CANopen MANUAL
Contents
1. CANopen CANopen Manual Users Guide Part No 634815 01 Doc No 634815 Ver 02 LEINE amp LINDE CANopen USER MANUAL Leine amp Linde AB Content LIST OR TABLES oTt en a st ua es G oN ala Seta deem fce 3 DIST OF FIGURES se 2 SERM LUV Lect dde eer HEN EN E 3 TGENERALINEORMA TION See ae E a o nde OE Doe Pee 4 T GENERAL INEORMATION oboe ter t teet eee ara 4 ol ABSOFUTEENGODER Ser EC dut LE M EU M T o Er Gale ce eat De ae T ire 4 1 2 GANOPEN TECHNOLO Y etre mette ubt env boc eget e ebbe rod oa o puce epe e da beet bard 4 TS ABOUT BENE SE LINDE BE shoe a ko e s ooo a Le o orc od e re 4 T OCH CAV and CORTE als ODO A A iba 5 13 2 GertiiCaALOB Of GANO DEH OC UCTS ons cute p ER EE ERO pe EROS 5 TA REFERENCES di A a mila ei 5 LS SABBREVIZUTIONSS Aude il e Ph lA 5 2 ENCODER INSTALLATION uuu cccccccccecccccsesscccesssccceessscccusssecceussscccusesessessssesseuascssesseseseusasscseueassoseese 6 2 SETTINGSINSIDETHEENGODER 5 3 8 20 ii busta Pu er 6 222 NODEADDRESS MM e e aU Le t A hens dla mee a ae z kec erum le rio de M LE 6 2 3xBUS TERMINATION ace eec Ae eere dest de ED la Sr an rd Blond adu tobe 6 Z P BAUDRATESWITGES A eue Lon e ae 7 2 5 GONNEGTING THE ENCODER 2 25 odis deua ec ne eu coca aout ee ce tnde 7 DES TOWEL SUDDIVA qu an ne v o be aatis ce ee fee 7 IL BUS CS dd da ee BE 8 2592 SHICITUIC npnoSophy deo cst m ODER tet an o 8 PRG EIDSJEIBE s osevsi a I ROLE A ANN 8 Dx cPARAMETERIZ2. ID used by PDO in object Transmit PDO communication parameters The PDO must be deactivated set Transmit PDO mapping parameter sub index 0 to 0 To reconfigure the PDO mapping send data of which object sub index and length of the first object to Transmit PDO mapping parameter sub index 1 Then do the same for the optionally second and third object to Transmit PDO mapping parameter sub index 2 and 3 The Transmit PDO mapping parameter sub index 0 must be set to the number of objects mapped to the PDO 1 3 The reconfigured PDO mapping must be set to valid by setting bit 31 MSB in sub index 1 COB ID used by PDO in object Transmit PDO communication parameters After setting the encoder in NMT mode OPERATIONAL the reconfigured PDO mapping is enabled The PDO mapping can be securely stored to EEPROM by using the object 0x1010 Store parameter Field sub index 1 All parameters or sub index 2 communication parameters Part Id 634815 01 15 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 4 10 2 PDO configuration example The following chapter shows how to map PDO1 with position and speed the encoder has address Ox0F all data in hexadecimal format 1 0 80 OF Set the encoder is in NMT mode PRE OPERATIONAL 2 60F 23 00 18 01 8F 01 00 80 Set PDO1 to not valid and COB ID to 0x18Fy 3 6
3. Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 1 General information 1 1 Absolute Encoders With an absolute encoder each angular position is assigned a coded position value generated by a code disc equipped with several parallel fine graduations tracks which are scanned individually On singleturn encoders i e an encoder producing absolute positions within one revolution the absolute position information repeats itself with every revolution A multiturn encoder can also distinguish between revolutions The numbers of unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the total resolution is reached 1 2 CANopen technology The CANopen communication profile is based on the CAN Application Layer CAL specification from the CiA CAN in Automation CANopen is regarded as a robust field bus with highly flexible configuration possibilities It is used in many various applications all based on different application profiles CANopen comprises a concept to configure and communicate real time data using both synchronous and asynchronous messages Four types of message objects are distinguished 1 Administrative messages Layer Management Network Management and Identifier Distribution Messages 2 Service Data Messages SDO 3 Process Data Messages PDO 4 Pre defined Messages Synchronization Time stamp Emergency Messages For further information pleas
4. The following Peer to Peer objects with default identifiers are available in the encoder Object Function Code Resulting Identifier Priority group binary COB ID EMERGENCY 0001 129 255 0 1 PDO1 tx 0011 385 511 1 2 PDO2 tx 0101 641 767 2 3 SDO tx 1011 1409 1535 6 SDO rx 1100 1537 1663 6 7 Node guard 1110 1793 1919 Table 9 Peer to Peer objects 4 3 Boot up message The encoder sends a Boot up message after power on and initialization This message uses the default emergency identifier and has no data bytes With this message the user can retrieve the sending node directly from the used identifier COB ID as it is a function of the node number see chapter 4 2 4 4 Operating parameters Object 6000h operating parameters controls the functions for Code sequence and Scaling Bit Function Bit 0 Bit 1 Class 1 Class 2 0 Code Seguence CW CCW M M 1 Commissioning Diagnostic Control Disabled Enabled O O 2 Scaling function control Disabled Enabled O M 3 Measuring direction Forward Reward O B 4 11 Reserved for further use 12 15 Manufacturer specific parameter N A N A O O not for linear encoders not for rotary encoders Table 10 Operating parameters The code seguence defines whether increasing or decreasing position values are output when the encoder shaft rotates clockwise or counterclockwise as seen on the sh
