Manual Absolute Photoelectric Encoders with
Contents
1. Polling in Pre Operational state The old generation has accepted polling requests in pre operational state but wasn t correct ac cording to CANopen standard In the manual for the old encoder was a hint that the polling re quest 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 preoperational 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 message reset node reset communication is sent to the encoder a boot up message appears The telegram struc ture 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 05301 V4 0 the new rotary encoder generation doesn t support this message any more In place of the old message a common valid boot up message is defined The structure looks like this identifier 700 node number data length 1 byte This boot up message also appears if the command reset node and communication is sent to the encoder Handling of spare parts Boot up message new encoder and old bus cover To use the new encoder g2. 47 Handling Of Spare paris es 47 Changing of the default BootUp message of the B1 version 47 Used symbols This symbol warns the user of potential danger Nonobservance may lead to personal injury or death and or damage to property Warning This symbol warns the user of potential device failure Nonobservance may lead to the complete failure of the device or other devices connected p Attention This symbol calls attention to important notes r e JPEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document DOCT 011 4B Part No xxxxxx Date of issue 31 August 2012 Security advice This product must not be used in applications where safety of persons depend on the correct device function This product is not a safety device according to EC machinery directive Warning Notes These operating instructions refer to proper and intended use of this product They must be read and observed by all persons making use of this product This product is only able to fulfill the tasks for which it is designed if it is used in accordance with specifications of Pep perl Fuchs The warrantee offered by Pepperl Fuchs for this product is null and void if the product is not used in accordance with the specification
3. Bit 15 14 113 112 10 8 7 amp 5 4 2 1 0 Use MS 5 IMS IMS A IR IR IR OT 1 IFE 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 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No xxxxxx Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 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 Currently there are not supported warnings available 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 spe cific software version eubindex Description Type Value Access Resto after BootUp Profile and Software Version Unsigned 32 04040302 ro no The value is divided
4. switch Bit2 Limit switch Event triggered Sequence min 0 cw increasing 0 off 0 ott 0 1 increasing 1 on 1 on 1 on 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 0 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 0 Resolution per Revolution Unsigned 32 seg type sign na yes If the desired value exceeds the hardware resolution of the encoder the code will not be trans mitted stepwise Soit is important to keep the parameter in the possible value range 3PEPPERL FUCHS 29 SENSING YOUR NEEDS 30 Object 2102 Total Resolution This object contains the desired total resolution of the encoder Subindex Description Data Type Default Value Access Restore 0 Total Resolution Unsigned 32 see type sign rw yes This parameter is used to program the desired number of measuring units over the total mea suring 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
5. Date of issue 31 August 2012 Object 1005h COB ID Sync This object contains the synchronization message identifier Object 1008h Manufacturer Device Name This object contains the device name Object 1009h Manufacturer Hardware Version This object contains the article name of the circuit board Object 100Ah Manufacturer Software Version This object contains the manufacturer software version Object 100Ch Guard Time This object contains the guard time in milliseconds 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 node guarding protocol Document No DOCT 0114B i Date of issue 31 August 2012 3PEPPERL FUCHS SENSING YOUR NEEDS 24 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 0 Number of sub indices Unsignada 2 no 1 Store parameters Unsigned 32 save rw Storing procedure To save the parameters to non volatile memory the access signature save has to be sentto the corresponding subindex of the device Most significant word Least significant word 5 65h 76h amp th 73h Object 1011h Restore Parameters This obj
6. 20h 32 dec Setting Node Number via LSS If the device has a cable exit BCD rotary switch in the bus cover is set to 9 the node number can be adjusted via Layer Setting Services LSS For further information see chapter 4 5 Setting Baud Rate If the device has a cable exit or the BCD rotary switch in the bus cover 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 see chapter 5 5 Object Dictionary Eight different baud rates are provided To adjust the baud rate only one byte is used Baudrato in kBil s Object 3001h Subindex Description Data Type Default Value Access Restore alter BootUp 0 Baudralo Unsignad 8 yas Setting Baud Rate via LSS If the device has a cable exit or the BCD rotary switch in the bus cover is set to 9 the node number can be adjusted via Layer Setting Services LSS The default baud rate is 20 kBaud For further information see chapter 4 5 fF PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 2 2 4 4 1 4 1 1 Switching the integrated Bus Terminal
7. JPEPPERL FUCHS 49 YOUR NEEDS Absolute Photoelectric Encoders with CANopen Interface Appendix History and Compatibility Document No DOCT 0114B Part XXXXXX Date of issue 31 August 2012 50 JPEPPERL FUCHS SENSING YOUR NEEDS Absolute Photoelectric Encoders with CANopen Interface Appendix History and Compatibility Document No DOCT 0114B Part Date of issue 31 August 2012 JPEPPERL FUCHS 51 YOUR NEEDS Absolute Photoelectric Encoders with CANopen Interface Appendix History and Compatibility Document No DOCT 0114B Part XXXXXX Date of issue 31 August 2012 3PEPPERL FUCHS SENSING YOUR NEEDS Worldwide Headquarters Pepperl Fuchs GmbH 68307 Mannheim Germany Tel 49 621 776 0 E mail info de pepperl fuchs com USA Headquarters Pepperl Fuchs Inc Twinsburg Ohio 44087 USA Tel 1 330 4253555 E mail sales us pepperl fuchs com Asia Pacific Headquarters Pepperl Fuchs Pte Ltd Company Registration No 199003130E Singapore 139942 Tel 65 67799091 E mail sales sg pepperl fuchs com www pepperl fuchs com Subject to modifications Copyright PEPPERL FUCHS Printed in Germany L _ JPEPPERL FUCHS SENSING YOUR NEEDS TDOCT 0114B ENG XXXXXX 09 2012
