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ABSOLUTE ROTARY ENCODER WITH CANOPEN

1. M 43 Tab 22 Order Key e e e e eee eee HE ic e Eg 65 Tab 23 Available Connection Cap Types seeee Error Bookmark not defined Tab 24 Order Key for Heavy Duty encoders ssssssssssee eee eene enne enne nennen 66 T b 25 List of Accessories nenn a am Error Bookmark not defined Appendix E List of figures Fig 1 Connection cap bus in and bus out ssssssssseeeeeeene nennen enne nene nennen enne 8 Fig 2 Gable prepatratlon eene en es aged nea ese inei e area Ugo Tub e nep DUE ERAN REL gece 8 Fig 3 Gable CONNEC O REEL 8 Appendix F Document history Version Date Comment 1 0 10 10 03 Initial version 1 1 24 10 03 Correction of the type key List of figures List of tables added 2 0 06 11 03 Hint protection low voltage added 2 1 08 01 04 Hint temperature cable exit added Version 07 10 BEI Sensors CANopen Manual serie M 76 2 2 21 05 04 New inner diameter of the cable glances 2 3 24 09 04 SubIndex of RestoreAllParameter changed 11 07 19 11 07 Complete Review of the manual 03 08 30 03 08 Complete Review due to CAOO0 introduction 07 09 28 07 09 Complete Review due to CAA1 introduction Version 07 10 BEI Sensors CANopen Manual serie M 7T
2. ssssss 20 4 5 Usage of Layer Setting Services LSS 20 5 Programmable Parameters 22 5 1 Programming example Preset Value 23 5 1 1 Set Encoder Preset Value 23 Version 07 10 5 2 Communication Profile DS301 specific objects from 1000h 1FFFh 2 0000 25 5 3 Manufacturer specific objects 2000h 5 4 Application specific objects 6000h 67FEh 26 5 5 Object Descriptions seeeesssess 27 Object 1000h Object 1001h Object 1003h Object 1005h Object 1008h Object 1009h Object 100Ah Device Type nennen 27 Error Register ss 28 Pre Defined Error Field 28 COB ID Sync 28 Manufacturer Device Name 29 Manufacturer Hardware Version 29 Manufacturer Software Version 29 Object 100Ch Guard Time sense 29 Object 100Dh Life Time Factor 30 Object 1010h Store Parameters 30 Object 1011h Restore Parameters 30 Object 1012h COB ID Time Stamp Object 31 Object 1013h High Resolution Time Stamp 31 Object 1014h COB ID Emergency Object 31 Object 1016h Consumer Heartbeat Time 32 Object 1017h Producer Heartbeat Time 32 Object 1018h Identity Object 32 Object
3. Calculation Example Target Absolute rotary encoder with direction CCW decreasing both limit switches disabled and event triggered PDOs enabled Bitmatrix Bit 0 1 Direction decreasing CCW Bit 1 20 Limit switch min disabled Bit 2 0 Limit switch max disabled Bit 3 1 Event triggered Result 1001h Object 2101h Resolution per Revolution This object contains the desired steps per revolution of the encoder Subindex Description Data Type Default Value Access Restore after BootUp 0 Resolution per Revolution Unsigned 32 see type sign yes If the desired value exceeds the hardware resolution of the encoder the code will not be transmitted stepwise So it is important to keep the parameter in the possible value range Object 2102h Total Resolution This object contains the desired total resolution of the encoder Subindex Description Data Type Default Value Access Restore after BootUp 0 Total Resolution Unsigned 32 see type sign yes Version 07 10 BEI Sensors CANopen Manual serie M 37 This parameter is used to program the desired number of measuring units over the total measuring range This value must not exceed the total resolution of the absolute rotary encoder which is printed on the type sign of the encoder Attention Following formula letter will be used PGA Physical total resolution of the encoder see type sign PAU Physical resolution per revolution see type sig
4. 7 2 1 1 Signal Assignment n e 7 2 1 2 Bus Termination in Connection Cap 8 2 1 3 Setting Node Number in Connection Cap 9 2 1 4 Setting Baudrate in Connection Cap 10 2 1 5 Status of the connection cap LEDs 10 2 2 Installation of Connector and Cable encoders eee eb Ee etes 12 2 2 1 Signal Assignment sssssss 12 2 2 2 Setting Node Number ssssse 13 2 2 3 Setting Baud Rate sess 13 2 2 4 Switching the integrated Bus Terminal R6SISIOT cid eme diei ertt 14 Object 3002h Terminal Resistor 14 3 Technical Data eeeeeeees 15 Electrical Data u 2 eine 15 Mechanical Data 444444444H nennen nennen 15 Minimum Mechanical Lifetime 16 Environmental Conditions ss 16 4 Configuration eere 17 4 1 Operating Modes nennen 17 4 1 1 General aan 17 4 1 2 Mode Preoperational 17 4 1 3 Mode Start Operational 17 4 1 4 Mode Stopped 18 4 1 2 Reinitialization of the Encoder 18 4 2 Normal Operating nenn 18 4 3 Storing Parameter 19 4 3 1 List of storable Parameter 19 4 3 1 Storing Procedure eeen 20 4 4 Restoring Parameters
5. 55 Object 6508h Operating time 55 Object 6509h Offset value ssse 56 Object 650Ah Module identification 56 Object 650Bh Serial number 56 6 Troubleshooting esses 7 Mechanical Drawings Appendix A Order Codes Appendix B History and Compatibility 68 Appendix C Glossary ss 78 Appendix D List of tables 76 Appendix E List of figures 76 Appendix F Document history 76 BEI Sensors CANopen Manual serie M 3 General Security Advise Important Information 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 that an electrical hazard exists which will result in personal injury if the instructions are not followed About this Manual Background This user manual describes how to install and configure an absolute rotary encoder with CANopen interface
6. Cam hyteresis Highest sub index supported Cam4 hyteresis channel1 Cam5 hyteresis Highest sub index supported Cam5 hyteresis channel1 Cam6 hyteresis Highest sub index supported Version 07 10 BEI Sensors CANopen Manual serie M 50 Cam6 hyteresis channel1 Cam7 hyteresis Highest sub index supported Cam7 hyteresis channel1 Cam8 hyteresis Highest sub index supported Cam8 hyteresis channel1 Object 6400h Area state register This object contains the area state register The object provides the actual area status of the encoder position Figure 9 specifies the object structure and Table 106 specifies the value definition Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 1h Work area state channel Unsigned 8 romap yes 7 6 5 4 3 2 1 0 R r r r r Range Range Out of underflow overflow range MSB LSB Signal Value Definition out of range 0 Position between low and high limit 1 Position out of range refer to module identification object 650Ah is reached range overflow 0 No range overflow 1 Position is lower than the position value set in object 6402h work area low limit range underflow 0 No range underflow 1 Position is higher than the position value set in object 6401h work area high limit Version
7. Relate Note Version date 14 July 2010 Version number 1 1 Reference number MBL20100714 Copyright The company BEI Sensors claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy Version 07 10 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 Please Note Electrical equipment should be serviced only by qualified personnel No responsibility is assumed by BEI Sensors for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons this documentation without written approval by the company BEI Sensors Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice User Annotation BEI Sensors welcomes all reader to send us feedback and commands about this document BEI Sensors CANopen Manual serie M 4 1 Introduction This manual explains how to install and configure the OPTOCODE l absolute rotary encoder with CANopen interface applicable for military and industrial applications with CANopen interface The product is fully compliant with CiA standards DS301V402 CANopen Application Layer DR303 1 Cabeling and co
8. 15 Version 07 10 BEI Sensors CANopen Manual serie M 64 Appendix A Order Codes Description Type key Optocode MHM5 MHK5 MHO5 CA Ai B c EM BEN Interface CANopen CA Version A1 Code Binary B Revolutions Bits Singleturn 00 Multiturn 4096 revolutions 12 Multiturn 16384 revolutions 14 Steps per revolution 4096 0 09 12 8192 0 04 13 65536 0 005 16 Flange Clamp flange C Synchro flange S Through Hollow Shaft T Blind shaft B Shaft diameter 06 mm MHM5 06 10 mm MHM5 10 12 mm Through Hollow Shaft MHO5 12 15 mm Blind Hollow shaft MHK5 15 Mechanical options without 0 Shaft sealing IP66 S Stainless steel version V Customized C Connection Connection Caps Cap encoder with connection cap AH 58 B1CA 3PG H3P Cap encoder with connection cap AH 58 B1CA 2M20 H2M Cap encoder with connection cap AH 58 B1CA 1BW H1B Cap encoder with connection cap AH 58 B1CA 2BW H2B Cap encoder without connection cap HCC Cable Cable exit 1m radial open wire ends CRW Cable exit 1m axial open wire ends CAW Connectors Connector exit radial 5 pin male M12 PRM Connector exit axial 5 pin male M12 PAM Connector exit axial 9 pin D Sub PAY Standard bold further models on request i Stainless Steel version is not available with radial cable or connector exit namely CRW PRM A For the function of a cap encoder a connection cap is needed To order this encoder type only makes sense for spare part replacement usage Tab 22 O
9. 6 4 Limit switches without function Problem The encoder didn t transmit the bits for the limit switches Possible solution The limit switch functionality has to be activated once Please follow the description you can find at 4 5 6 5 Encoder without connection cap Notice The changing of baud rate and node number are only valid after a new power up NMT Reset or the store parameters command BEI Sensors CANopen Manual serie M 57 7 Mechanical Drawings Synchro flange S 258 Two versions available Synchro flange d mm mm Version S06 Version S10 Single Turn 72 Multi Turn 82 3xM4x6 i T gt co o E g 8 1 96 59 20 20 Schl sselweite wrench size 17 Clamp flange C 30 Single Turn 82 Multi Turn 92 r 3xM4x6 T S d e 9659 20 20 Schl sselweite wrench size 17 BEI Sensors CANopen Manual serie M 58 Version 07 10 Hollow shaft B Single Turn 90 Multi Turn 102 o N oS 7 E ooog tto ol o9 5 Edelstahl Stainless steel x E o o Eco OQO 5 S235 C coc lt o 2 Max W 30 Min W 15 15 Welleneinstecktiefe hollow shaft depth Mounting instructions The clamp ring may only be tightened if the shaft of the driving element is in the hollow shaft The diameter of the hollow shaft can be reduced t