5. please consult your tool supplier if problems occur 2 8 LED indication In order to determine the status of the encoder two LED s are visible from the rear end of the encoder The module LED indicates status of the module itself The status LED shows the module status on the bus The LED s can be constantly on off blinking and flashing Blinking means on for 200 mS and off for 200 mS If the LED s is flashing it is on for 200 mS and off for 1000 mS single flash or on 200 mS off 200 mS on 200 mS and off 1000 mS double flash 2 8 1 Module LED The module LED is a bicolor LED with functionality as below LED Indication Off No power Green OK Red Position error the encoder is not able to give a correct position value 3xBlinking Green Zero set button pushed and position set to zero Off After 3 blinks the led will automatically go back to the previous state Blinking red Faulty switch settings Table 5 Module LED indication 2 8 2 Status LED The status LED is a bicolor LED with two functions one green LED Run status and one red LED Error status RUN STATUS GREEN LED Indication Blinking green The encoder is NMT state Pre operational Single green flash The encoder is NMT state Stopped Green The encoder is NMT state Operational ERROR STATUS RED LED Indication Off No error Single red flash Warning limit reached on Receive error counter or Transmit error cou
6. rate switch set to 9 the encoder uses the stored baud rate the first time the stored baud rate will be 125 Kbit If the address switches sets to anything else than 99 the Node ID will be set to OxFF at start up If the encoder starts up with the baud rate switch set to anything else than 9 the stored baud rate will be set to 125 Kbit 4 10 PDO mapping Dynamic PDO mapping enable changes of the objects sent in a PDO The Leine amp Linde 600 series encoder can map three different objects in to the PDO s These are Name Object Sub index Length Position 0x6004 4 byte Speed 0x6030 1 2 byte Acceleration 0x6040 1 2 byte Table 14 Objects available for PDO mapping The encoder has two transmit PDO named PDO1 sent cyclically by Cyclic_timer and PDO2 sent when a SYNC message is received Both PDO s are as default mapped to send only position data Both PDO s can independently be change to send any combination and order of the object above The structure of the entries of object Transmit PDO mapping parameter sub index 1 3 is as follows Byte MSB Byte MSB 1 Byte LSB 1 Byte LSB Object Sub index Object length Nr of bits Table 15 PDO mapping parameter 4 10 1 PDO configuration To change the PDO mapping the needs encoder must be in NMT mode PRE OPERATIONAL The PDO must be set to not valid This is done by clearing bit 31 MSB in sub index 1 COB
7. 0F 2F 00 1A 00 00 00 00 00 Set Transmit PDO mapping parameter sub index 0 to 0 mapping deactivated 4 60F 23 00 1A 01 20 00 04 60 Map position object 0x6004 to the first position in the PDO 5 60F 23 00 1A 02 10 01 30 60 Map Speed object 0x6030 to the second position in the PDO 6 60F 2F 00 1A 00 02 00 00 00 Set Transmit PDO mapping parameter sub index 0 to 2 The number of object mapped to the PDO 7 60F 23 00 18 01 8F 01 00 00 Set PDO1 to valid and COB ID to 0x18F 8 0 01 OF Set the encoder is in NMT mode OPERATIONAL Table 16 PDO mapping example The mapping of the PDO1 is now finished The PDO1 message can for example look like 18F 4E C9 B2 00 53 01 Table 17 PDO mapping example output data Where 4E C9 B2 00 is position data and 53 01 is the speed value To save the PDO mapping to EEPROM send 60F 23 10 10 02 73 61 76 65 Save all communication parameters by sending the ASCII code for SAVE to object 0x1010 sub index 2 Table 18 PDO mapping example save to EEPROM 4 11 Heartbeat The Leine amp Linde CANopen encoder can act as a heartbeat producer The time between two heartbeats is configured in object Producer heartbeat time 0x1017 and is in the unit milliseconds 1 65535 If the Producer heartbeat time 0x1017 is zero 0 the heartbeat is deactivated The object Producer heartbeat time 0x1017 is securely stored in the EEPROM and reloade