8. JPEPPERL FUCHS 9 SENSING YOUR NEEDS Installation 0 50 1 100 2 125 3 4 500 5 800 6 1000 7 8 Sets 500 and LSS mode 9 2 1 5 Status of the Bus Cover LEDs The LED behaviour was designed in accordance to the CiA normative DR 303 3 CANopen in dicator specification Flickering AutaBitrate LSS The auto bitrata detection is in progress or LSS services are in progress allomately flickoring with run LED device is in state PREOPERA TIONAL Single flash STOPPED The device is in stata STOPPED A software download is running on tha device download On OPERATIONAL The device is in stata OPERATIONAL 5 5 Document No DOCT 01 148 Fig 2 2 CAN Run LED states Part No XXXxxx Date of issue 31 August 2012 10 JPEPPERL FUCHS SENSING YOUR NEEDS Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 Installation 8 No armar The device is in working condition Flickering AutoBitrate LSS The auto bitrale detection is in progress LSS services are in progress allomnately flickering with run LED Blinking General configuralion error Single flash Warning limit Al least one of the error counters of the controller has reached reached or exceeded the warning level too many error frames Double flash Error control guard event NMT slave NMT master or a heartbeat avent event haartbeat consumer has occurred Triple flash Sync error Th
9. Limit Switch max Unsigned 32 0 na yes The limit switch max sets Bit 3121 with the next message telegram if the process value reaches or passes under the value of the limit switch Stalus Function bits 00055 value Bt 5 2 6 54885 444 sRPE 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 Defauit Value Access Restora after BootUp on Number sub indices Unsigned amp n ra Gustomer Storage Unsigned 32 EI Customer Storage l Unsigned 32 ah Customer Siorage3 Unsigned 32 rw Customer Storaged Unsigned 32 TW JPEPPERL FUCHS 31 SENSING YOUR NEEDS 32 Programmable Parameters Object 2200h Cyclic Timer PDO This object contains cyclic time of the event in ms of PDO 1 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 pa rameters a reset is executed Object 3000h Node Number This object contains the node number ofthe d
10. 2105h Limit Switch max 2160h Customer Storage 300111 Baud 300211 Terminal Resistor 6000h Operating Parameter 8001h Steps per Revolution 80028 Total Resolution 60031 Preset Value 4 3 1 Storing Procedure The parameter settings can be stored in a nonvolatile 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 by the parameter memory transfer Q The stored parameters are copied after a RESET Power on NMTReset from 2 to RAM volatile memory Note Storing without Reset By using the object 1010h from the communication profile related object dictionary you can store the parameters into the nonvolatile memory without a reset 3PEPPERL FUCHS 15 SENSING YOUR NEEDS 4 4 4 5 16 Storing with Reset By using the object 2300h from the manufacturer specific object dictionary you can store the pa rameters into the non volatile memory After storing the parameters a reset of the device is per formed Restoring Parameters The default parameters can be restored by using the object 1011h from communication profile related object dictionary The already in the nonvolatile memory programmed parameters are not overwritten Only after a new store command the default paramete
11. 22 iu RE E ER mE 44 Power on Encoder doesn trespond 44 Malfunction of the position value during transmission 44 Too much EHROR Frames cR ER xe xx X rece FERRE 44 3 SENSING YOUR NEEDS 6 4 6 5 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 7 10 7 11 7 12 7 13 7 14 Limit switches without 45 Encoder without bus cover 45 Appendix History and Compatibility 45 BOOPUD IO serr 45 ODIGCET802TI add 45 Objekt 1000h Device Type is not 196h 46 Restore Command OR ee eee 46 Bus Cover BCD Switch Setting 9 46 C2 C5 Work around ees 46 Version History of Bus 46 Changes of the CANopen 46 Changes of entries in object dictionary 46 Changing transmit PDO communication parameter 47 Polling in Pre Operational 1 47 Changes in boot up
12. Date of issue 31 August 2012 Object 6000h Operating parameters This object shall indicate the functions for code sequence commissioning diagnostic control and scaling function control Subindex Description Access Restore afler BootUp Default Value Operating Parameter 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 6002h are the scaling pa rameters The scaling function bit is set in the operating parameters If the scaling function bit is set to zero the scaling function is disabled Bit structure for the operating parameters Bit 15 14 13 12 111 110 17 5 13 18 1 0 Use MS MS MS MS A IR 5 60 05 Table Description MS Manufacturer Specific Function not available R Reserved for future use MD Measuring direction not available 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 h
13. Following formula letter will be used PGA Physical total resolution of the encoder see type sign PAU Physical resolution per revolution see type sign GA Total resolution customer parameter AU Resolution per revolution customer parameter Please use the following formula to calculate the total resolution of the encoder AO AU lt PAU _PGA _ k G4 integer 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 Customer handicap AU 2048 Encoder type sign 24 bit PAU 12bit 4 2 16777216 2048 4096 G 8388608 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 pre set 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 0 Preset Value Unsigned 32 0 rw yes 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 3
14. 2104h 2105h Position Total Rosotution Preset valit Lirnit Switch min OH AGE Cyclic Timer Save Parameter with reset Node Number Programmable Parameters JPEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No XXXxxx Date of issue 31 August 2012 Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 Programmable Parameters 5 4 Application specific objects 6000h 67FEh In this manual we refer to the communication profile 05406 V3 2 BOOT Measuring unsts Total measuring range in measuring units Preset value amp 040h Acceleration Value Timor amp 301h Cam enable register amp 302n Cam polarity registo amp 400n Area state amp 401h Work area low mit amp 402h Work sgh lima 6502h Humber of distinguishable revolutions amp 505h Warnings c wamings amp 507n Profile and software version 65090 Offset value fF PEPPERL FUCHS SENSING YOUR NEEDS 21 5 5 22 Object Descriptions In the following chapter you will find detailed information of the object dictionary related to the encoder device Object 1000h Device Type The object at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which describes the device pro
