RFC-4800 CANopen 2
Contents
1. D for one channel version 2 for two channel version Version 00 2014 07 Anderungen vorbehalten Specifications subject ot change 5 novoiechnik Siedle Gruppe RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual 5 3 2 Device Profile Area for one channel version default value 0x01 for one channel version not available Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 6000 operating unsigned16 rw no 0x0 This object contains the functions for parameter code sequence commissioning diagnostic control and scaling func tion control 6001 measuring units unsigned32 rw no 0x4000 Object sets the number of distin per revolution guishable steps per revolution sin gleturn resolution 6002 total measuring unsigned32 rw no 0x4000 Object sets the number of distin range in guishable steps over the total meas measuring units uring range total resolution 6010 preset value integer32 This object supports adaption of the encoder zero point to the mechanical zero point of the system 6010 0 ro no 0x02 Number of available channels 6010 1 integer32 rw no 0x0 Preset value channel 1 6010 2 integer32 rw no 0x0 Preset value channel 2 6020 position value2. To program via LSS the sensor has to be switched to LSS configuration state There are two possible ways to do so e Switch Mode Selective only the addressed CANopen device is switched to the LSS configuration state LSS requires data content in the following objects Example Vendor ID see index 1018 1 0x0182 LSS Command 0x40 Product code see index 1018 2 OxOBEO LSS Command 0x41 Rev No see index 1018 3 0x10003 LSS Command 0x42 Serial No see index 1018 4 0x12345678 LSS Command 0x43 After receiving the identification objects the encoder answers with LSS Command 0x44 COB ID DLC Rx Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 Rx 0x40 0x82 0x01 0x00 0x00 0x00 0x00 0x00 0x7E5 8 Rx 0x41 0xE0 0x0B 0x00 0x00 0x00 0x00 0x00 0x7E5 8 Rx 0x42 0x03 0x00 0x01 0x00 0x00 0x00 0x00 0x75E 8 Rx 0x43 0x78 0x56 0x34 0x12 0x00 0x00 0x00 0x7E4 8 Tx 0x44 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Version 00 2014 07 nderungen vorbehalten Specifications subject ot change 10 RFC 4800 CANopen Gebrauchsanleitung novotechnik RFC 4800 CANopen user manual Siedle Gruppe Switch Mode Global all CANopen devices supporting LSS are switched to the LSS configuration state COB ID DLC ee Command ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 Rx 0x04 0x82 0x01 0x00 0x00 0x00 0x00 0x00 When the CAN devices are in
3. default asynchronous with event timer switched off changeable to synchronous 0x1801 TPDO2 default synchronous 5 7 2 PDO Parameter Setting The contents of the encoder specific TPDOs can be configured by variable mapping according to cus tomer s requirements This mapping has to be performed for the encoder as well as for the receiver The PDO is limited to a maximum size of 8 bytes and 5 mappings per each PDO Mappable objects Index Subindex Entry Byte 0x6020 1 Position value ch 1 4 0x6020 2 Position value ch 2 0x6030 1 Speed value ch 1 0x6030 2 Speed value ch 2 0x6300 1 Cam state ch 1 0x6300 2 Cam state ch 2 0x6400 1 Work area ch 1 0x6400 2 Work area ch 2 a a po N A 0x2002 Chip temperature 0x6503 Alarms 2 0x6505 Warnings 2 Step 1 For mapping of further objects the PDO must be completely disabled and the MSB of PDO COB ID have to be set to 1 PDO Object COB ID for active PDO COB ID for disabled PDO MSB set to 1 1 0x1800 0x40000xxx OxC0000xxx 2 0x1801 0x40000xxx 0xC0000xxx Step 2 Clearing entries in mapping table of PDO1 gt subindex 0x0 of object 1A00 has to be set to 0x00 Step 3 Parameter setting of selected mappings Example A PDO can be mapped in the way that the current position the current speed and the current chip temperature are transmitted in one information without producing more than necessary bus load
4. Gebrauchsanleitung novotechnik RFC 4800 CANopen user manual Siedle Gruppe 5 CANopen This document reflects the Novotechnik sensor protocol implementation of the standard CANopen protocol A basic knowledge of the CAN Bus is required for a proper understanding of this document Most of the definitions made are according to the following CiA Standard specifications For making use of all the features that these specifications offer a knowledge about them is absolutely necessary The sensor supports the CANopen Communication profile DS 301 V4 2 0 Encoder profile DSP 406 V3 2 and Layer Setting Services LSS DSP 305 V1 1 2 5 1 EDS Files For integration in a common CANopen projecting tool electronic data sheet eds files are provided These files can be downloaded from the Novotechnik Web Site see Downloads Operating manuals where also this document can be found gt Electric data sheet see file RFC48 eds 5 2 Features 5 2 1 Basic information Vendor ID 386 0x0182 Novotechnik Product code 03040 Ox0BEO Rev No f e 65539 0x10003 see product label XXXXX 5 characters Serial No see product label B N XXXXXX YYY 6 3 characters 5 2 2 Basics based on CiA DS 301 V4 2 0 Standard 11 bit according to pre defined connection set Services COB ID NMT 0x00 SYNC 0x080 CAN Identifier EMCY 0x080 Node ID PDO1 Tx 0x180 Node ID PDO2 Tx 0x280 Node ID SDO Rx 0x600 Node ID SDO Tx 0