8. A TION 2 2 dudit AA aet tete ee 9 2 5 EIINDIGATION sei ener Ainas 9 Zo PMO DCL EI tos ett EN En D EA SEEN o SENDE NEN 9 VAS STALLS LET ETT 9 3 PROFIEE OVERVIEW 3 et ret tnr aan HT Erleben 10 4 ENCODER FUNCTIONALITY 0000000000000 ne enhn eene a nnns ee nn PP e rh i ser P POKR P Kon enn 11 4 1 BASIGENGODER EUNGTIONALELUEY is rette ner en dobu k EE dec reddes 11 A2 DERAULTIDENTIEERS so on Se m ee Nee nee o da alko a ISO te o sr eco dE Mn E 11 2 3 BOOTSUP MESSAGE on eee ona u A ad ee 12 472 OPERATING PARAMETERS u ee o AE E o x o o 12 4 S SCALING FUNCTION ui E E E EAE a batur peat somata cre du be e ea ode 12 SOCIE LET 12 EASE TOTNES needed 13 A A RESET MAI E a A a MM LIU O a 14 APIECE EIA A AEEA A A A AE di Ie 14 TO 2 Preser TOFITIU tt tn 14 AJ ZEROSSET3 aries e A a Ii e eo eee e OM OT 14 4 8 VELOCITY AND ACCELERATION hen Bruns pecca en n D PER RED EOM 14 49 SS BAYER SETTING SERVICES sere ni seii ilatina decorada esee etude Pole rat n Pe ad rink ele eo bn Pit 15 AMO PDO MAPPING A edis dta tenere ee tactu pe tee e te eee uei en Bre des Oo 15 TAO DD COMTI OTA distinc cQ d d MN LM er 15 4 10 2 PDO Con p raton example sn 16 d dSJETEARTBEA TR ees narn e iat adean e Paro cte eese lebe eds ideato iea iaraa fase e aiei 16 ASOT ET MODE 2 000 EE 16 4 13 ENCODER DIAGNOSTICS ns id al bite tete meet reu bs ae as be ete 17 DARDO DES VEO EAS A AA EA einen 17 ELSA WE anida 17 5 MANUFACTURER SPECIFIC OBJECTS occcccn
9. M 3 2100 RPM Table 22 Accuracy of speed measurement The table shows at from which shaft rotation speed the accuracy of the measured value deviates less than 1 General independent of speed type chosen the accuracy improves the higher the shaft rotation is 5 2 Object 0x5A03 Serial number 2 Object 0x5A03 is a manufacturer specific object were the serial number of the including base encoder can be read This object is mainly useful when a gateway solution is used but it is implemented for the integrated encoders as well to maintain a general approach for the supported objects Part Id 634815 01 18 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 6 Encoder configuration example This example shows a simple setup of the encoder for cyclic transmission of the position value 1 Set the physical address Node Number of the encoder using the address switches see section s 2 for further information 2 Verify that the baudrate of your CANopen network and the baudrate of the encoder is the same See section 2 3 for further information regarding the baudrate setting of the encoder 3 Power up the encoder 4 The encoder will send a Boot up message on the default emergency identifier ID 128 encoder address the message has no data bytes 5 The next step is to configuration the encoder through the SDO message To set a cyclic transmission of the
10. S file describes e The communication functionality and objects as defined in the CANopen communication profile DS 301 e The device specific objects as defined in the Encoder Profile DS 406 e Manufacturer specific objects Part Id 634815 01 8 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB The EDS file serves as a template for different configurations of one device type A DCF file is generated from the EDS file describing a specific configuration of the device including object values selected baudrate and module Id CANopen configuration tools are available to support CANopen network configuration and device configuration via the CAN bus The information about the device is obtained from the EDS file Note The EDS Installation procedure depends on your configuration tool please consult your tool supplier if problems occur 2 7 Parameterization The parameters are set from the configuration tool when the device is in the Pre Operational state using the objects obtained from the EDS file The parameters can also be changed during runtime Operational state please be careful as the position data is directly effected by some parameters and will change directly following such parameter message Therefore changing the scaling function parameters and the code sequence should only be used at encoder standstill Note The parameterization procedure depends on your configuration tool
11. Table T3 PDO Mapping example std As a 16 Table d6 PDO Mappins example qutputdat toas ad aprte bos 16 Table 17 PDO mapping example save to EEPROM zener nenene 16 Table 18 Operatino parameters objectOxe0DOR enter da tenen cc aede dad 17 Table 19 Alarms object 0x6506h 0x6505h Warnings object 0x6504h 0x6503h 17 Table 20 Speed resolution seine ee erba Eig 18 Table 21 Accuracy of speed Measurement us ee bee ape Me ORE RR ER 18 Table 23 SDO TEguest mess titi Mario bot Mu Rel lernte E Maro oidaeieniece adagio 19 Table24 NMT start remote mbde messe a tri i esaet dat Pe coeds 19 List of figures Figure 1 PCB view of a cable gland CANODOTGBCOGBT uicit tta belecinetiton Heha dsrtirals e edorin d 6 Figure 2 Orientation of M12 power supply connection nee 7 Figure 3 Orientanon or M12 b s connect rs aia totom 8 Figure 4 Gable assem bling principals eee gr eode Arden ede atreve Riga etes 8 Figure 5 Basic Encoder functionality assunto edente ose entend Mact hs te pecie edondt 11 Leine amp Linde AB claims copyright on this documentation It is not allowed to modify extend or to hand over to a third party and or copy this documentation without written approval from Leine amp Linde AB Specifications and content in this document are subject to change without prior notice due to our continuous strives to improve functionality and performance of our products Part Id 634815 01 3 Document Id 634815 Ver 02