10. 99 N e Bit 31 30 29282726 25242322921 20 9 18 17 16 15 14 13 1211 10 110 XXXXXXXXXXXXXXXXXXXXXXXXXXXXXX Object 2160h Customer storage This object provides for the customer the possibility to store any value Attention The values written to these objects will be stored in volatile memory only Subindex Description Data Type Default Value Access Restore after BootUp Z m msmesswet L EL en ee wr MM E GE EN Le EN Object 2200h Cyclic Timer PDO This object contains cyclic time of the event timer in ms of PDO 1 Subindex Description Data Type Default Value Access Restore after BootUp The object 2200h is hard wired to the objects 1800h subindex 5h and 6200h and provide the cycle time for the cyclic mode See chapter Cycle Time and Event Timer Object 2300h Save Parameter with Reset With this object all parameters can be stored in the non volatile memory After storing the parameters a reset is executed Subindex Description Data Type Default Value Access Restore after BootUp Version 07 10 BEI Sensors CANopen Manual serie M 40 Object 3000h Node Number This object contains the node number of the device The BEI Sensors standard node number is 32 Subindex Description Data Type Default Value Access Restore after BootUp 0 Node Number Unsigned 8 Yes NOTE To avoid the node n
11. 07 10 BEI Sensors CANopen Manual serie M 51 r 0 Reserved Object 6401h Work area low limit This object indicates the position value at which bit 2 of the according work area state channel in object 6400h shall flag the underflow of the related work area Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Integer 32 1h Work area low limit channel 1 Integer 32 yes This object is hardwired with 2104h Limit Switch Min Object 6402h Work area high limit This object indicates the position value at which bit 1 ofthe according work area state channel in object 6400n shall flag the overflow of the related work area Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Integer 32 ho ro 1h Work area high limit channel Integer 32 yes This object is hardwired with 2105h Limit Switch Max Object 6500h Operating status This object shall provide the operating status of the encoder It gives information on encoder internal programmed parameters Subindex Description Data Type Default Value Access Restore after BootUp Oh Operating status Unsigned 16 ee Loe The operating status object corresponds to the value of the object 6000h and 2100h Version 07 10 BEI Sensors CANopen Manual serie M 52 Object 6501h Single turn resolution The object contains the physical measuring steps per revolution of the ab
12. Encoders We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice BEI Sensors CANopen Manual serie M 6 2 Installation 2 1 Connection via Connection Cap 2 1 1 Signal Assignment The rotary encoder is connected with two or three cables depending on whether the power supply is integrated into the bus cable or connected separately If the power supply is integrated into the bus cable one of the cable glands can be fitted with a plug The cable glands are suitable for cable diameters from 6 5 up to 9 mm Clamp Description HL Ground d 24 V Supply voltage OV Supply voltage G CAN Ground L CAN Low H CAN High G CAN Ground BE CAN Low H CAN High are not connected if terminal resistor is ON see next page Version 07 10 BEI Sensors CANopen Manual serie M 7 Bus In Fig 1 Connection cap bus in and bus out 55 mm 50 mm 5mm 5mm e Fig 2 Cable preparation Fig 3 Cable connection Version 07 10 Bus Connection The connection cap fulfills the function of a T coupler From there the wiring must be done according to the drawing on the left side Please note the assignment of incoming and outgoing bus signals An activated bus termination resistor will lead into a separation of bus in and bus out signals Cable Connection Remove screw sealing and cone
13. Object 1A00h 1 TPDO Mapping Parameter This object contains the mapping parameter of the 1 transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 yes 1 1st mapped object Unsigned 32 60040020h yes Object 1A01h 2 TPDO Mapping Parameter This object contains the mapping parameter of the 2 transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 2 ro yes 1 2 mapped object Unsigned 32 60040020h wo yes Object 1F50h Download Program Area This is a special bootloader object that has functionality for single turn encoders without connection cap only see Bootloader chapter Use this entry to download your Intel hex file with the programming data Detailed information about Domain download and Block transfer in CiA Draft Standard 301 Application Layer and communication Profile Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 Yes Version 07 10 BEI Sensors CANopen Manual serie M 35 Object 1F51h Program Control This is a special bootloader object that has functionality for single turn encoders without connection cap only see Bootloader chapter This array controls the programs residing at index Ox1F50 Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of prog
14. Oh Cyclic Time Unsigned 16 yes The object 6200h is hard wired to the objects 1800h subindex 5h and 2200h and provide the cycle time for the cyclic mode See chapter Cycle Time and Event Timer Object 6300h Cam state register This object contains the cam state register The subindices 1h to FEh contain the cam state of channel 1 to 254 Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 1h Cam state channel 1 Unsigned 8 yes Object 6301h Cam enable register This object contains the cam enable register Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 1h Cam enable channel 1 Unsigned 8 Pw yes Object 6302h Cam polarity register This object contains the cam enable register Subindex Description Data Type Default Value Access Restore after Version 07 10 BEI Sensors CANopen Manual serie M 48 BootUp Oh Number of sub indices Unsigned 8 1h Cam polarity channel 1 Unsigned 8 yes List of Cam objects 6310h Cam low limit rw Oh VAR Highest sub index supported U32 ro 0x1 1h VAR Cam1 low limit channel1 rw 6311h Cam2 low limit rw Oh VAR Highest sub index supported U32 ro 0x1 1h VAR Cam2 low limit channel1 rw Cam3 low limit Highest sub index supported Cam3 low limit channel1 Cam4 low limit Highest sub index supported Cam4 low limit channel
15. for installation by removing two screws at the backside of the encoder The meaning and the positioning of the two turn switches you can see in the picture on the right side Version 07 10 Protocol Definition via BCD address switches x1 Device address 97 x10 Recovery of C2 C5 Behvior x1 Device address 98 x10 x1 Device address 99 Protocol selection according to DS301 V3 x10 Protocol selection according to DS301 V4 BEI Sensors CANopen Manual serie M 9 2 1 4 Setting Baudrate in Connection Cap The adjusting of the baudrate is adjusted by one Baugrate in kBit s BCD coded rotary switches turn switch in the connection cap The following 759 baudrates are possible 50 0 1 100 2 125 3 250 4 500 5 800 6 1000 7 reserved 8 Sets SDO and LSS mode 9 Tab 2 Baud rate Assignment Connection Cap 2 1 5 Status of the connection cap LEDs The LED behaviour was designed in accordance to the CiA normative DR 303 3 CANopen indicator spec ification Version 07 10 BEI Sensors CANopen Manual serie M 10 CAN Run LED State Description Flickering AutoBitrate LSS The auto bitrate detection is in progress or LSS services are in progress alternately flickering with run LED 1 Blinking PREOPERATIONAL The device is in state PREOPERATIONAL Single flash STOPPED The device is in state STOPPED Double flash Reserved for further use Triple flash Program Firmware A software downlo
16. user application and detects no more information The Bootloader starts up with a pre defined CANopen node ID of 1 0x1 and a fixed CAN baud rate of 125 kbits Version 07 10 BEI Sensors CANopen Manual serie M 43 Subindex Description Data Type Default Value Access Restore after BootUp Oh Bootloader Control Unsigned32 boo M ATTENTION Activating the boot loader courses a deep reset of the device If the encoder enters boot loader mode only a minimum object amount will remain to assure basic communication The device does not behave like an encoder anymore and waits for new programming Firmware updates have to be done in close cooperation with the CAN product manager of BEI Sensors Object 6000h Operating parameters This object shall indicate the functions for code sequence commissioning diagnostic control and scaling function control Subindex Description Data Type Default Value Access Restore after BootUp Oh Operating Parameter Unsigned 16 yes Code sequence The code sequence defines whether increasing or decreasing position values are output in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft Scaling function control With the scaling function the encoder numerical value is converted in software to change the physical resolution of the encoder The measuring units per revolution object 6001h and total measuring range in measuring units object
17. which the device has to produce the a heartbeat message Subindex Description Data Type Default Value Access Restore after BootUp Object 1018h Identity Object This object contains the device information For further information please see chapter 4 5 Layer Setting Services Subindex Description Data Type Default Value Access Restore after BootUp 4h Serial Number Unsigned 32 no Version 07 10 BEI Sensors CANopen Manual serie M 32 Object 1020h Verify configuration This object indicates the downloaded configuration date and time Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of entries Unsigned 8 h qm no 1h Configuration date Unsigned 32 oo rw no 2h Configuration time Unsigned 32 oo rw no Object 1029h Error behaviour This object indicates the error behavior Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of entries Unsigned 8 Object 1800h 1 TPDO Communication Parameter This object contains the communication parameter of the 1 transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp o qwamae 700 Object 1801h 2 TPDO Communication Parameter This object contains the communication parameter of the 2 transmit PDO NOTE In the older encoder line C2 and C5 the second PDO was configured via object 1802 Version 07 10 BEI Sensors CANopen Manual serie M 33 Su
18. 07 10 BEI Sensors CANopen Manual serie M 72 Appendix C Glossary A Address APV Baud rate Byte C CAL CAN CANopen CCW CiA COB COB ID CW E EDS file 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 or SDO objects Absolute Position Value 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 8 bit unit of data 1 byte CAN application layer Controller Area Network or CAN multiplexing network Application layer of an industrial network based on the CAN bus Counter clockwise CAN In Automation organization of manufacturers and users of devices that operate on the CAN bus Elementary communication object on the CAN network All data is transferred using a COB 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 Clockwise Standardized file containing the description of the parameters and the communication methods of the associated device Version 07 10 BEI Sensors CANopen Manual serie M 73 FAQ FC Function code L Line terminator LMT NMT NN PCV PDO PV RO ROMAP PDO RW mode Frequently Asked Questions Determines the type of m