15. 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No xxxxxx Date of issue 31 August 2012 Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 Programmable Parameters Summarisation 60182201 18 02 FE 00 00 00 60182201 18 05 64 00 00 00 60182201 1400 00 00 00 00 60182201 01 10 01 30 60 6018 22 01 1A 00 01 00 00 00 601 22 10 30 01 01 00 00 00 60182210 10 01 73 61 76 65 00 20100 Object 6040h Acceleration Value This object contains the acceleration value of the encoder 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 The object 6200h is hard wired to the objects 1800h subindex 5h and 2200h and provide the cy cle 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 Object 6301h Cam enable register This object contains the cam enable register 3PEPPERL FUCHS 37 38 Programmable Parameters Object 6302h Cam polarity register This object contains the cam enable register List of CAM objects amp 310h 631111 63121 amp 314h 315h 631711 Cami low l
16. In previous encoder series the second PDO was configured with object 1802 Note Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices rained B yes 2 Transmission Unsigned 8 rw yes E Inhibit Time Unsigned 32 0 yes Not available Transmission Mode The transmission mode can be configured as described below Transfer Transmission Mode Send PDO on first Sync message follewiang event i240 X Send PDO every x Sync messages 241 251 reserved 252 Receive SYNC message and send PDO on Remote Request 253 Update daia and send PDO on Remote Request 254 x Send PDO on event 255 Send POO on event 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 If the data changes before the event timer expires a temporary telegram is sent If a value gt 0 is written in this 16 bit field the transmit PDO is always sent after the eve
17. Resistor Object 3002h Terminal Resistor This object allows the control of an internal terminal resistor This resistor can be switched gal vanically isolated Photo MOS relay Subindax Terminal resistor BOOL If an encoder with cable is used there is the possibility to set a termination resistor inside the coder If the encoder is the last device in the bus the user can set object 3002h to one and the internal termination will be switched on Default Value Access Resiora alter BooiUp Technical Data There is alarge variety of absolute rotary encoders with photoelectric sampling For detailed and complete technical data of your specific encoder please refer to the data sheet on http www pepper fuchs com Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary en coder with CANopen interface Operating Modes General The encoder accesses the CAN network after powerup in pre operational mode BootUp Message 700 hex Node Number It is recommended that the parameters can be changed by the user when the encoder is in pre operational mode Pre operational mode entails reduced activity on the network which simpli fies the checking of the accuracy of the sent received SDOs It is not possible to send or receive PDOs in pre operational mode Pre operational Mode set anode to pre operational mode the master must send the
18. be possible to use the old EDS file for configuration purposes in the PLC with the new en coders 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 encoder in a compatibility mode that will restore the old C2 C5 behavior There are the following procedures to set this mode Manually with the BCD switch in the bus cover Remove bus cover from encoder Set node number 97 Reconnect bus cover gt Both LEDs will light up red Remove bus cover again and set back to the needed node number Reconnect bus cover gt C2 C5 Behavior Via Software 1 Set object 3030h subindex 1h to ONE SDO command 2 Hard or Software RESET p Version History of Bus Cover In particular the design of the bus cover is improved Easier installation due to a new type of screw terminals inside of the bus cover On the back of the bus cover two multicolor 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 accidentally 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 functi
19. because of the additional requirement of the number of turns The principle is relatively simple Several single turn encoders are connected using a reduction gear Thefirst 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 General CANopen Information 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 de vice checks whether the bus is free and if it is the device is able to send messages If two de vices try to access the bus at the same time the device with the higher priority level lowest ID number has permission to send its message Devices with the lowest priority level must delay their data transfer and wait before retrying 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 pri ority of the message consists of a function code and a node number The node number corre sponds to the network address of the device It is unique on a bus The function code varies according to the type of message being sent Management messages LMT NMT Messaging and service 5005 Data exchange PDOs Layer S
20. following message node number It is possible to set all nodes Index 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 Ob jects PDOs can be sent by the encoder Mode Start Operational To put one or all nodes in the operational state the master have to send the following message Identifier Byta Bylo 1 Deseription th NMT Start all nodes Oh 01h NN NMT 5S1art node numba It is possible to set all nodes Index 0 or a single node Index NN to operational mode This J3PEPPERL FUCHS 13 SENSING YOUR NEEDS 4 2 14 Configuration mode is used for normal operation and the encoder can provide the position value as PDO Stopped Mode To put one or all nodes in the stopped state the master have to send the following message It is possible to set all nodes Index 0 or a single node Index NN to stop mode Reinitialization of the Encoder If anode is not operating correctly it is advisable to carry out a reinitialization 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 Normal Operating Polled Mode By a remota transmission request telegram the connected host calls for the current process Value The encoder reads the current position value calculates eve