12. aft The scaling function control is used for enabling disabling the scaling parameters measuring units per revolution object 6001h and total measuring range in measuring units object 6001h see chapter 4 5 If the scaling function bit is set the scaling parameters will affect the output position value If the scaling function bit is set to zero the scaling function is disabled The commissioning diagnostic function and measuring direction function is not supported by the encoder 4 5 Scaling function 4 5 1 Overview With the scaling function the encoder internal numerical value is converted in software to change the physical resolution of the Encoder The parameters Measuring units per revolution object Ox6001h and Total measuring range in measuring units object 0x6002h are the scaling parameters set to operation with the scaling function control bit Note When scaling a multiturn encoder the parameter Measuring units per revolution must be sent before the parameter Total measuring range in measuring units The data type for both scaling parameters is unsigned 32 with a value range from 1 to 2 limited by the encoder resolution For a 25 bit encoder with a singletum resolution of 13 bits the permissible value for the Measuring units per revolution is between 1 and 2 8192 and for the Total measuring range in measuring units the permissible value is between 1 and 2 33 554 432 The scaling parameters are securely sto
13. art Id 634815 01 20 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Appendix B History Revision Date Rev 1 0 07 07 01 Rev 1 1 07 10 30 Rev 1 2 08 01 21 Part Id 634815 01 Document Id 634815 Ver 02 Publication date 2008 02 05 Leine amp Linde AB Changes First release Extended information regarding scaling parameters Excluded information regarding LLS service Changes to BUS In Out configuration LSS service re introduced 21
14. d at start up 4 12 IRT mode In order to enhance the real time characteristics the encoder can operate in IRT Isochronous Real Time mode In normal operating mode the position value is sampled cyclically every 0 5 mS If the Read position at sync is disabled the PDO2 send data at sync uses the last sampled position of the encoder This adds a non real time characteristics to the output position value In IRT mode Read position at sync is set the position value is only sampled when the sync message is received When the Read position at sync bit is set in the operating parameter object 0x6000 the following changes are made e Speed object 0x6030 and the acceleration object 0x6040 is disabled because cyclic position sampling is mandatory for calculating these values e PDO1 send data cyclic is disabled object 0x1800 sub index 1 bit 31 is set and stored to EEPROM Part Id 634815 01 16 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB The object PDO1 transmit object 0x1800 is read only when the Read position at sync bit is set The PDO2 send data at sync will be set to only send position data and the new PDO2 mapping will be stored in EEPROM The object PDO2 tx mapping 0x1A01 will be read only if the Read position at sync bit is set Note If speed and acceleration values is requested during operation i
15. e view the CANopen specification 1 3 About Leine amp Linde AB For almost 40 years the Swedish based company Leine amp Linde has concentrated on one thing development and manufacturing of advanced encoders that meet the most rigorous demands That is why a wide selection of incremental and absolute encoders with obvious concentration on robust products and quality down to the last detail can be offered Leine amp Linde encoders provide the utmost in reliability year after year in working conditions where vibration dirt cold and other harsh environments are common Leine amp Linde can meet very specific individual customer demands The encoders are easily adapted due to a modular design to the customer s exact need with respect to resolution electrical connections and interfaces casings etc That is due to the fact that tomorrow s technology already is used today in Leine amp Linde s product lines Leine amp Linde concentrate on advanced development of intelligent encoders with integrated ASICs new special features and with adaptations to different fieldbus systems such as CANopen This enables us to meet the need for increasingly effective and dependable machines and automation to an even higher degree Part Id 634815 01 4 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 1 3 1 Technical and commercial support Leine amp Linde are represented by subsidiaries in many cou