19. 1 Cam5 low limit Highest sub index supported Cam5 low limit channel1 Cam6 low limit Highest sub index supported Cam6 low limit channel1 Cam low limit Highest sub index supported Cam low limit channel1 Cam 8 low limit Highest sub index supported Cam8 low limit channel1 Cam1 high limit Highest sub index supported Cam1 high limit channel1 Cam2 high limit Highest sub index supported Version 07 10 BEI Sensors CANopen Manual serie M 49 1h VAR Cam2 high limit channel1 rw 6322h Cam3 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 1h VAR Cams high limit channel1 rw 6323h Cama high limit rw Oh VAR Highest sub index supported U8 ro 0x1 1h VAR Cam4 high limit channel1 rw 6324h Cams high limit rw Oh VAR Highest sub index supported U8 Iro 0x1 1h VAR Cams high limit channel1 rw 6325h Cam6 high limit rw Oh VAR Highest sub index supported U8 jro 0x1 1h VAR Cam6 high limit channel1 rw Cam7 high limit Highest sub index supported Cam7 high limit channel1 Cam8 high limit Highest sub index supported Cam8 high limit channel1 Cam1 hyteresis Highest sub index supported Cam1 hyteresis channel1 Cam2 hyteresis Highest sub index supported Cam2 hyteresis channel1 Cam3 hyteresis Highest sub index supported Cam3 hyteresis channel1
20. 1020h Verify configuration 33 Object 1029h Error behaviour 33 Object 1800h 1 TPDO Communication Parameter 33 Object 1801h 2 TPDO Communication Parameter Object 1A00h Object 1A01h Object 1F50h Object 1F51h Object 2000h Object 2100h Object 2101h Object 2102h Object 2103h Object 2104h Object 2105h Object 2160h BEI Sensors CANopen Manual serie M 33 1 TPDO Mapping Parameter 35 2 TPDO Mapping Parameter 35 Download Program Area 35 Program Control 36 Position Value 36 Operating Parameters 36 Resolution per Revolution 37 Total Resolution 37 Preset Value sss 38 Limit Switch min 39 Limit Switch max 39 Customer storage 40 2 Object 2200h Cyclic Timer PDO 40 Object 2300h Save Parameter with Reset 40 Object 3000h Node Number s Object 3001h Baudrate sees Object 3002h Terminal Resistor Object 3010h Speed Control Object 3011h Speed Value Object 3020h Acceleration Control Ob
21. 6002h are the scaling parameters The scaling function bit is set in the operating parameters Ifthe scaling function bit is set to zero the scaling function is disabled Bit structure for the operating parameters Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R R R R R MD SFC CD CS Table Description MS Manufacturer Specific Function not available R Reserved for future use MD Measuring direction not available Version 07 10 BEI Sensors CANopen Manual serie M 44 SFC Scaling function 0 disable 1 enable CD Commissioning diagnostic control not availabe CS Code sequence 0 CW 1 CCW Code Sequence CS Bit 0 is hardwired to Code Sequence CS Bit 0 in object 2100h Object 6001h Measuring units per revolution This object shall indicate the number of distinguishable steps per revolution Subindex Description Data Type Default Value Access Restore after BootUp Oh Measuring units per revolution Unsigned 32 see type sign yes Hardwired with 2101h Object 6002h Total measuring range in measuring units This object shall indicate the number of distinguishable steps over the total measuring range Subindex Description Data Type Default Value Access Restore after BootUp Oh Total measuring steps Unsigned 32 see type sign yes Object 6003h Preset value This object indicates the preset value for the output position value Subindex Description Data Type Def
22. 9 87 8 1003h Pre defined error field 29 88 1005h COB ID SYNC message 29 89 1006h ComCyclePeriode 29 90 1008h Device name 30 91 1009h Hardware version 30 91 100Ah Software version 30 91 100Ch Guard Time 30 92 100Dh Life Time Factor 31 92 1010h Store parameters 31 92 1011h Restore default parameters 31 94 1012h COB ID Time Stamp 32 97 1013h High Resolution Time Stamp 32 98 1014h COB ID Emergency 32 98 1016h Consumer Heartbeat Time 33 100 1017h Producer Heartbeat Time 33 101 1018h Identity Object 33 101 1020h Verify Configuration 34 117 1029h Error Behaviour 34 133 9 1800h Communication parameter PDO 1 34 111 9 1801h Communication parameter PDO 2 34 111 11 1A00h Transmit PDO1 Mapping Parameter 36 112 11 1A01h Transmit PDO2 Mapping Parameter 36 112 12 1F50h Download Program Area 36 1F51h Program Control 37 Tab 17 Object Dictionary 1000h 1FFFh Version 07 10 BEI Sensors CANopen Manual serie M 25 5 3 Manufacturer specific objects 2000h 5FFFh Object Description Page Hand Book 2000h Position Value 37 2100h Operating Parameters 37 2101h Resolution per Revolution 31 2102h Total Resolution 38 2103h Preset Value 39 2104h Limit Switch min 40 2105h Limit Switch max 40 2160h Customer Storage 41 2200h Cyclic Timer 41 2300h Save Parameter with reset 41 3000h Node Number 42 3001h Baudrate 42 3002h Terminal Resistor 42 3010h S
23. ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE USER MANUAL Main Features Compact and heavy duty industrial design CANopen CAN Housing 58 mm Solid hollow shaft 6 or 10mm4 15mm amp Max 65536 steps per revolution 16 Bit Max 16384 revolutions 14 Bit Code Binary Interface Velocity and Acceleration Output Mechanical Structure Version 07 10 Aluminium flange and housing Stainless steel shaft Precision ball bearings with sealing or cover rings Code disc made of unbreakable and durable plastic CANopen Programmable Parameters Direction of rotation complement Resolution per revolution Total resolution Preset value Two limit switches and eight cams Baud rate and CAN identifier Transmission mode Polled mode cyclic mode sync mode Layer Setting Services Electrical Features Temperature insensitive IR opto receiver asic with integrated signal conditioning Connection cap Status indication with two LEDs Polarity inversion protection Over voltage peak protection BEI Sensors CANopen Manual serie M Table of Contents General Security Advise 4 About this Manual eene 4 1 Introduction uunesnnnnensnnnennnnnnnnnnnnnnnnnnnnennnnnnnnn 5 1 1 General CANopen Information 5 2 Installation uunnennsnnnnennnnnennnnnnnennnnnnnnnnnnnennnn nn 7 2 1 Connection via Connection Cap
24. ANopen interface 4 1 Operating Modes 4 1 1 General The encoder accesses the CAN network after preoperational mode Pre operational mode powerup in pre operational mode entails reduced activity on the network which BootUp Message 700 hex Node Number simplifies the checking of the accuracy of the sent received SDOs It is not possible to send or It is recommended that the parameters can be receive PDOs in pre operational mode changed by the user when the encoder is in 4 1 2 Mode Preoperational To set a node to pre operational mode the master must send the following message Identifier Byte 0 Byte 1 Description Oh NMT PreOp all nodes Oh 80 h NN NMT PreOp NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to pre operational mode The pre operational mode can be used for configuration purposes in this state no Proces Data Objects PDOs can be sent by the encoder 4 1 3 Mode Start Operational To put one or all nodes in the operational state the master have to send the following message Identifier Byte 0 Byte 1 Description Oh NMT Start all nodes Oh 01h NN NMT Start NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to operational mode This mode is used for normal operation and the encoder can provide the position value as PDO Version 07 10 BEI Sensors CANopen Manual serie M 17 4 1 4 Mode Stopped To put one or
25. BEI Sensors CANopen Manual serie M 14 3 Technical Data In the following section you will find general with slightly different technical datas For details technical datas for absolute rotary encoders with please refer to the corresponding datasheet of CANopen interface There are several version the used encoder Electrical Data Interface Transceiver according ISO 11898 galvanically isolated by opto couplers Transmission rate max 1 MBaud Device addressing Adjustable by rotary switches in connection cap Supply voltage 10 30 V DC absolute limits Current consumption max 230 mA with 10 V DC max 100 mA with 24 V DC Power consumption max 2 5 Watts Step frequency LSB 800 kHz Accuracy of division t LSB 12 bit 2 LSB 16 bit EMC Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 Electrical lifetime gt 10 h Absolute rotary encoders should be connected only to subsequent electronics whose power supplies comply with EN 50178 protective low voltage Tab 6 Electrical Data Mechanical Data Flange Synchro S Clamp C Hollow shaft Blind Hollow shaft B T hollow shaft depth min max Beer 15 mm 30 mm 15 mm Tab 7 Further mechanical data Housing Aluminium optional stainless steel Dependent on shaft version and shaft loading refer to table Axial 40 N radial 110 N Lifetime Max shaft loading Inertia of rotor 30 gem Version 07 10 BEI Sensors CANopen Manual seri
26. ad is running on the device download On OPERATIONAL The device is in state OPERATIONAL Tab 3 CAN Run LED states ERR LED State Description Off No error The device is in working condition Flickering AutoBitrate LSS The auto bitrate detection is in progress or LSS services are in progress alternately flickering with run LED 1 Blinking Invalid General configuration error Configuration Single flash Warning limit At least one of the error counters of the CAN controller has reached reached or exceeded the warning level too many error frames Double flash Error control A guard event NMT slave or NMT master or a heartbeat event event heartbeat consumer has occurred Triple flash Sync error The sync message has not been received within the configured communication cycle period time out see object dictionary entry 1006n Quadruple Event timer An expected PDO has not beenreceived before the event timer flash error elapsed On Bus off The CAN controller is bus off Tab 4 CAN Error LED states Version 07 10 BEI Sensors CANopen Manual serie M 11 2 2 Installation of Connector and Cable encoders The new encoders with cable or connector exit fulfil all connection cap features like e Node Number Addressing e Baud Rate Setting e Terminal Resistor 2 2 1 Signal Assignment The BEI Sensors absolute rotary with cable and connector exit were designed in accordance to CiA normative DR303 1 Cabeling and