21. into the profile version part and the Software version part Each part is divid ed in upper version and lower version MSB LSB Software 4 4 Profle Version 3 2 Lower Profile Version Upper Software Version Lower Soltware Version Upper Profile Version 104 04 03 02 Object 6508h Operating time This object indicates the operating time of the device Currently the operating time is not support ed and the value of this object will always be FFFFFFFFh Operatiung time 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 after CH Offset value Integer 32 Tro JPEPPERL FUCHS 43 SENSING YOUR NEEDS 6 2 6 3 44 Object 650Ah Module identification This object shall provide the manufacturer specific offset value the manufacturer specific min imum and maximum position value Subindex Description Data Type Default Value Access Restore after BoolUp on Highest supported subimndex Integer 32 3 ro no 1h Manufacturer offset value Integer 32 ro no eh Man min position value Integer 32 no anh Man position value Integer 32 ro no Object 650Bh Serial number This object contains the serial number of the device The serial
22. number is also supported in ob ject 1018h subindex 4h cubindex Restore afer BoolUp Detault Value Serial Number Unsigned 32 type sign ro Troubleshooting Power on Encoder doesn t respond Problem The bus is active but the installed encoder transmitted no boot up message Possible solution switch of the PLC remove the bus cover of the encoder check the turn switch for the baud rate Assemble the bus cover power on BE 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 en coder the terminal resistor is situated in the bus cover Too much ERROR Frames Problem The bus load is too high in case of too much error frames Possible solution Check if all bus node has the same baud rate If one node has another baud rate error frames are produced automatically 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No XXXxxx Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 6 4 6 5 T 1 7 2 Limit switches without function Problem The encoder didn t transmit the bits for the limit switches Possible solution The li
23. ro no The LSS master device requests services that are performed by the encoder LSS slave devic es The LSS master device requests the LSS address from LSS slave device The LSS ad dress is defined in object 1018h Identity Object it consists of Vendor ID Product Code Revision Number and Serial Number as shown in table above 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 JPEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No xxxxxx Date of issue 31 August 2012 Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 5 5 1 Programmable Parameters Programmable Parameters Objects are based on the CiA 406 DS V3 2 CANopen profile for encoders www can cia org Telegram Description pessum ees n Parameter To Encoder carica amd Pro x 43 47h 488 Domain Upload 2 E armor HM G C Ln Object Dictionary The data transmission according to CAL is realized exclusively by object oriented data messag es The objects are classified in groups by an index record Each index entry can be subdivided by sub indices The overall layout of the standard object dictionary is shown below Index 000
24. 1 August 2012 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 resolution of the en coder a SDO Out of range message is generated Bit 30 1 Limit Switch Min reached or passed under sSubindex Description Data Type Default Value Access Restore atter BootUp 0 Limit Switch min Unsigned 32 0 TW yes The limit switch Min sets 30 41 with the next message telegram if the process value reaches or passes under the value of the limit switch Function Process value 32221 5 Object 2105h Limit Switch 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 en coder a SDO Out of range message is generated Bit 31 1 Limit Switch Max reached or passed beyond 4 X Subindex Description Data Type Default Value Access Restore after
25. 1 001 Static Da 2020 0053 Ampak 3040 0515 T Specibc Data Types BOO 8F F Device Prof 00 usa Programming example Preset Value 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 Set Encoder Preset Value Master to Encoder with Node Number 1 Setting Preset Value Value 1000 3PEPPERL FUCHS SENSING YOUR NEEDS 17 AN Interface Programmable Parameters Save Preset Values wis ees wa ba res IE jm pm jj Document No DOCT 01 14B Part No Date of issue 31 August 2012 3PEPPERL FUCHS SENSING YOUR NEEDS Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 5 2 Programmable Parameters Communication Profile DS301 specific objects from 1000h 1FFFh In this manual we refer to the communication profile 05301 4 02 Object 100011 1001h 1003 Com Description Device type Prades d eror held SYNC message JPEPPERL FUCHS SENSING YOUR NEEDS 19 20 210th 2102h
26. DO can only be parameterised via object 1801h versns CA Mode C2 COB ID 5 Conform 1800h Asynchronous 180 ioh Asynchronous 1801h PDO 2 Cyclic used 180211 Optional Cyclic 380h nol used in Heh __ Optional Cyclic 280h used in 521155 3PEPPERL FUCHS 45 SENSING YOUR NEEDS T 3 7 4 7 5 7 6 7 7 7 8 7 9 46 Objekt 1000h Device Type is not 196 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 Singleturn gt 10196h Mutliturn gt 20196h Restore Command In the past the restore command setthe encoder to customised default values The restore com mand sets the encoder to Pepperl Fuchs default values which are defined in the user manual Communication parameters like node number and baud rate are not restored Bus Cover BCD Switch Setting 9 The former undefined BCD switch setting 9 in the bus cover is used to set the encoder into a mode that ignores the switch setting for baud rate and node number The parameters can be modified by SDO messages and LSS only C2 C5 Work around With little limitations the second encoder generation will be compatible to the current version It will