16. ication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 4 Encoder functionality 4 1 Basic encoder functionality The figure below gives an overview of the basic encoder functions and how the functionality is conduced within the encoder Physical position Basic function Code sequence gt Singleturn resolution Absolute position Number of distinguishable revolutions Scaling function Measuring units per revolution Total measuring range in measuring units Scaling function control status Preset function lt Preset value gt Offset value Output position value Figure 5 Basic encoder functionality 4 2 Default identifiers In order to reduce configuration effort a default identifier allocation scheme is defined for CANopen devices This ID allocation scheme consists of a functional part which determines the object priority and a module ID part which is equal to the node number 1 to 127 Broadcasting of non confirmed services NMT and SYNC is indicated by a module ID of zero In CANopen the 11 bit identifier is build as follows Function Code Node Number Table 7 CANopen identifier The following broadcast objects with default identifiers are available in the encoder NMT 0000 Jo E 0 SYNC 0001 128 0 Table 8 Broadcast objects Part Id 634815 01 11 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB
17. ices Part Id 634815 01 5 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 2 Encoder Installation 2 1 Settings inside the encoder The encoder node address baudrate and bus termination must be configured during commissioning of the device This is done by removing the back cover and open up the three screws at the rear of the encoder Screw terminal for bus and power supply connection Node address switches Zero set button e Bus termination on off Baudrate switch Figure 1 PCB view of a cable gland CANopen encoder 2 2 Node address The node address of the device can be set using two decimal rotary switches located inside the back cover The weighting x10 and x1 are specified beside the switches Permissible address range is between 1 and 98 99 is used for accessing LSS Address O is used for broadcasting i e the master broadcasting to multiple slaves Note Each address used in a CANopen network must be unique and may not be used by other devices The device address is read and adopted when the encoder power supply is switched on or NMT command Reset Communication or Reset Node Either of these actions is therefore required in order to adopt changes done to the address settings except when LSS service is used 2 3 Bus termination In a CANopen network all devices are connected in a bus structure Up to 126 devices master and or slaves can be connected in o
18. it 20 Kbit 50 Kbit 125 Kbi 250 Kbi 500 Kbi 800 Kbi 1000 Kb 400 Kbi LSS service AG Aa a e WO CO our BUN MIO Table 2 Baudrate switch settings 2 5 Connecting the encoder 2 5 1 Power supply The power supply connection of M12 equipped encoders are constituted by a male A coded 4 pin M12 connector e Power supply Function Pin EV 9 36Vdc 1 Not connected 2 OV 3 Not connected 4 Figure 2 Orientation of M12 power supply connection Table 3 Pinning M12 power supply connector The cable gland encoders should always be equipped with a shielded power supply cable with conductor area between 0 34mmY to 1 5mm Permissible outer cable diameter is 68mm to 810mm Located inside the back cover are two screw terminals containing the required power supply terminals marked and The terminal shall be used to connect the EV line 9 36Vdc The terminal shall be used to connect the OV line Part Id 634815 01 7 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 2 5 2 BUS lines The CANopen bus line connections of the M12 equipped encoder are constituted by a male A coded 5 pin M12 connector bus in and a female A coded 5 pin M12 connector bus out Bus out Bus in C Function Pin CAN shield 1 CAN V NC CAN GND 3 CAN H 4 CAN L 5 Figure 3 Orientatio
19. limited within the operating range If the position value increases or decreases outside the measuring range by rotating the encoder beyond the maximum value measuring range 1 or below 0 the encoder outputs the total measuring range value 4 5 2 Scaling formulas The scaling function used in the CANopen encoder is limited to a singleturn resolution within one step After downloading new scaling parameters the preset function should be used to set the encoder starting point Note Changing the scaling function parameters should only be used at encoder standstill In the following formula a 25 bit multiturn encoder with a singleturn resolution of 13 bits is used as an example Formula for the multiturn scaling function _ sin gleturn _ position x measuring _ units _ per _ revolution 8192 output _ position revolution _ number x measuring _units _ per _ revolution A A Where singleturn_position the Absolute singleturn position value revolution_number the Absolute multiturn number Part Id 634815 01 13 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 4 6 Preset value 4 6 1 Overview The preset function object 0x6003 supports adaptation of the encoder zero point to the mechanical zero point of the system The preset function sets the actual position of the encoder to the preset value The preset function is used after the scaling function which means that the prese