27. ailable for an Optocode absolute rotary encoder The CA encoder supports the manufacture specific warning Bit 12 Object 6507h Profile and software version This object provides the implemented encoder device profile version and the manufacturer specific software version Subindex Description Data Type Default Value Access Restore after BootUp Oh Profile and Software Version Unsigned 32 04040302h The value is divided into the profile version part and the Software version part Each part is divided in upper version and lower version MSB LSB Software Version 4 4 Profile Version 3 2 Upper Software Version Lower Software Version Upper Profile Version Lower Profile Version Object 6508h Operating time This object indicates the operating time of the device Currently the operating time is not supported and the value of this object will always be FFFFFFFFh Subindex Description Data Type Default Value Access Restore after BootUp Oh Operatiung time Unsigned 32 FFFFFFFFh Version 07 10 BEI Sensors CANopen Manual serie M 55 Object 6509h Offset value This object contains the offset value It is been calculated by the preset function and shifts the physical position value with the desired value Subindex Description Data Type Default Value Access Restore after BootUp Oh Offset value Integer 32 ro Object 650Ah Module identification This object shall provide the manufacturer specific offs
28. all nodes in the stopped state the master have to send the following message Identifier Byte 0 Byte 1 Description Oh NMT Stop all nodes Oh NMT Stop NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to stop mode 4 1 2 Reinitialization of the Encoder If a node is not operating correctly it is advisable to carry out a reinitialization NN Command Index Description Oh Oh NN node number Reset Communication Reset Node It is possible to set all nodes Index 0 or a single node Index NN in reset mode After reinitialization the encoder accesses the bus in pre operational mode 4 2 Normal Operating Polled Mode By a remote transmission request telegram the connected host calls for the current process value The encoder reads the current position value calculates eventually set parameters and sends back the obtained process value by the same identifier Cyclic Mode The encoder transmits cyclically without being called by the host the current process value The cycle time can be programmed in milliseconds for values between 1 ms and 65536 ms Sync Mode After receiving a sync telegram by the host the encoder answers with the current answering again Tab 11 CAN Transmission Mode Description Version 07 10 BEI Sensors CANopen Manual serie M 18 process value If more than one node number encoder shall answer after receiving a sync telegram the answer te
29. ault Value Access Restore after BootUp Oh Preset Value Unsigned 32 yes Object 6004h Position value This object contains the process value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Version 07 10 BEI Sensors CANopen Manual serie M 45 Hardwired with Object 2000h Object 6030h Speed Value This object contains the speed value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 1h Speed value channel1 Integer 16 o eme yes If the velocity exceeds the data type the speed value is frozen to the maximal possible value The customer can use the 3010h 32 bit object How to map the speed into TPDO2 Hint SDO 0x600 Node number The following values are all in hex and the Nodenumber is 1 DLC Data length 8 22 means write This example is written in intel format LSB MSB depending on your tool it could be that Motorola format MSB LSB is used and the direction of the Bytes have to be changed 1 The TPDC2 has to be enabled by setting the Transmission type 1801Sub2 to FE 601 8 22 01 18 02 FE 00 00 00 2 The Event Timer has to be changed from 0x00 to the desired value e g 100 ms gt 0x64 601 8 22 01 18 05 64 00 00 00 3 The TPDO mapping Parameter 0 1A01 has to be dissabled by setting the Number of entries 1A01Sub0 to 0 601 8 22 01 1A 00 00 00 00 00 4 The
30. bindex Description Data Type Default Value Access Restore after BootUp rer _ 1 Transmission Mode The transmission mode can be configured as described below Transfer Transmission Mode Value Cyclic Acyclic Synchro Asynchr RTR Notes ee jme m 0 Pp fey xt NE Send PDO on first Sync message following an event 1 240 PF xX X J Send PDO every x Sync messages ee 241 251 reserved 252 Lo eal Receive SYNC message and send PDO on Remote Request 253 mE Update data and send PDO on Remote Request Inhibit Time 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 and 255 to avoid overloads on the CAN bus Event Timer The event timer only works in asynchronous transmission mode transmission mode 254 and 255 Ifthe data changes before the event timer expires a temporary telegram is sent If a value gt 0 is written in this Version 07 10 BEI Sensors CANopen Manual serie M 34 16 bit field the transmit PDO is always sent after the event timer expires The value is written in subindex 5 of a transmit PDO The data transfer also takes place with no change to data The range is between 1 65536 ms
31. connector pin assignment Signal 5 pin round connector pin 9 pin D Sub connector open cable number male female pin number Signal CAN Ground green 24 V supply voltage white OV supply voltage brown CAN High yellow CAN Low pink Tab 5 Signal Assignment Connector Cable 5 pin M12 connector female male 9 pin D Sub connector 3 Ax 4 RAN T 2 2 1 2 e e 1 mu Version 07 10 BEI Sensors CANopen Manual serie M 12 2 2 2 Setting Node Number If the device has a connector a cable exit or the BCD rotary switch in the connection cap is set to 9 the node number has to be set via SDO objects An advantage of setting the node number via software is that the whole CANopen Object 3000h Node Number Subindex Description 0 Node Number Data Type node number span from 1 to 127 can be addressed The default node number is 32 To set node number object 3000h has to be written For further information regard chapter 5 5 Object Dictionary Default Value Access Restore after BootUp Unsigned 8 NOTE To avoid the node number 0 one will be added to the value of this object E g 1Fh 1h 20h 32 dec Setting Node Number via LSS If the device has a connector a cable exit or the BCD rotary switch in the connection cap is set to 9 the node number can be adjusted via Layer 2 2 3 Setting Baud Rate If the device has a connector a cable exit or the BCD rotary switch in the connec
32. de guarding protocol Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 8 0 rw yes Object 1010h Store Parameters This object is used to store device and CANopen related parameters to non volatile memory Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 1 Store all parameters Unsigned 32 Storing procedure To save the parameters to non volatile memory the access signature save has to be sent to the corresponding subindex of the device Most significant word Least significant word ASCII E v a S Hex value 65h 76h 61h 73h Object 1011h Restore Parameters This object is used to restore device and CANopen related parameters to factory settings Subindex Description Data Type Default Value Access Restore after BootUp Version 07 10 BEI Sensors CANopen Manual serie M 30 0 Number of sub indices Unsigned 8 1 Restore all parameters Unsigned 32 load rw Storing procedure To save the parameters to non volatile memory the access signature load has to be sent to the corresponding subindex of the device Most significant word Least significant word ASCII D a o Hex value 64h 61h 6Fh 6Ch Note The restoration of parameters will only be taken into account after a power up or reset command Please check all parameters before you store them to the non volatil
33. e If a CANopen device is connected and configured by the turning switches with the right baudrate and also configured to a unused node number it will start up into the pre operational mode and send a bootup massage to the master The RUN LED of the device is now blinking 5 1 1 Set Encoder Preset Value Master to Encoder with Node Number 1 Setting Preset Value Value 1000 Identifier DLC Command Index Subindex Service Process data 8 22 03 60 00 00 10 00 601 Byte 7 00 Answer of the Encoder Identifier DLC Command Index Subindex Service Process data 8 43 03 60 00 00 00 00 581 Byte 7 00 Read Preset Value from the Encoder Identifier DLC Command Index Subindex Service Process data 8 40 03 60 00 00 00 00 601 Byte 7 00 Answer of the Encoder Version 07 10 BEI Sensors CANopen Manual serie M 23 Identifier DLC Command Index Subindex Service Process data 8 43 03 60 00 00 10 00 581 Byte 7 00 Save Preset Values Identifier DLC Command Index Subindex Service Process data 8 22 10 10 01 73 61 76 601 Byte 7 65 Version 07 10 BEI Sensors CANopen Manual serie M 24 5 2 Communication Profile DS301 specific objects from 1000h 1FFFh In this manual we refer to the communication profile DS301 V4 02 Object Description Page Page Page Hand DS301 DS406 Book 1000h Device type 28 86 8 1001h Error register 2
34. e M 15 Friction torque RPM continuous operation Shock EN 60068 2 27 lt 3 Ncm without shaft sealing Singleturn max 12 000 RPM Multiturn max 6 000 RPM lt 100 g half sine 6 ms Permanent shock EN 60028 2 29 lt 10 g half sine 16 ms Vibration EN 60068 2 6 lt 10 g 10 Hz 1 000 Hz Weight standard version Singleturn 300 g Multiturn x 400 g Weight with connection cap Singleturn 500 g Multiturn z 700g Weight stainless steel version Singleturn 400 g Multiturn z 500 g Weight stainless steel version with Singleturn 1 100 g connection cap Multiturn 1 200 g Tab 8 Further mechanical data Minimum Mechanical Lifetime Flange C10 Clamp flange 10 x 20 10 Synchro flange 10 x 20 Lifetime in 10 revolutions with Fa F p ow qm 262 42 S6 Synchro flange 6 x 10 without shaft sealing 822 133 Tab 9 Mechanical Lifetime S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial Environmental Conditions Operating temperature Storage temperature Humidity Protection class EN 60529 Tab 10 Environmental Conditions 40 85 C 40 85 C 98 without liquid state Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Version 07 10 BEI Sensors CANopen Manual serie M 16 4 Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with C
35. e memory Object 1012h COB ID Time Stamp Object This object contains the COB ID of the Time Stamp object Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 100h rw no Object 1013h High Resolution Time Stamp This object contains a time stamp with a resolution of 1us Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 O rw no Object 1014h COB ID Emergency Object This object contains the EMCY emergency message identifier Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 80h Node ID rw no Version 07 10 BEI Sensors CANopen Manual serie M 31 Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms The device can only monitor one corresponding device If the time is set to 0 the monitoring is not active The value of this object must be higher than the corresponding time object 1017 of the monitored device Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of indices Unsigned 8 1h Consumer heartbeat time Unsigned 32 O rw yes The context of subindex 1 is as follows Bit 31 to 24 23 to 16 15100 Address of monitored Monitoring time ms Value Oh reserved device Object 1017h Producer Heartbeat Time The object contains the time intervall in milliseconds in