27. FACTORY AUTOMATION Absolute Photoelectric Encoders with CANopen Interface CANopen fF PEPPERL FUCHS SENSING YOUR NEEDS c 1020 69 90 LO LOOM ON Document DOCT 011 4B Part No xxxxxx Date of issue 31 August 2012 2 1 2 1 1 2 1 2 2 1 3 2 1 4 2 149 2 2 2 2 1 2 2 2 2 2 3 2 2 4 4 1 4 1 1 4 1 2 4 1 3 4 1 4 4 1 5 4 2 4 3 4 3 1 4 4 4 5 5 5 1 5 1 1 5 2 5 3 5 4 5 5 6 6 1 6 2 6 3 3PEPPERL FUCHS INTOGUCHON 6 General CANopen Information 0 6 lic cii 7 Connection via BUS cover ees 7 MNS ed i rts Se rat cee oe a wr Some Sexes gee 7 Connecting up the bus cover with cable 8 Setting Node Number in Bus 9 Setting Baudrate in Bus es 9 Status of the Bus Cover 058 10 Installation of Encoders with Cable Exit 11 Signal Assignment A gt 11 setting Node NUIiDBl u a d CR Pee UR RH in 12 Setting Baud tcc TM 12 Sw
28. ardwired 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 3ubindex Description Data Type Default Value Access Restore Oh Measuring units per revolulion Unsigned 32 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 Default Value Access Hestore after Total measuring steps Unsigned 32 see type sign 3PEPPERL FUCHS 35 SENSING YOUR NEEDS 36 Object 6003h Preset value This object indicates the preset value for the output position value Subindex Description Data Type Detault Value Access Resior afer Oh Presat Value Unsigned 32 01 rw yes Object 6004h Position value This object contains the process value of the encoder Subindex Description Data Type Deetault Value Access Restor BoolUp oh Process Value Unsigned 32 yas Hardwired with Object 2000h Object 6030h Speed Value This object contains the speed value of the encoder Subindex Default Value Access Hestore after Data Type Number of sub indices Unsigned8 1h speed value channel Integer 16 If the velocity exceeds the
29. ble to provide an accurate position value Subindex Description Data Type Default Value Access Restore after Oh Alarms Unsigned 16 fF PEPPERL FUCHS 41 SENSING YOUR NEEDS 42 Bit structure of the alarms Bit 15 14 113 112 11 10 l 8 6 5 4 3 2 1 10 Use MS MS IR IR IR IR Table Description MS Manufacturer Specific Alarm not supported Reserved for future use CD Commissioning diagnostic control not supported PE Position Error not supported Object 6504h Supported alarms The object shall provide the supported alarms of the device Please refer to the bit structure ta ble to find more details about the supported alarms Subindex Description Data Type Default Value Access Restore alter oh Supported Alarms Unsigned 16 10001 The CA encoder supports the position error alarm Object 6505h Warnings This object shall provide the warnings Warnings indicate that tolerance for certain internal pa rameters 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 cubindex Description Type Value Access Restore after Oh Warnings Unsigned 16 no Bit structure of the warnings
30. 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 TPDO2 has to be enabled by setting the Transmission type 18015402 to FE 601 8 22 01 18 02 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 en tries 1A01Sub0 to 0 601 8 2201 1 00 00 00 00 00 4 Then the dissabled TPDO mapping Parameter 0 Subindex 1 namely mappedObj1 can be written The Speed values is Object 6030Sub1 and the data length is 1681 gt 10 601 8 22 01 1A 01 1001 30 60 5 The TPDO mapping Parameter O 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 Tosave this configuration please write 73 61 76 65 to 1010 601 822 10 1001 73 61 76 65 8 Send the NMT message to get into Operational Mode 00 2 01 00
31. e sync message has not been received within the configured communication cycle period time 522 object dictionary ontry 10065 Quadruple An expected PDO has not beenreceived before the event timer flash error elapsed On The controller 15 bus off Fig 2 3 CAN Error LED states 2 2 Installation of Encoders with Cable Exit The encoders with cable exit fulfil all bus cover features like Node Number Addressing Baud Rate Setting Terminal Resistor 22 1 Signal Assignment The Pepperl Fuchs absolute rotary with cable exit were designed in accordance to CiA norma tive DR303 1 cabeling assignment 2 Powersu il CAN Tow amp 5 GANground H 7 green yellow Ground connection of encoder housing JPEPPERL FUCHS 11 2 2 2 2 2 3 12 Setting Node Number If the device has a cable exit or the BCD rotary switch in the bus cover 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 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 see chapter 5 5 Object Dictionary Object 3000h Node Number Subindax Description Data Typo Default Value 0 Node Number Unsigned 8 1 Eg 1
32. ect is used to restore device and CANopen related parameters to factory settings Number of sub indices Unsigned Restore all parameters Unsigned Storing procedure To save the parameters to non volatile memory the access signature load has to be sentto the corresponding subindex of the device O 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 non volatile memory Object 1012h COB ID Time Stamp Object This object contains the COB ID of the Time Stamp object Subindex fiption Data Type Detauit Value _ Access Restore afer Unsigned 32 100h 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No xxxxxx Date of issue 31 August 2012 Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 Object 1013h High Resolution Time Stamp This object contains a time stamp with a resolution of 1 5 Object 1014h COB ID Emergency Object This object contains the EMCY emergency message identifier Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time ms The device can only monitor one corresponding device If the time is set to the monitoring is not active The value of this object must be higher than the correspond
33. eneration as spare part for the old encoder generation the new encoder recognize the old bus cocer type and sup ports 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 gen eration and the new bus cover type there will be following solution The needed protocol type will be activated via a defined device address Please use the follow 3PEPPERL FUCHS 47 SENSING YOUR NEEDS 48 Appendix History ing configuration sequence 1 Setting the needed address see table below 2 Connect the bus cover to the encoder 3 Switch on supply voltage 4 Wait until both LEDs light up red 5 Switch off supply voltage 6 Remove bus cover 7 Set up the correct device address 0 89 8 Connect the bus cover to the encoder 9 Switch on supply voltage gt Normal operation Beside the set up via hardware there is also the possibility to set up the protocol via SDO ob jects For further information please refer the manual JPEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No XXXxxx Date of issue 31 August 2012 Absolute Photoelectric Encoders with CANopen Interface Appendix History and Compatibility Document No DOCT 0114B Part Date of issue 31 August 2012