20. n IRT mode it is recommended to calculate these values in the master application and use the master clock sync message as reference Bit Parameter 0 Code sequence 1 N A 2 Scaling function control 3 14 N A 15 Read position at sync Table 19 Operating parameters object 0x6000 y 4 13 Encoder diagnostics The encoder diagnostics can be read from objects 65xx The operating status alarm and warning diagnostics are described in the following chapters For complete overview of the diagnostics supported please view the EDS file 4 13 1 Operating status In object 6500h the operating status can be read The function for each bit is in reassembles to the operating parameters see chapter 4 4 Bit 2 scaling function control in operating status is set depending on the setting in operating parameters in addition the actual scaling values used in the encoder can be read out as diagnostics object 6501h singleturn resolution and object 6502h multiturn resolution 4 13 2 Alarms and warnings If an internal alarm is detected by the encoder it automatically enters pre operational state A COB ID EMCY object 0x1014 message is sent by the encoder transferring what type of alarm has occurred To re enter the operational state a NMT command has to be sent The encoder supports the following alarms Bit Supported alarms Alarms Bit Supported_warnings Warnings 0 Position error 1 11 1 Light con
21. n of M12 bus connectors Table 4 Pinning bus in out lines M12 version The cable gland encoders shall be equipped with twisted pair shielded cable in accordance with EN 50170 The guidelines recommend a conductor area higher than 0 34mm Permissible outer cable diameter is 66mm to 28mm Located inside the back cover are six screw terminals containing the required bus line terminals marked H L and G The H terminal shall be connected to CAN H line The L terminal shall be connected to CAN L line The G terminal shall be connected to CAN GND line Note The two H and L terminals are internally connected to each other i e it does not matter to which pair the bus lines are connected to 2 5 3 Shielding philosophy Figure 4 Cable assembling principal To achieve the highest possible noise immunity and resistance against other EMI related disturbances the bus and power supply cables shall always be shielded The screen should be connected to ground on both ends of the cable In certain cases compensation current might flow over the screen Therefore a potential compensation wire is recommended 2 6 EDS file An EDS file is available on floppy disk see datasheet for part number or downloadable on our homepage www leinelinde se Due to Leine amp Linde s constant drive to support our customer with the latest updates of encoder functionality it is recommended to consult Leine amp Linde representative for the latest releases The ED
22. ne segment When more devices are needed repeaters should be used to amplify the signals between segments An active termination need to be placed in the beginning and end of each bus segment in order to ensure error free operation In case of cable gland encoder such terminators are integrated inside the back cover and can be activated via the dip switches Part Id 634815 01 6 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB The active termination is only activated when the encoder is powered on If the device is un powered the CAN H and CAN L lines are internally terminated by a 121 resistor ON ON There is a 121 ohm resistor between CAN H and CAN L ON OFF Not a valid setting OFF ON Not a valid setting OFF OFF There is no resistor between CAN H and CAN L Table 1 Termination switch settings When encoder with M12 connectors is used the termination is conducted using terminating resistor plug The plug is assembled in resemblance to the M12 cables and both male and female contacts are available in order to enable termination in both ends of the bus 2 4 Baudrate switch The communication baudrate can be set using the rotary switch inside the encoder The baudrate is set according to table 2 Given that the Node ID is set to 99 LSS service and the baudrate switch is set to 9 the baudrate can be changed trough LSS service see chapter 4 9 10 Kb
23. nnncccccnnnnnnnnnnnnccccnnnnnnnnonacoccononnnnnnnnanorccnnnnnnnnnnnrccccnononnns 18 Di OBJEGT OXS 0033 5 SPEED TYP En coe vice o ede eda d AVE T E etc aller dle 18 Part Id 634815 01 2 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 5 2 OBJECT OXS AOS as OERIAL NUMBER 2 a eddie did o en da 18 6 ENCODER CONFIGURATION EXAMPLE eee 00000 e ee seh nennetethenes inertes enn 19 APPENDIX A BERTA TE s ub Cod Madar heen iata tenete RM n 20 APPENDIX B HISTORY a nee eisen Joao o ole eo oo 20 List of tables Table 1TErmnatiotSWitehSettnest La e er Rer RR E ORE onou 7 Table2 Baudrate switeh SetHhgs c ems e ona se RH Ne e eere etd ee i nike p des 7 Table 3 Pinning M12 power supply connector 2 2b2ssessesessenmmememe 7 Table 4 Pinning bus in out lines M12 version sss eem 8 TOES Module LEDIRA FEIN Rias 9 Table 6 Status LEDAndieatiOtiss ii een bir tte rba be ep ceq lest 9 Table 7 CANODSRAJdenUfIer s iuto ls re ec pa ete deer n n bte deca 11 Table S Broadcast Objects AAA A bas Pedido bd tap proc aedes aude 11 Table S Peer to Beer objeets van cora Ide 12 Table T0 Smgleturmscaung parameter format siete feto iade bd OR teer ani eM Longo espe tonat 13 Table HE Multiturmscaline parameter format osse eter ee en ie 13 Table T2 Preset Value O tro lea 14 Table 13 Objects available tor PDOSISDDpIDE anne en eb 15 Table T4 PDO mappirg parameter 2 eise iecit etc n bee m te pe Oe eee 15