36. ector The dimensions of encoder housing in the versions cable exit 12 pin circular connector connector from clamp flange are also valid for the synchro flange Blind shaft B Cable exit cable diameter 8 mm or 5 pin M12 connector NNI EZ an Momentenst tze lay on edge torque support Anlagekante Max W 30 Min W 2 15 Welleneinstecktiefe hollow shaft depth Single Turn 72mm Multi Turn 81mm Mounting instructions The clamp ring should only be tightened if the shaft of the driving element is inserted into the hub shaft The diameter of the hollow shaft can be reduced to 12mm 10 mm or 8 mm by using an adapter Axial static dynamic 0 1 mm this reducing adapter can be pushed into the hollow shaft Maximum shaft movements of the drive element are listed in the table Radial 0 5mm 0 2 mm Heavy Duty version with solid shaft Clamp flange as well as synchro flange with 10mm shaft available M4x6 30 Singleturn 45 Multiturn 69 N H 58 Heavy Duty version with blind shaft Maximum shaft movements of drive element Axial Radial are listed in the table SIE 0 5mm dynamic 0 1 mm 0 2 mm Singleturn 66 Multiturn 90 an Momentenst tze Anlagekante Max Welleneinstecktiefe 30 Min Welleneinstecktiefe
37. encoders are connected using a reduction gear The first stage supplies the resolution per turn the stages behind supply the number of turns There are several types of encoder versions Please refer to the datasheets to find out which is the best version for your application 1 1 General CANopen Information The CANopen system is used in industrial applications It is a multiple access system maximum 127 participants which means that 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 BEI Sensors CANopen Manual serie M 5 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 Layer Setting Services LSS e Predefined messages synchronization emergency message
38. er delivery Please check the restored parameters before you store them to the non volatile memory slave capability by a CANopen device with LSS master capability via the CAN network In case of the new series the encoder will be the LSS slave device and the PLC control has to support LSS master device functionality The LSS functionality of the new series is limited to the following parameters of the application layer namely node number and baud rate BEI Sensors CANopen Manual serie M 20 Object 1018h Identity Object LSS address Subindex Description Vendor ID Revision Number 0 o qmm m f 3 4 Data Type Default Value Access Restore after BootUp Number of entries Unsigned 8 Mo ro no UE 32 m Unsigned 32 10000h no Serial Number Unsigned 32 Pt no Tab 13 Identity Object The LSS master device requests services that are performed by the encoder LSS slave devices The LSS master device requests the LSS address from the LSS slave device The LSS address is defined in object 1018h Identity Object it consists of vendor id product code revision number and serial number as shown in Version 07 10 Table 10 After receiving this information the control can unequivocally identify the encoder and the node number and baud rate can be set The exact procedure varies in detail coursed by the different PLC tools BEI Sensors CANopen Manual serie M 21 5 Programmable Parameters Objec
39. ere pen in LH ted et aep debe tcl cet bee 11 Tab 5 Signal Assignment Connector Cable essen mener nennen 12 Tab 6 Electrical Dat c ee een se usb been fun 15 Tab 7 Further mechanical data een ee een nun anna tie desde ees 15 Tab 8 Further mechanical data e nen seen en dede dee na erede deron 16 Tab 9 Mechanical Lifetime 2 en ee en ans Hesse 16 Tab 10 Environmental Conditions uusssrsnsnenesnnnnennnnnnnenennnnn nennen enne nennen enne enne en eere nnns 16 Tab 11 CAN Transmission Mode Description sssseseeee emm enne 18 Tab 12 List of Storable Parameters ssssssssssssseeene eene eene ener en nere enne inneren nennen 19 Tab 13 Identity ObJect 2c erae ER er EP RI RU ERR T 21 Tab 14 General Command Byte Description esssssseeeeeeeen een nennen enne 22 Tab 15 Detailed Command Byte Description ssseseeeeeeene emm eene eee 22 Tab 16 Overview Object Dictionary enm eene eren nn e enne enne nennen 23 Tab 17 Object Dictionary 1000h 1FFFh ssssessssssseeesesenenener enne nnne rennen enr nnns ense nennen nennen 25 Tab 18 Object Dictionary 2000 5F FF nee Eee reae unen ere engeren 26 Tab 19 Object Dictionary 6000h 6FFFh sssssssseeeseen eene nennen nnnm nennen nnne entere enne 27 Tab 20 Delay and accuracy RR RII egeta nieto E Seas sleet 42 Tab 21 Ms E OElrie
40. esolution of the encoder a SDO Out of range message is generated Bit 30 2 1 Limit Switch Min reached or passed under Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch min Unsigned 32 O w O yes The limit switch Min sets Bit 30 1 with the next message telegram if the process value reaches or passes under the value of the limit switch Status Function bits Process value Bit 31 30 29282726252423222120 19418171615444342411109 87654321 0 O 1 XXXXXXXXXXXXXXXXXXXXXXXXXXXXXxmx Object 2105h Limit Switch max Two position values can be programmed as limit switches By reaching this value one bit of the 32 bit process value is set to high Both programmed values must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Bit 31 1 Limit Switch Max reached or passed beyond Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch max Unsigned 32 Oo rw yes The limit switch max sets Bit 31 1 with the next message telegram if the process value reaches or passes under the value of the limit switch Version 07 10 BEI Sensors CANopen Manual serie M 39 Status Function bits Process value o N O c1 A
41. essage sent via the CAN network Resistor terminating the main segments of the bus Network management object This is used to configure the parameters of each layer in the CAN Master Active device within the network that can send data without having received a request It controls data exchange and communication management Network management object This is responsible for managing the execution configuration and errors in a CAN network Node number Process Value Communication object with a high priority for sending process data Preset Value Configuration value Read Only Parameter that is only accessible in read mode Read Only MAPable Parameter that can be polled by the Read Write Parameter that can be accessed in read or write Version 07 10 BEI Sensors CANopen Manual serie M 74 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 The encoders are always slaves WO Write Only Parameter that is only accessible in write mode Version 07 10 BEI Sensors CANopen Manual serie M 75 Appendix D List of tables Tab 1 Signal Assignment Connection Cap ssssssssese eene enne nennen nennen nennen 7 Tab 2 Baud rate Assignment Connection Cap sse eene nennen nnne rennen 10 Tab 3 CAN Run LED st tes 2 a rk nam DIR 11 Tab 4 CAN Error LED states ipe d e
42. et value the manufacturer specific minimum and maximum position value Subindex Description Data Type Default Value Access Restore after BootUp Object 650Bh Serial number This object contains the serial number of the device The serial number is also supported in object 1018h subindex 4h Subindex Description Data Type Default Value Access Restore after BootUp Oh Serial Number Unsigned 32 See type sign Version 07 10 BEI Sensors CANopen Manual serie M 56 6 Troubleshooting 6 1 Power on Encoder doesn t respond Problem The bus transmitted no boot up message is active but the installed encoder Possible solution Switch of the PLC remove the connection cap of the encoder check the turn switch for the baud rate Assemble the connection cap power on 6 2 Malfunction of the position value during transmission Problem During the transmission of the position value occasional malfunction occurs The CAN bus can be temporary in the bus off state also Possible solution Check if the last bus node has switched on the terminal resistor If the last bus node is an encoder the terminal resistor is situated in the connection cap 6 3 Too much ERROR Frames Problem The bus load is too high in case of too much error frames Possible solution Version 07 10 Check if all bus node has the same baud rate If one node has another baud rate error frames are produced automatically
43. from the cable gland Remove 55 mm of the sheath and 50 mm of the shielding About 5 mm of the wires should be de isolated Put screw and sealing on the cable The cone should be mounted under the shielding according to the figure 3 Put the whole cable into the cable gland and tighten the screw 2 1 2 Bus Termination in Connection Cap If the encoder is connected at the end or beginning of the bus the termination resistor must be Switched on The termination resistor is switched on when the switch is in the ON position Separation of Bus In and Bus Out signals if termination resistor is activated There is a resistor provided in the connection cap which must be used as a line termination on the last device Resistor RT Ry ON ON Last Device Device X BEI Sensors CANopen Manual serie M 8 2 1 3 Setting Node Number in Connection Cap The setting of the node number is done by turning the BCD rotary switches in the connection cap Possible valid addresses lie between 0 and 89 whereby every address can only be used once Two LEDs on the backside of the connection cap show the operating status of the encoder BCD coded rotary switches Device address 0 89 x1 Setting CAN node number x10 Address reserved 90 99 xBd Setting of the baud rate The CANopen Encoder adds AN internal 1 to the adjusted device address To set the node number the customer can easily remove the connection cap
44. ile for configuration purposes in the PLC with the new encoder and no errors will occur Merely the enhanced functions like velocity and acceleration output will not be available In case for unexpected problems there is the possibility to set the CA encoder in a compatibility mode that will restore the old C2 C5 behavior There are the following procedures to set this mode e Manual with the BCD switch in the connection cap o Remove cap from encoder o Set node number 97 o Reconnect connection cap gt Both LEDs will glow in red o Remove connection cap again and set back to the needed node number o Reconnect connection cap gt C2 C5 Behavior e Via Software o Set object 3030h subindex 1h to ONE via SDO commando o Hard or Software RESET CA00 Type key Nr type key old type key new comment 1 58XX XXXX XBA1C203PG 58XX XXXX XBB1C203PG encoder CAN 2 AH58 CA 3PG X wildcard for various designs Version 07 10 AH58 B1CA 3PG connection cap CAN BEI Sensors CANopen Manual serie M 69 Version history connection cap In particular the design of the connection cap is improved Easier installation due to a new type of screw terminals inside of the connection cap On the back of the connection cap two multi color LEDs are implemented for easy diagnosis The terminal resistor is hooked up via a slide Switch Thus continuative bus connection will be cut off The localisation of accidentall
