitted step by step It is therefore important that the parameter is within the range of possible values When transmission has been successful the encoder responds with a confirmation message FC NN Command Index Sub index Service data Process data SDO tx Load 6001h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90 d 60 60 01 00 00 00 00 00 1690023_02A55 02 03 2008 79 CANopen Object Dictionary Programming Programming example Measuring units per revolution Example Aim Absolute rotary enc
70. ted FC NN Command Index Sub index Service data Process data SDO rx Load 6200h Byte 4 Byte 5 Byte 6 Byte 7 1100 b 1 90 d 22 62 00 00 Xx Xx 00 00 X Required cycle time Absolute rotary encoder to master Confirmation FC NN Command Index Sub index Service data Process data SDO tx Load 6200h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90 d 60 62 00 00 00 00 00 00 Disabling cyclic To disable absolute rotary encoder cyclic mode send the following message mode disabling of cyclic mode Master to absolute rotary encoder parameter implemented COB ID Command Index Sub index Service data Process data Load 6200 Byte 4 Byte 5 Byte 6 Byte 7 601 22 62 00 00 00 00 00 00 Absolute rotary encoder to master Confirmation COB ID Command Index Sub index Service data Process data Load 6200 Byte 4 Byte 5 Byte 6 Byte 7 601 60 62 00 00 00 00 00 00 86 1690023_02A55 02 03 2008 CANopen Object Dictionary SYNC mode When it has received the SYNC telegram sent by the host the absolute rotary encoder sends the current position value If several nodes are programmed in SYNC mode they respond according to their COB ID Programming an offset time is not applicable It is also possible to program a number of ignored SYNC messages CMS Index Sub
71. the bottom right of the debug screen TSX 57353 RACKO POSITION 1 ox Debugging v Designation TSX P 57353 PROCESSOR Version 5 0 O DIAG CHANNEL 1 CHANNEL 1 gt Tsx CCP 100 110 CAN OPEN PCMCIA CARD v CANopen v Mast v O DIAG CANopen slave status r Slave data Addr Device Name Act Life T p Inputs 0001 APP 1CC02 1 400 Parameter Symbol Value A 0006 FTM 1CN10 0 400 0 0007 FTM 1CN10 0 400 MW 1301 0 0008 FTM 1CN10 0 400 v OSICODER 1 400 a B 0020 FTB 1CN12E04SPO T 400 POS ase 0030 FTB 1CN08E08SPO 1 400 OK Bin e Dec Hex 0040 FTB 1CN16CPO 1 400 0096 FTM 1CN10 1 400 r Outputs 0097 FTM 1CN10 1 400 Parameter Symbol Value A 0098 FTM 1CN10 0 400 AAA v Slave information Node 10 Status 08h Addinfo 0001h Profile 406 NodeStat 4 r Total I No of slaves No Input MW No Output MW Request to be sent Received response 0011 83 113 48 1690023_02A55 02 03 2008 Configuration Step Action 2 e Complete the fields e Request Write SDO or Read SDO e Node Address of the device on the CANopen network e Index Index of the object to be read or written e Subindex Sub index of the object to be read or written e Value Entry area for the data to be
72. ub index 1h The Product code gives the specific version of the encoder sous index 2h The Revision number which is specific to the manufacturer consists of a major revision number and a minor revision number sub index 3h The major revision number indicates the changes to CANopen functionalities The minor revision number indicates the changes to functionalities specific to the device 31 16 15 0 Major revision number Minor revision number MSB LSB The Serial number identifies the device sub index 4h The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Backed up Mapping 0 Number of UNSIGNED8 4h ro no no inputs 1 Vendor ID UNSIGNED32 0700005Ah ro no no Product code UNSIGNED32 1602Dh ro no no Revision UNSIGNED32 10000h ro no no number 4 Serial number UNSIGNED32 FFFFFFFFh ro no no 1690023_02A55 02 03 2008 67 CANopen Object Dictionary Object 1200h Server SDO Parameter Description This object contains the message identifiers for SDO communication Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default value Access PDO Mapping Backed up 0 Number of UNSIGNED8 2h ro no no sub indexes 1 Client to UNSIGNED32 600h Node ID ro no no Server 2

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