34. etting Services LSS e Predefined messages synchronization emergency messages 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 2 1 1 The absolute rotary encoder supports the following operating modes Polled mode The position value is only sent 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 was received The position value is sent every n SYNCs gt 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 ro tary switches The transmission speed can range from 20 kbaud up to 1Mbaud 30 m cable for a maximum speed of 1 Mbaud 1000 m cable for a maximum speed of 20 kbaud Various software tools for configuration and parameter 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 on the Pepperp Fuchs internet page www pepperl fuchs com Further information is available at CAN in Automation CiA Internatio
35. evice The Pepperl Fuchs standard node number is 32 NOTE To avoid the node number 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 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Programmable Parameters Object 3002h Terminal Resistor This object allows the control of an internal terminal resistor This resistor can be switched gal vanically isolated a Photo MOS relay Object 3010h Speed Control This object contains the speed control The soeed measurement is disabled by default Object 3011h Speed Value This object contains speed value Object 3020h Acceleration Control This object contains the acceleration control The acceleration measurement is disabled by de fault Document No DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 JPEPPERL FUCHS 33 SENSING YOUR NEEDS 34 Object 3021h Acceleration Value This object contains acceleration value Subindex Description Data Type Default Value Access Restore after Oh Acceleration Value INTEGER32 AcomMerabon madus setting Delay msec Accuracy steps secz 0 10 1 120 512 2 750 4128 Object 3030h C2 C5 Behavior This object allows to switch back in an backward compatibility mode To swi
36. file that is used and a second 16 bit field which gives additional information about optional functionality of the device The additional information pa rameter is device profile specific Subindex Description Data Type Default Value Access Restore afier Unsigned 32 r n Absolute rotary encoder single turn 10196h Absolute rotary encoder multi turn 20196h Object 1001h Error Register This object is used by the device to display internal faults When a fault is detected the corre sponding bit is therefore activated The following errors are supported Generic Error The generic error is sxynaled at error situation Data Type Default Value Access Restore afer BootUp no Unsigned B 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 the most significant word Subindex 0 contains the number of recorded errors Subindex Description Data Type Default Value Access Restore afer BootUp unsigned Mast recent errors Unsignad 32 ro Second to last error Unsigned 32 Clearing Error Log The error log can be cleared by writing to subindex 0 of object 1003 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No
37. h limit This object indicates the position value at which bit 1 of the according work area state channel in object 6400h shall flag the overflow of the related work area Subindex Description Data Type Detault Value Access Restore after 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 in ternal programmed parameters Subindex Description Data Type Defaut Value Access Restore after BootUp oh Opening sa Wem s The operating status object corresponds to the value of the object 6000h and 2100h Object 6501h Single turn resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder Subindex Data Type Default Value Access Restore afer 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 Restore afer BootUp on Number of Revolutions Object 6503h Alarms Additionally to the emergency messages in CiA301 this object shall provide further alarm mes sages 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 en coder is a
38. igned 8 o 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 fF PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 Object 2000h Position Value This object contains the position value Subindex Description Data Type Default Value Access Restore after BoolUp 0 Position Value Unsigned 32 ro Object 2100h Operating Parameters As operating parameters the code sequence Complement can be selected and the limit switch es can be turned on or off Subindex Data Type Default Value Access Aestore alter BootUp 0 Operating Parameters Unsigned Oh rw yes The parameter code sequence Complement determines the counting direction in which the output process value increases or decreases CW Clockwise Counterclockwise The code sequence is determined by 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 acti vated Remark This function produces a 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 Code Code
39. imit F m AR Hafest sabindoxsupparod Th fw ____ Ur Hest sab index suppored m camzewwwcwwen s gest sabindx sunpored 8 o qw NN Oh AR Hojessubmiersuyorei 8 m WAR eam ow it chamne w C 1 1 m WAR EM bow limit M 3 12 VAR _ Care ow jene o VAR_ Fighest subinder suppored 86 ari tow it canary __ w m e Gh ppusisubdorspond 08 0 VAR Gam igh iitchanett ow 3 high limit 3PEPPERL FUCHS SENSING YOUR NEEDS Ox 1 ox 1 Oxi 0 1 0 1 Document DOCT 01 14B Part No xxxxxx e 31 August 2012 Date of issu Document DOCT 0114B Part No xxxxxx 31th August 2012 of issu Date 63271 earh m pum Dum e Ue o vai chet ighest sabindex supported 08 jo ih m VAR Highestsub indexsupported oe 4 1 m _ VAR Game high limit channel Re ii AR ea et oh VAR ghesisubindexsuppoied 08 o ean yrs ____ 81 VAR Highest sub
40. index 108 S __ 1 th 18 m channi jw I cepe LEE uo JPEPPERL FUCHS SENSING YOUR NEEDS Ox 1 x 1 x1 0 1 0 1 0 1 39 40 Programmable Parameters 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 out of range Position between and high Position of range refer 10 module identification object 650 11 is reached range avertiow No range ovarfiow Posi amp on is lower than the position value set in object Position is higher than the position value set in object e401h work area high limit Object 64011 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 excesses awe ho nteger This object is hardwired with 2104h Limit Switch Min 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 Object 6402h Work area hig