45. ing without Reset By using the object 1010h from the communication profile related object dictionary Storing with Reset By using the object 2300h from the manufacturer specific object dictionary you can store the parameters into the non volatile memory After 4 4 Restoring Parameters The default parameters can be restored by using the object 1011h from communication profile related object dictionary The already in the non volatile memory programmed parameters are not overwritten Only after a new store command the default parameters are stored in the non volatile memory To restore the default 4 5 Usage of Layer Setting Services LSS The integrated Layer Setting Service functionality is designed according to the CiA normative DS305V200 CANopen Layer Setting Service General Description These services and protocols can be used to inquire or to change settings of several parameters of the physical data link layer and application layer on a CANopen device with LSS Version 07 10 by the parameter memory transfer The stored parameters are copied after a RESET Power on NMT Reset from the E PROM to the RAM volatile memory you can store the parameters into the non volatile memory without a reset storing the parameters a reset of the device is performed parameter the following telegram is used The restored parameters are equal for every type of CANopen encoder and might not fit with the status aft
46. ject 3021h Acceleration Value Object 3030h C2 C5 Behawvior Object 4000h Bootloader Control Object 6000h Operating parameters Object 6001h Measuring units per revolution 45 Object 6002h Total measuring range in measuring units 45 Object 6003h Preset value sssssss 45 Object 6004h Position value 45 Object 6030h Speed Value 46 Object 6040h Acceleration Value 47 Object 6200h Cyclic timer eee eee 48 Object 6300h Cam state register 48 Object 6301h Cam enable register 48 Object 6302h Cam polarity register 48 Object 6400h Area state register 51 Version 07 10 Object 6401h Work area low limit 52 Object 6402h Work area high limit 52 Object 6500h Operating status 52 Object 6501h Single turn resolution 53 Object 6502h Number of distinguishable revolutions euet aaa eges 53 Object 6503h Alarms sene 53 Object 6504h Supported alarms 54 Object 6505h Warnings eeesssss 54 Object 6506h Supported warnings 55 Object 6507h Profile and software version
47. ject at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which describes the device profile that is used and a second 16 bit field which gives additional information about optional functionality of the device The additional information parameter is device profile specific Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 N A ro no absolute rotary encoder single turn 10196h absolute rotary encoder multi turn 20196h Version 07 10 BEI Sensors CANopen Manual serie M 27 Object 1001h Error Register This object is used by the device to display internal faults When a fault is detected the corresponding bit is therefore activated The following errors are supported Bit Description Comments 0 Generic Error The generic error is signaled at any error situation Subindex Description Data Type Default Value Access Restore after BootUp Oh Unsigned 8 N A ro no Object 1003h Pre Defined Error Field The object holds the errors that have occurred on the device and have been signaled via the Emergency Object e The error code is located in the least significant word e Additional Information is located in the most significant word e Subindex 0 contains the number of recorded errors Subindex Description Data Type Default Value Access Restore after BootUp 2 Second to last error Unsigned 32 no 10 Clearing E
48. legrams of the nodes will be received by the host in order of their node numbers The programming of an offset time is not necessary If a node should not answer after each sync telegram on the CAN network the parameter sync counter can be programmed to skip a certain number of sync telegrams before 4 3 Storing Parameter 4 3 1 List of storable Parameter Object Index Object Description 1005h COB ID Sync 100Ch Guard Time 100Dh Life Time Factor 1016h Consumer Heartbeat Time 1017h Producer Heartbeat Time 1020h Verify configuration 1800h Communication parameter PDO 1 1801h Communication parameter PDO 2 1A00h Transmit PDO1 Mapping Parameter 1A01h Transmit PDO2 Mapping Parameter 2100h Operating Parameters 2101h Resolution per Revolution 2102h Total Resolution 2103h Preset Value 2104h Limit Switch min 2105h Limit Switch max 2160h Customer Storage 2200h Cyclic Timer 3000h Node Number 3001h Baud rate 3002h Terminal Resistor 3030h C2 C5 Behavior 6000h Operating Parameter 6001h Steps per Revolution 6002h Total Resolution 6003h Preset Value 6200h Cyclic Timer Tab 12 List of Storable Parameters Version 07 10 BEI Sensors CANopen Manual serie M 19 4 3 1 Storing Procedure The parameter settings can be stored in a non volatile E7PROM The parameter settings are stored in RAM when being programmed When all the parameters are set and proved they can be transferred in one burn cycle to the E PROM Stor
49. mand reset node and reset communication is sent to the encoder Handling of spare parts Boot up message new encoder and old connection cap To use the new encoder generation as spare part for the old encoder generation the new encoder recognize the old connection cap type and support the specification DS301 V3 0 automatically as well as the appropriate boot up message Changing of the default BootUp message of the B1 version To get the same boot up behavior of the old encoder generation if you use the new encoder generation and the new connection cap type there will be following solution The needed protocol type will be activated via a defined device address Please use the following configuration sequence 1 Setting the needed address s table below 2 Connect the connection cap to the encoder Switch on supply voltage Wait until both LEDs are red Switch off supply voltage Remove connection cap na a Oo Set up the correct device address 0 89 8 Connect the connection cap to the encoder 9 Switch on supply voltage normal operation Profile according C2 encoder protocol DS301 V3 0 protocol DS301 V4 0 address 97 address 98 address 99 Version 07 10 BEI Sensors CANopen Manual serie M 71 Beside the set up via hardware there is also the possibility to set up the protocol via SDO objects For further information please refer the manual Version
50. n Description Shaft Coupling Drilling 10 mm 10 mm Drilling 6 mm 6 mm Drilling 4 mm 11 mm Clamp Disc Set 4 pieces Clamp Ring Set 2 pieces Reducing Ring 15 mm to 12 mm Reducing Ring 15 mm to 10 mm Reducing Ring 15 mm to 8 mm Version 07 10 BEI Sensors CANopen Manual serie M 67 Appendix B History and Compatibility History encoder generations This chapter gives you information about older types of absolute rotary encoder with CANopen interface Technical changes and compatibilities between the different types are specified Encodergeneration Optocode Since September 2009 the second CANopen encoder generation namely OPTOCODE II replaces the OPTOCODE encoders To guarantee conformity to CiA standard the encoders had to be changed in a way that they are not fully compatible to the old types anymore Overview of the incompatibilities e LED behaviour e Object 1802h second TPDO e Object 1000h Device Type is not 196h e Restore command e BCD switch position 9 in the connection cap 3 2 Boot up time The encoder line needs less time to send the Boot Up message after switching on old series new series Ca 3000ms Ca 250 ms Version 07 10 3 3 Object 1802h In the past the second PDO could be parameterised by the object 1801h and 1802h This is not consistent with the CiA standards and will be ended with the new encoder line This means in the future the second PDO can onl
51. n GA Total resolution customer parameter AU Resolution per revolution customer parameter Please use the following formula to calculate the total resolution of the encoder GA POGA AU apa k PON k ganze Zahl PAU GA If the desired resolution per revolution is less than the really physical resolution per revolution of the encoder then the total resolution must be entered as follows Total resolution Calculation example GA 16777216 2048 Customer handicap AU 2048 4096 GA 8388608 Encoder type sign PGA 24 bit PAU 12bit Object 2103h Preset Value The preset value is the desired position value which should be reached at a certain physical position of the axis The position value is set to the desired process value by the parameter preset The preset value must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Subindex Description Data Type Default Value Access Restore after BootUp 0 Preset Value Unsigned 32 Oo rw yes Version 07 10 BEI Sensors CANopen Manual serie M 38 Object 2104h Limit Switch min Two position values can be programmed as limit switches By reaching this value one bit of the 32 bit process value is set to high Both programmed values must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total r
52. n the dissabled TPDO mapping Parameter 0 Subindex 1 namely mappedObj1 can be written The Speed values is Object 6030Sub1 and the data length is 16Bit gt 10 601 8 2201 1A 01 10 01 30 60 Version 07 10 BEI Sensors CANopen Manual serie M 46 5 The TPDO mapping Parameter 0 1A01 has to be enabled by setting the Number of entries 1A01Sub0 to 1 again 601 8 22 01 1A 00 01 00 00 00 6 Finally the Speed has to be enabled by setting Enable Speed 3010Sub1 601 8 22 10 30 01 01 00 00 00 7 To save this configuration please write 73 61 76 65 to 1010 601 8 22 10 10 01 73 61 76 65 8 Send the NMT message to get into Operational Mode 00 2 01 00 Summarisation 601 8 22 01 18 02 FE 00 00 00 601 8 22 01 18 05 64 00 00 00 601 8 22 01 1A 00 00 00 00 00 601 8 2201 1A 01 10 01 30 60 601 8 22 01 1A 00 01 00 00 00 601 8 22 10 30 01 01 00 00 00 601 8 22 10 10 01 73 61 76 65 00 2 01 00 Object 6040h Acceleration Value This object contains the acceleration value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 1h Acceleration value channel1 Integer 16 o eme yes Version 07 10 BEI Sensors CANopen Manual serie M 47 Object 6200h Cyclic timer This object contains the value of the event timer of the corresponding TPDOs The value can be changed between 1 65538 ms Subindex Description Data Type Default Value Access Restore after BootUp