24. nter Double red flash A guard event or a heartbeat event has occurred Red The encoder is Bus off Table 6 Status LED indication When the encoder is on error free communication in operational state both the module and the status LED should shown green Part Id 634815 01 9 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 3 Profile overview The Encoder Profile defines the functionality of encoders connected to CANopen The operating functions are divided in two device classes Class 1 the Mandatory class with a basic range of functions that all Encoders must support The class 1 encoder can optionally support selected class 2 functions these functions must however be implemented according to the profile Class 2 where the Encoder must support all class 1 functions and all functions defined in class 2 The full class 2 functionality includes e Absolute position value transfer using either polled cyclic or sync mode e Velocity and acceleration output values e Change of code sequence e Preset value settings e Scaling of the encoder resolution Advanced diagnostics including e Encoder identification e Operating status e Operating time e Alarms and warnings All programming and diagnostic parameters are accessible through SDO s The output position value from the encoder is presented in binary format Part Id 634815 01 10 Document Id 634815 Ver 02 Publ
25. ntries around the world In addition there are many services agencies and distributors located worldwide ready to reply to commercial enquires or technical support For more contact information please visit our web site or contact Leine amp Linde in Str ngn s Sweden Leine amp Linde AB Oliveh llsv gen 8 SE 645 21 Str ngn s Sweden E mail info leinelinde se Tel 46 152 265 00 web www leinelinde com Fax 446 152 265 05 1 3 2 Certification of CANopen products In order to achieve interoperability between vendors and appropriate device functionality CANopen products developed and manufactured by Leine amp Linde AB has been verified by external bodies Leine amp Linde AB are proud to announce that CANopen enabled products successfully passed a certification process performed by CIA CAN in Automation A copy of the certificate is attached in this manual 1 4 References http www can cia org CAN Application Layer DS 201 207 CIA CAL Based Communication Profile DS 301 CIA Device Profile for Encoders DS 406 CIA CAN Specification Version 2 0 A Robert Bosch GmbH CANary CAN controller Atmel 1 5 Abbreviations CAN Controller Area Network CIA CAN in Automation CAL CAN Application Layer EDS Electronic Data Sheet DCF Device Configuration File SDO Service Data Object PDO Process Data Object TPDO Transmit PDO COB ID Communication object Identifier NMT Network Management IRT Isochronous Real Time LSS Layer Setting Serv
26. position value with 10ms repetition rate an SDO request message ID 1536 encoder address sent to the cyclic timer object Object 6200h with the data below is required The encoder will confirm with the SDO response message ID 1408 encoder address Table 23 SDO request message 6 To get the encoder in operation we need to send an NMT start remote node message ID 0 two data bytes with the following contents 0x01 The encoder address Node Number Table 24 NMT start remote node message 7 The encoder has now entered the operational state and the position message ID 384 encoder address is transferred with a 10ms repetition rate If an error occur the encoder will send an emergency message ID 128 encoder address Part Id 634815 01 19 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB Appendix A Certificate Certificate CiA200611 301V402 20 0067 VendoriD 00000194 Manufacturer Leine amp Linde AB Device CANopen Encoder RXA 600 Product code Revision number object 1018h 02h object 1018h 03h Hardware version Software version object 1009h object 100Ah RXA600CANopen eds File version 1 File revision EDS version 4 02 Erlangen 14 November 2006 Gin DAT Dildo er Tel 49 9131 55 0 Fox 49 9131 69086 79 CAN in Automation GmbH Am Weichselgarten 26 91053 Erlangen Germany phone 49 9131 69086 0 fax 49 9131 69086 79 P