41. industrial applications with CANopen interface The products are fully compliant with DS301V402 CANopen Application Layer DR303 1 Cabeling and connector 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 cov ered 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 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
42. ing time object 1017 of the monitored device Object 1017h Producer Heartbeat Time The object contains the time intervall in milliseconds in which the device has to produce the a heartbeat message 3PEPPERL FUCHS 25 SENSING YOUR NEEDS 26 Programmable Parameters Object 1018h Identity Object This object contains the device information For further information please see chapter 4 5 Lay er Setting Services Unsigned 32 43h 41h e n a eo Object 1020h Verify configuration This indicates the downloaded date and time Object 1029h Error behaviour This PEE indicates the error behavior Object 1800h 1 TPDO Communication Parameter This contains the communication parameter of the 1 transmit P PDO 0000 Mumberofsubindces Unsignede COB ID Unsigned 32 ID eee z memes ____ ____ yes mime _____ ___ m 3 wa s was __ e _ 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 Object 1801h 279 Communication Parameter This object contains the communication parameter of the 2 transmit PDO Q
43. itching the integrated Bus Terminal 13 Technical dure xA EE ERE RES 13 Configurallolt socesu c QUSS s 13 Operating 2 esd E DE Gn e Seek Sus sake ee 13 RT m 13 Pre operational 13 Mode Start 13 HO SC MOOG Fr 14 Reinitialization of the Encoder 14 Normal Operating sic x RAS eq mute NC RACE eases 14 Storing sux ue Ex e a a KERE 15 55111418 Procede Prep 15 Restoring Parameters 16 Usage of Layer Setting Services 55 16 Programmable 5 17 Programming example Preset 17 Set Encoder Preset Value 17 Communication Profile 05301 specific objects from 1000h 19 Manufacturer specific objects 2000h 5 20 Application specific objects 60001 67FEN 21 Object Descriptions mk Rm nom RO X RUM o de
44. mit switch functionality has to be activated once Please follow the description you can find in chapter 4 5 Encoder without bus cover Notice The changing of baud rate and node number are only valid after a new power up NMT Reset or the store parameters command Appendix 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 Encoders with photoelectric sampling Since September 2009 Pepperl Fuchs replaced the first generation of photoelectric CANopen encoders by the second generation 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 LED behaviour Object 1802h second TPDO Object 1000h Device Type is not 196h Restore command BCD switch position 9 in the bus cover Boot up time The encoder line needs less time to send the Boot Up message after switching on e first generation encoders approx 3000 ms second generation encoders approx 250 ms Object 1802h In the past the second PDO could be parameterised by the object 1801h and 1802 This is not consistent with the CiA standards and was ended with the introduction of the new encoder gen eration This means in the future the second P
45. nal Users and Manufacturers Group e V Kontumazgarten 3 DE 90429 Nurenberg 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 Encoders All datasheets and manuals can be downloaded for free from our website www We do not assume responsibility for technical inaccuracies omissions Note Specifications are subject to change without notice Installation Connection via Bus cover Signal Assignment The rotary encoder is connected with two or three cables depending on whether the power sup ply 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 3PEPPERL FUCHS 7 SENSING YOUR NEEDS Description Ground 24 V Supply voltage OV Supply voltage G CAN Ground L CAN Low H CAN High CAN Ground L CAN L w H CAN High 5 are not connected terminal resistor is Fig 2 1 Bus cover internal view and signal assignment Bus Connection The bus cover 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 b
46. nt 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 1 65536 ms fF PEPPERL FUCHS 27 SENSING YOUR NEEDS Object 1A00h 151 Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned8 2 yes ist mapped object Unsigned 32 amp 0040020h rw yes Object 1A01h 278 Mapping Parameter This object contains the mapping parameter of the 279 transmit PDO Default Value Number of sub indicas 27 mapped object Unsigned 8 Unsigned 32 Object 1F50h Download Program Area This is a special bootloader object that has functionality for single turn encoders without bus cover 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 Object 1F51h Program Control This is a special bootloader object that has functionality for single turn encoders without bus cover only see Bootloader chapter This array controls the programs residing at index Ox1F50 Subindex Description Data Type Default Value Access Restore after BootUp h Number of program control Uns
47. ntually set 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 Aher receiving a sync telegram by the host the encoder answers with the current process value mare than nade number encoder shall answer alter receiving syne telegram the answer telegrams of the nodes will received by the host in order e their node numbers The programming of an affset time is not necessary If a node should not answer after each sync telegram on the network the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document DOCT 0114B Part No xxxxxx Date of issue 31 August 2012 4 3 Configuration Storing Parameter Object Index Object Description 10051 10 5 1006 Lite Time Factor 1016h tx SUT 1017h Producer Heartbeat Time 1020h Verify configuration 1800h Communication parameter PDO 1 180111 Communication parameter PDO 2 Transmit Mapping Paramator 1AO1h Transmit PDO2 Mapping Parameter 2100h Operating Parameters 2101h Resolution Revolution 210211 Total Resolutio 2103h Preset Value 2104h Limit Switch min
48. on according to the newest CANopen specification DS 301 V4 0 are not supported anymore or are new imple mented 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 ob ject index not used by the common user A complete list of these objects you can find in the fol lowing table 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 T 10 T 11 object nr comment CANopen profile CANopen profile hex 05301 05201 V4 0 Number of PDOs according 10 DS301 V4 0 supported supported anymore l Node ID according 10 D5301 V4 0 nol supported anymore COB ID Guarding supported according to 05301 4 0 nol protocol supported anymore lime Producer heartbeat reserved supported lima 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 Ac cording to CANopen specification DS301 V4 0 it is necessary to cyclic time object entry 2200h to and left the PDO switched on to poll the encoder Important If the PDO is switched off no communication is possible