53. nnector pin assignment DR303 3 CANopen indicator specification DS305V200 CANopen Layer Setting Service DS306V1R3 Electronic datasheet specification DS406V32 Device Profile for Encoders Measuring System The measuring system consists of a light source a code disc pivoted in a precision ball bearing and an opto electronic scanning device A LED is used as a light source which shines through the code disc and onto the screen behind The tracks on the code disk are evaluated by an opto array behind the reticle With every position another combination of slashes in the reticle is covered by the dark spots on the code disk and the light beam on the photo transistor is interrupted That way the code on the disc is transformed into electronic signals Fluctuations in the intensity of the light source are measured by an additional photo transistor and another electronic circuit compensates for these After amplification and conversion the electronic signals are available for evaluation Single Turn Single turn encoders specify the absolute position for one turn of the shaft i e for 360 Version 07 10 After one turn the measuring range is completed and starts again from the beginning Multi Turn Linear systems normally need more than one turn of a shaft A single turn encoder is unsuitable for this type of application because of the additional requirement of the number of turns The principle is relatively simple Several single turn
54. ntrol The acceleration measurement is disabled by default Data Type Default Value Access Restore after BootUp Subindex Description Version 07 10 BEI Sensors CANopen Manual serie M 42 Oh Number of sub indices Unsigned 8 JR 1h Enable Acceleration Unsigned 8 Yes 2h Acceleration modus Unsigned 8 yes Object 3021h Acceleration Value This object contains acceleration value Subindex Description Data Type Default Value Access Restore after BootUp Zn al Acceleration modus setting Delay msec Accuracy steps sec 0 40 1 024 1 120 512 2 750 128 Tab 21 Delay and accuracy Object 3030h C2 C5 Behavior This object allows to switch back in an backward compatibility mode To switch back the security code 47111147h has to be written to Subindex Oh After this the Subindex 1h Enable C2 C5 Behavior can be written to ONE This modus should only be used for fully compatible replacement of C2 or C5 encoders For further information concerning compatibility have a look at Apendix B Subindex Description Data Type Default Value Access Restore after BootUp Oh Security code Unsigned 32 47111147h 1h Enable C2 C5 Behavior BOOL yes Object 4000h Bootloader Control This object controls the Bootloader functionality Writing the security code to this object causes erasing the EEPROM and application information in the flash memory and resets the device After a power up the Bootloader checks the
55. o 12mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Version 07 10 9659 20 20 Schl sselweite wrench size 17 Allowed shaft movements of the drive element are listed in the table axial radial static 0 5 mm dynamic t 0 1 mm t 0 2 mm BEI Sensors CANopen Manual serie M 59 Connection cap AH58 B1CA 1BW 5pin round connector M12 Micro style 66 860 Version 07 10 BEI Sensors CANopen Manual serie M 60 Synchroflange S Two versions available Synchroflange d mm I mm Cable exit cable diameter 8 mm Version S06 Version S10 10ng 20 942 28 L 3xM4x6 use S iH Puy 1 33 25 L 30 Clampflange C10 Single Turn 53mm Cable exit cable diameter 8 mm Multi Turn 62mm or 5 pin M12 connector Pd 3xM4x6 3xM3x6 a 058 953 3x12 25 30 Version 07 10 BEI Sensors CANopen Manual serie M 61 Clampflange C 9 pin D Sub connector Single Turn 53 Multi Turn 62 8 a es 3xM4x6 T 1 T 18 UNC 4 40 y E S SI 8 amp x Y i 113 BIE L Single Turn 53mm Multi Turn 62mm and 5 pin Synchroflange S 9 pin conn
56. peed Control 43 3011h Speed Value 43 3020h Acceleration Control 43 3021h Acceleration Value 44 4000h Bootloader Control 44 Tab 18 Object Dictionary 2000 5FFF 5 4 Application specific objects 6000h 67FEh In this manual we refer to the communication profile DS406 V3 2 Object Description Page Page Hand Book DS406 6000h Operating Parameters 45 17 6001h Measuring units per revolution 46 18 6002h Total measuring range in measuring units 46 19 6003h Preset value 46 19 6004h Position Value 46 20 6030h Speed Value 47 25 6040h Acceleration Value 48 26 6200h Cyclic Timer 49 28 Version 07 10 BEI Sensors CANopen Manual serie M 26 6300h Cam state register 49 30 6301h Cam enable register 49 32 6302h Cam polarity register 49 33 6400h Area state register 52 6401h Work area low limit 53 6402h Work area high limit 53 6500h Operating status 53 63 6501h Single turn resolution 54 64 6502h Number of distinguishable revolutions 54 65 6503h Alarms 54 65 6504h Supported alarms 55 66 6505h Warnings 55 67 6506h Supported warnings 56 68 6507h Profile and software version 56 69 6508h Operating time 56 70 6509h Offset value 57 70 650Ah Module identification 57 71 650Bh Serial number 57 72 Tab 19 Object Dictionary 6000h 6FFFh 5 5 Object Descriptions In the following chapter you will find detailed information of the object dictionary related to the encoderdevice Object 1000h Device Type The ob
57. ram control Unsigned 8 an ro yes entries Sub index 1h and higher control the memory block functionality They can have the following values for writing 1 start downloaded program 4 erase flash Object 2000h Position Value This object contains the position value Subindex Description Data Type Default Value Access Restore after BootUp 0 Position Value Unsigned 32 o 0 1 Object 2100h Operating Parameters As operating parameters the code sequence Complement can be selected and the limit switches can be turned on or off Subindex Description Data Type Default Value Access Restore after BootUp 0 Operating Parameters Unsigned 8 yes The parameter code sequence Complement determines the counting direction in which the output process value increases or decreases CW Clockwise CCW Counterclockwise The code sequence is determined by Bit 0 in Index 2100h Additionally the two limit switches Min and Max can be turned on or off in Index 2100h Optional an event triggered PDO can be activated Remark This function produces a Version 07 10 BEI Sensors CANopen Manual serie M 36 PDO with every change of the position value Due to this there will be generated a large amount of PDOs and a heavy bus load BitO Code Code Bit1 Limit switch Bit2 Limit switch Bit3 Event triggered sequence min max PDO 0 CW increasing O off 0 off 0 off 1 CCW increasing 1 on 1 on 1 on
58. rder Key Version 07 10 BEI Sensors CANopen Manual serie M 65 Connection caps All connections caps are equipped with a switchable terminal resistor integrated T coupler for CAN bus lines BCD switches to adjust baudrate and node number as well as LEDs for diagnosis Description Aluminium housing with three M12 cable glands for cable diameters between 6 5 9 mm Stainless steel housing with three M12 cable glands Aluminium housing with one 5 pin male M12 connector Aluminium housing with on 5 pin male M12 connector and one 5 pin female M12 connector Aluminium housing with two M20 cable glands for cable diameter between 9 13 mm Models Ordering Description for Heavy Duty Version Description Optocode Interface Version Code Revolutions Bits Steps per revolution Flange Shaft diameter Mechanical options Connection Type key MHM5 MHK5 CA A1 CANopen CA A1 Binary Singleturn Multiturn 4096 revolutions Multiturn 16384 revolutions 4096 8192 65536 Clamp flange Synchro flange Blind shaft 10 mm MHM5 15 mm Hollow shaft MHK5 without Customized 1x 5 pin M12 connector male 1x 5 pin M12 connector female venting element 00 12 14 12 13 16 C S B 10 15 H C 1x 5 pin M12 connector male venting element Tab 23 Order Key for Heavy Duty encoders Version 07 10 BEI Sensors CANopen Manual serie M 66 PRN PRM Accessories and documentatio
59. rror Log The error log can be cleared by writing 0 to subindex 0 of object 1003 Object 1005h COB ID Sync This object contains the synchronization message identifier Version 07 10 BEI Sensors CANopen Manual serie M 28 Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 80000080h rw no Object 1008h Manufacturer Device Name This object contains the device name Subindex Description Default Value Restore after BootUp Data Type Access Object 1009h Manufacturer Hardware Version This object contains the article name of the circuit board Subindex Description Data Type Default Value Access Restore after BootUp 0 String ro no There are two actual version of circuit boards e POS026 Object 100Ah Manufacturer Software Version This object contains the manufacturer software version The new encoder line 2008 starts with version 4 00 Subindex Description Data Type Default Value Access Restore after BootUp 0 String 4 00 ro no Object 100Ch Guard Time This object contains the guard time in milliseconds Version 07 10 BEI Sensors CANopen Manual serie M 29 Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 16 O rw yes Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard time gives the life time for the no
60. s The absolute rotary encoder supports the following operating modes e Polled 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 2 1 Other functions offset values resolution etc can be configured The absolute rotary encoder corresponds to the class 2 encoder profile DS 406 in which the characteristics of encoder with CANopen interface are defined The node number and speed in bauds are determined via rotary switches The transmission speed can range from 20kBaud up to 1Mbaud 1Mbaud 30m cable for a maximum speed of 1Mbaud 1000 m cable for a maximum speed of 10 kbaud Various software tools for configuration and parameter Version 07 10 setting are available from different suppliers It is easy to align and program the rotary encoders using the EDS electronic data sheet configuration file provided Further CAN information is available at CAN in Automation CiA International Users and Manufacturers Group e V Kontumazgarten 3 DE 90429 Nuremberg www can cia org Reference CAN Application Layer for Industrial Applications CiA DS201 207 V1 1 CAL based Communication Profile for Industrial Systems CiA DS301 CANopen Application Layer CiA DS406 Device Profile for