27. red in case of voltage breakdown and reloaded at each start up Part Id 634815 01 12 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 231 Object 6002h Total measuring range in measuring units Table 12 Multiturn scaling parameter format The measuring range is set by the object Total measuring range in measuring units The encoder has two different operating modes depending on the specified measuring range If the scaling is binary the encoder enter operation mode A Cyclic operation and if the scaling value is non binary the encoder enters operation mode B Non cyclic operation A Cyclic operation Binary scaling Used when operating with 2 number of turns 2 4 8 16 32 64 128 256 512 1024 2048 an 4096 number of turns If the desired measuring range is equal to the specified singleturn resolution 2 where x 12 the encoder operates in endless cyclic operation 0 max 0 max For example If the position value increases above the maximum value measuring range 1 by rotating the encoder beyond the maximum value the encoder continues from 0 Example of a cyclic scaling Measuring units per revolution 1000 Measuring range 32000 2 32 number of turns a B Non cyclic operation If the measuring range is used to limit the encoder value range to a value not equal to the specified singleturn resolution 2 the output position value is
28. set the preset value to zero 00 00 00 00h makes a zero set of the encoder Also if the zero set button is pushed for at least 1 second the position off the encoder will be set to zero 00 00 00 00h The module LED will signal green off green off green off to confirm that the position value is set to zero 4 8 Velocity and Acceleration The encoder supports output of both speed object 0x6030 and acceleration object 0x6040h In order to maintain accuracy independently of the rotation speed of the encoder various measuring unit can be set The speed object is limited to a signed 16 bit value and an optimization of assumed rotation speed of the shaft with respect to chosen resolution is required in order to avoid data overflow Part Id 634815 01 14 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB Object 0x5003 speed type is a manufacturer specific object that sets the update time and resolution Steps second or RPM of the speed object 0x6030 and acceleration object 0x6040 value The speed type object is described in chapter 5 1 4 9 LSS Layer Setting Services The encoder supports LSS functionality which is a service for remotely set Node ID and communication baudrate on the encoder To enter the LSS service both address switch X10 and X1 must be set to 9 To be able to change baud rate the baud rate switch also have to be set to 9 When the encoder starts with the baud
29. t value is given in the current measuring units A preset is handled by the encoder in the following way The encoder reads the current position value and calculates an offset value from the preset value and the read position value The position value is shifted with the calculated offset value The offset value can be read with the diagnostic function Object 6509h and is securely stored in case of voltage breakdown and reloaded at each start up Note The preset function should only be used at encoder standstill Depending on encoder type the number of possible preset cycles is limited please consult Leine amp Linde for more information Object 6003h Preset Value Table 13 Preset value format 4 6 2 Preset formula An offset value is calculated when the encoder receives the preset value see setup calculation below The offset value is then used during runtime to shift the current position to get the required output position see runtime calculation below Note In the formulas below the current position is the Absolute position of the encoder disk after the scaling function The calculations are made with signed values Setup calculation offset value preset _ value current _ value Note A previously set offset value is not included in the current position Runtime calculation output _ position curren _ position offset _ value 4 Zero set Zero setting of the encoder can be done two folded Using the preset object and
30. trol 12 E2prom error 2 Watchdog 13 15 3 15 Table 20 Alarms object 0x65061 0X6505 y Warnings object 0x65041 0x6503y Part Id 634815 01 17 Document Id 634815 Ver 02 Publication date 2008 02 05 CANopen USER MANUAL Leine amp Linde AB 5 Manufacturer specific objects 5 1 Object 0x5003 Speed type Object 0x5003 sets the update time and resolution Steps second or RPM of the velocity information This object affects both the speed object 0x6030 and the acceleration object 0x6040 Speed type Setting 0 200 mS update time Steps S 1 10 mS update time Steps 10 mS 2 100 mS update time Steps 100 mS 3 200 mS update time RPM Table 21 Speed resolution setting The speed object is limited to a signed 16 bit value In order to avoid data overflow and optimize the accuracy it is recommended to calculate the optimal speed type setting Also adopt scaling to the encoder limits the amount of data avoiding overflow as the speed value calculation is based on the scaled singleturn value For example if the rotation of the shaft is faster then 1000 rpm and the speed type is 0 steps S a data overflow will occur In this case a higher resolution is required ie steps 100ms The accuracy of the speed measurement is dependent on the resolution chosen The figure in this table should be considered as a guideline Speed type Shaft rotation 0 2100 RPM 1 21000 RPM 2 21000 RP
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