49. rs are stored in the non volatile memory To restore the default parameter the following telegram is used The restored parameters are equal for every type of CANopen encoder and might not fit with the status after delivery Please check the restored parameters before you store them to the nonvolatile mem 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 parame ters of the physical data link layer and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network In case of our photoelectric encoder 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 photoelectric en coder series is limited to the following parameters of the application layer namely node number and baud rate Object 1018h Kientity Object L amp S address Subindex Description Data Type DefauR Value Access afer BootLip Mumbo of enitrias Unsignmod B ro 7 1 Vendor ID 32 42h ro no 2 Product Code Unsigned 32 43h 41h no 3 Revision Number Unsigned 32 100001 ro no 4 Serial Number Unsigned 32
50. s for minimum length and avoid the use of intermediate terminals Shielded field bus cables shall be used The shield must be grounded according to EMI rules In metal cable ducts sufficient decoupling of signal lines from interference signal transmitting ca ble can usually be achieved with a grounded partition Einzeltelle Individual components Dientring Pi i ring am ell y e he Schirm i Braided screen geschirml e 3hielded Dom nut Setting Node Number in Bus Cover The setting of the node number is done by turning the BCD rotary switches x1 and x10 in the bus cover Possible valid addresses lie between 0 and 89 whereby every address can only be used once Two LEDs on the backside of the bus cover show the encoder s operating status BCD coded rotary switches Device address 0 89 x1 Setting CAN node number x10 Address reserved 90 99 Setting of the baud rabe O Internally the CANopen Encoder adds 1 to the adjusted device address Note To set the node number the customer can easily remove the bus cover for installation by remov ing two screws at the backside of the encoder The meaning and the positioning of the two turn switches you can see in Fig 2 1 Setting Baudrate in Bus Cover The baudrate is adjusted by one turn switch Bd in the bus cover The following baudrates are possible
51. s of Pepperl Fuchs Changes to the devices or components and the use of defective or incomplete devices or com ponents are not permitted Repairs to devices or components may only be performed by Pep perl Fuchs or authorized work shops These work shops are responsible for acquiring the latest technical information about Pepperl Fuchs devices and components Repair tasks made on the product that are not performed by Pepperl Fuchs are not subject to influence on the part of Pepperl Fuchs Our liability is thus limited to repair tasks that are performed by Pepperl Fuchs The preceding information does not change information regarding warrantee and liability in the terms and conditions of sale and delivery of Pepperl Fuchs This device contains sub assemblies that are electrostatically sensitive Only qualified specia lists may open the device to perform maintenance and repair tasks Touching the components without protection involves the risk of dangerous electrostatic discharge and must be avoided Destruction of basic components caused by an electrostatic discharge voids the warrantee Subject to technical modifications Pepperl Fuchs GmbH in D 68301 Mannheim maintains a quality assurance system certified according to 150 9001 C 1509001 JPEPPERL FUCHS 5 SENSING YOUR NEEDS 1 1 Introduction This manual explains how to install and configure the photoelectric absolute rotary encoder with CANopen interface applicable for
52. tch back the secu rity 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 re placement of C2 or C5 encoders Subindex Description Data Type Default Value Access Restore after BootUp Oh Security Unsigned 32 47111147h ih Enable G2 C5 Benavior 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 Af ter a power up the Bootloader checks the user application and detects no more information The Bootloader starts up with a pre defined CANopen node ID of 1 0x1 anda fixed CAN baud rate of 125 kbits Default Value 00 Restore BootUp 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 com munication The device does not behave like an encoder anymore and waits for new Attention programming Firmware updates have to be done in close cooperation with the CAN product mana ger of Pepperl Fuchs fF PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No XXXxxx Date of issue 31 August 2012 Document No DOCT 0114B Part No
53. us sig nals An activated bus termination resistor will lead into a separation of bus in and bus out signals Attention Connecting up the bus cover with cable glands 1 Cut off cable sheath and expose bralded screen over length of appr 10 15 mm depending onthe cable diamter Push dome nut and lamellar insert with sealing ring on to the cable Bend braided screen outwards at a right angle 90 Fold braided screen towards outer sheath i e by another 180 Push lamellar insert with sealing ring into gland body and snap anti rotation element into place 6 Screw on dome nut with 3 5 Nm gr qe Installation hints Both the cable shielding and the metal housings of encoders and subsequent electronics have a shielding function The housing must have the same potential and be connected to the main sig nal ground over the machine chassis or by means of a separate potential compensating line Potential compensating lines should have a minimum cross section of 6 mm Do not lay signal cable in the direct vicinity of interference sources air clearance 100 mm 4 in A minimum spacing of 200 mm 8 in to inductors is usually required for example in switch 3PEPPERL FUCHS SENSING YOUR NEEDS Document No DOCT 01 14B Part No Date of issue 31 August 2012 Document No DOCT 0114B Part No Date of issue 31 August 2012 mode power supplies Configure the signal line
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