61. solute rotary encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Single Turn Resolution Unsigned 32 see type sign Object 6502h Number of distinguishable revolutions This object contains number of revolutions of the absolute rotary encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of Revolutions Unsigned 16 see type sign Object 6503h Alarms Additionally to the emergency messages in CiA301 this object shall provide further alarm messages An alarm shall be set if a malfunction in the encoder could lead to incorrect position value If an alarm occurs the according bit shall indicate the alarm til the alarm is cleared and the encoder is able to provide an accurate position value Subindex Description Data Type Default Value Access Restore after BootUp Bit structure of the alarms Bit 15 14 13 12 11 10 19 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R R R R R R R CD PE Table Description MS Manufacturer Specific Alarm not supported R Reserved for future use CD Commissioning diagnostic control not supported PE Position Error not supported Version 07 10 BEI Sensors CANopen Manual serie M 53 Object 6504h Supported alarms The object shall provide the supported alarms of the device Please refer to the bit structure table to find more details about the supported alarms Subindex Description Data Type Defa
62. tion cap is set to 9 the baud rate has to be adjusted via SDO objects The default baud rate is 20 kBaud To set baud rate object 3001h has to be written For further information please regard chapter 5 5 Object Dictionary Eight different baud rates are provided To adjust the baud rate only one byte is used Object 3001h Baudrate Subindex Description Data Type Setting Services LSS For further information regard chapter 4 5 Baudrate in kBit s Byte Default Value Access Restore after BootUp Version 07 10 BEI Sensors CANopen Manual serie M 13 Setting Baud Rate via LSS If the device has a connector a cable exit or the Setting Services LSS The default baud rate is BCD rotary switch in the connection cap is set to 20 kBaud For further information regard chapter 9 the node number can be adjusted via Layer 4 5 2 2 4 Switching the integrated Bus Terminal Resistor Object 3002h Terminal Resistor This object allows the control of an internal terminal resistor This resistor can be switched galvanically isolated via an a Photo MOS relay Subindex Description Data Type Default Value Access Restore after BootUp If an encoder with connector or cable is used last device in the bus the user can set object there is the possibility to set a termination 3002h to one and the internal termination will resistor inside the encoder If the encoder is the be switched on Version 07 10
63. ts are based on the CiA 406 DS V3 2 CANopen profile for encoders www can cia org Command Function Telegram Description 22h Domain Download Parameter to Encoderr Parameter to Encoder Bytes 23h 27h 2Bh 2Fh Domain Download Request m indicated 60h Domain Download Parameter received 40h Domain Upload Parameter request Parameter to Master Bytes 43h 47h 4Bh 4Fh Domain Upload Reply M indicated 80h Reply Transmission error The value of the command byte depends on the data length of the called parameter Tab 14 General Command Byte Description Command Data length Data type Command Data length Data type Tab 15 Detailed Command Byte Description Object Dictionary Version 07 10 BEI Sensors CANopen Manual serie M 22 The data transmission according to CAL is realized Index hex Object exclusively by object oriented data messages The 0000 not used objects are classified in groups by an index record 9997 901F Static Data Types Each index entry can be subdivided by sub indices 9990 903F Complex Data Types The overall layout of the standard object dictionary is 0040 005F 0060 0FFF 1000 1FFF 2000 5FFF 6000 9FFF A000 FFFF Manufacturer Specific Data Types SNOWN Dede Reserved for further use Communication Profile Area Manufacturer Specific Profile Area Standardized Device Profile Area Reserved for further use Tab 16 Overview Object Dictionary 5 1 Programming example Preset Valu
64. ult Value Access Restore after BootUp Oh Supported Alarms Unsigned 16 1000h The CA encoder supports the position error alarm Object 6505h Warnings This object shall provide the warnings Warnings indicate that tolerance for certain internal parameters of the encoder have been exceeded In contrast to alarm and emergency messages warnings do not imply incorrect position values All warnings shall be cleared if the tolerances are again within normal parameters Subindex Description Data Type Default Value Access Restore after BootUp Bit structure of the warnings Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R R R RP BC OT CP LC FE Table Description MS Manufacturer Specific Warnings not supported R Reserved for future use RP Reference Point reached not reached not supported BC Battery charge not supported OT Operating Time limit not supported CP CPU watchdog status not supported LC Light control reserve not supported FE Frequency warning not supported Version 07 10 BEI Sensors CANopen Manual serie M 54 Object 6506h Supported warnings The object provides the supported warnings of the device Please refer to the bit structure table to find more details about the supported warnings Subindex Description Data Type Default Value Access Restore after BootUp Oh Supported Warnings Unsigned 16 1000h Currently there are not supported warnings av
65. umber 0 one will be added to the value of this object E g 1Fh 1h 20h 32 dec Object 3001h Baudrate This object contains the baudrate of the device Subindex Description Data Type Default Value Access Restore after BootUp Eight different baud rates are provided To adjust the baud rate only one byte is used Baudrate in kBit s Byte 20 00h 50 01h 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h Object 3002h Terminal Resistor This object allows the control of an internal terminal resistor This resistor can be switched galvanically isolated via a Photo MOS relay Version 07 10 BEI Sensors CANopen Manual serie M 41 Data Type Default Value Access Restore after BootUp Subindex Description Object 3010h Speed Control This object contains the speed control The speed measurement is disabled by default Default Value Access Restore after BootUp Subindex Description Data Type Oh Number of sub indices Unsigned 8 1h Enable Speed Unsigned 8 yes 2h Speed modus Unsigned 8 yes Object 3011h Speed Value This object contains speed value Data Type Default Value Access Restore after BootUp Oh Speed value INTEGER32 oo fromap Subindex Description Speed modus setting Delay msec Accuracy steps sec relative 0 5 32 3 5 1 50 16 1 0 2 500 8 0 3 Tab 20 Delay and accuracy Object 3020h Acceleration Control This object contains the acceleration co
66. y be parameterised via object 1801h New versions C6 CA Mode COB ID CiA Conform 1800h PDO1 Asynchronous 180h 1801h PDO2 Cyclic 280h 1802h PDO3 Optional Cyclic 380h not used in C6 Old versions C2 and Mode COB ID C5 1800h PDO1 Asynchronous 180h 1801h PDO2 Cyclic Not used 1802h PDO2 Optional Cyclic 280h used in C2 C5 3 4 Objekt 1000h Device Type is not 196h Object 1000h contains a coded description of CAN devices Until now 196h was written to all encoder types According to the standards singleturn and multiturn must be distinguished BEI Sensors CANopen Manual serie M 68 e Singleturn gt 10196h e Mutliturn gt 20196h 3 5 Restore Command In the past the restore command set the encoder to customised default values The restore command sets the encoder to BEI Sensors default values which are defined in the user manual Communication parameters like node number and baud rate are not restored 3 6 Connection Cap BCD switch setting 9 The former undefined BCD switch setting 9 in the connection cap is used to set the encoder in a mode that ignores the switch setting for baud rate and node number The parameters can be modified by SDO messages and LSS only 3 7 C2 C5 Work around With little limitations the new encoder line will be compatible to the current version It will be possible to use the old EDS f
67. y switched on terminal resistors wil be made easier The device address and the baudrate will be adjusted via BCD switches This made the installation easier Changes of the CANopen protocol The following changes have not be relevant to you because only specific function according to the newest CANopen specification DS 301 V4 0 are not supported anymore or are new implemented If your application don t use this function there will be no problem Changes of entries in object dictionary Relevant changes applies to the boot up message as well as some entries in the CANopen object index not used by the common user A complete list of these objects you can find in the following table object nr comment CANopen profile CANopen profile hex DS301 V3 0 DS301 V4 0 58XX XXXX XBA1C203PG 58XX XXXX XBB1C203PG 1004 Number of PDOs supported according to DS301 V4 0 not supported supported anymore 100B Node ID supported according to DS301 V4 0 not supported anymore 100E COB ID Guarding supported according to DS301 V4 0 not protocol supported anymore 1016 Consumer heartbeat reserved supported time 1017 Producer heartbeat reserved supported time 1018 Identity Object reserved supported Changing transmit PDO communication parameter In the new encoder generation the polling isn t supported anymore if the PDO is disabled According to CANopen specification DS301 V4 0 it is necessar
68. y to set the cyclic time object Version 07 10 entry 2200h to 0 and left the PDO switched on to poll the encoder Important If the PDO is switched off no communication is possible BEI Sensors CANopen Manual serie M 70 Polling in Pre Operational state The old generation has accepted polling requests in pre operational state but wasn t correct according to CANopen standard In the manual for the old encoder was a hint that the polling request is not allowed in pre operational state because it is not defined in the CANopen standard So be aware that the new encoder is in general not accepting poll requests in pre operational state independent of configuration of the behavior as new or old encoder Changes in boot up sequence If the old encoder generation is connected to the supply voltage or a NMT message reset node reset communication is sent to the encoder a boot up message appears The telegram structure looks like this identifier 80hex node number data length 0 bytes This message was not defined by the specification DS301 V3 0 but vendor specific used by some manufactures to show that the device is alive According to DS301 V4 0 the new rotary encoder generation doesn t support this message anymore In place of the old message a common valid boot up message is defined The structure looks like this identifier 700hex node number data length 1 byte This boot up message also appears if the com

ABSOLUTE ROTARY ENCODER WITH CANOPEN

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