5. Mapping 1 current position object 0x1A00 1 size 32 bit 4 byte gt 0x20 position value object 0x6020 1 destination object size source object COB ID DLC Rx Command ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 us object object subindex subindex object object 0x600 Node ID_ 8 Rx 0x23 0x00 Ox1A 0x01 0x20 0x01 0x20 0x60 Version 00 2014 07 Anderungen vorbehalten Specifications subject ot change 13 RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual Mapping 2 current speed novoiechnik Siedle Gruppe object 0x1A00 2 size 16 bit 2 byte gt 0x10 speed value object 0x6030 1 destination object size source object COB ID DLC Rx Command ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 t object object subindex subindex object object 0x600 Node ID_ 8 Rx 0x23 0x00 0x1A 0x02 0x10 0x01 0x30 0x60 Mapping 3 current chip temperature object 0x1A00 3 size 8 bit 1 byte gt 0x08 temperature value object 0x2002 destination object size source object COB ID DLC Rx Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 ix object object subindex subindex object object 0x600 Node ID_ 8 Rx 0x23 0x00 Ox1A 0x03 0x08 0x00 0x02 0x20 Step 4 Setting entries in mapping table gt subindex 0x0 of object 1
6. Mapping logs per PDO 5 Version 00 2014 07 Anderungen vorbehalten Specifications subject ot change novoiechnik Siedle Gruppe RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual novoiechnik Siedle Gruppe 5 3 Object Library 5 3 1 Communication Profile Area based on DS 301 V4 2 0 Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 1000 device type unsigned32 const no 0x00010196 Device profile 406 multi sensor encoder interface 1001 error register unsigned8 ro no 0x00 See chapter 5 8 Error Handling 1002 manufacturer unsigned32 ro no 0 Additional manufacturer spec status status register register 1005 COB ID SYNC unsigned32 rw no 0x00000080 COB ID SYNC message CAN identifier 1008 manufacturer visible_ string const no f e RFC 4801 Device name see datasheet ordering device name 214 614 511 code 1009 manufacturer visible_ string const no f e V 1 00 Hardware version release hardware version 100A manufacturer visible_ string const no f e V 1 03 Software version release software version 100C guard time unsigned16 rw no 0x00000000 Time base in ms which gives disabled combined with 100D the time in which the response of the node guard is expected 100D life time factor unsigned8 rw no 0x00000000 The life time factor multiplie
7. accept new entries Data is being lost Reaction none 0x8120 1 0 0 0 CAN Error Passive Cause CAN controller has detected communication errors and is reporting error passive Reaction none 0x8140 1 0 0 0 CAN Recovered From Bus Off Cause CAN controller registered too many sending errors CAN communication could be restored afterwards Reaction none 0x9080 1 ch cam state Encoder CAM Cause the state of cam channel has changed State is coded ac cording to 0x6300 Reaction none 0x9090 1 ch 0 state Work Areas Cause the state of Work Area chan has changed State is coded according to 0x6400 Reaction none 5 9 Error Objects 5 9 1 Manufacturer specific Status The object 0x1002 shows the sensor status bit code and is used for internal process control purposes For servicing this information can be requested via SDO see chapter 5 6 SDO Services Bit Definition if bit value 1 16 sensor receiving process data 15 TPDO1 Event Timer Value insufficient for set CAN bit rate 6 CAN Controller Overflow 5 CAN Buffer Overflow 4 CAN Error Passive 3 CAN Bus Off 2 CAN Bus Off Timer started 0 1 NMT Condition of Sensor 11 stopped 10 operational Version 00 2014 07 Anderungen vorbehalten Specifications subject ot change novoiechnik RFC 4800 CANopen Gebrauchsanleitung novoitechnik RFC 4800 CANopen user manual Siedle Gruppe Bit Definition if bit va
8. index Example object index 0x1010 subindex 01 store all parameters 0x600 Node ID_ 8 Rx 0x23 0x10 0x10 0x01 0x73 0x61 0x76 0x65 0x580 Node ID_ 8 Tx 0x60 0x10 0x10 0x01 0x00 0x00 0x00 0x00 Example object index 0x1011 subindex 01 restore all parameters 0x600 Node ID_ 8 Rx 0x23 0x11 0x10 0x01 0x6C Ox6F 0x61 0x64 0x580 Node ID_ 8 Tx 0x60 0x11 0x10 0x01 0x00 0x00 0x00 0x00 Example object index 0x2000 subindex 01 set new node ID with 64 0x600 Node ID_ 8 Rx 0x23 0x00 0x20 0x80 0x00 0x00 0x00 0x00 0x580 Node ID_ 8 Tx 0x60 0x00 0x20 0x01 0x00 0x00 0x00 0x00 NODE ID Using writing to object 0x2000 non volatile storage has to be done by writing the save signature 0x65766173 on object 0x1010 1 These changes will become effective after a communication restart or a power up Changing the Node ID will affect all COB IDs according to the predefined connection set Example COB ID TPDO1 0x180 Node ID BIT RATE Using writing to object 0x2001 non volatile storage has to be done by writing the save signature 0x65766173 on ob ject 0x1010 1 These changes will become effective after a communication restart or a power up 5 6 2 SDO Upload The SDO upload service is used to read the parameters Command 0x40 Command 0x4_ 0x42 read command parameters from encoder read command parameter to encoder 0x43 read command 4 Byte parameter
9. settings for 4 cams for one position channel If the polarity bit is set to 1 the cam state of an active cam will signal by setting the related cam state bit to zero In the other case the cam state of the related cam will not be inverted 6302 0 ro no 0x2 Number of available channels 6302 1 unsigned8 rw no 0x0 CAM polarity channel 1 6302 2 unsigned8 rw no 0x0 CAM polarity channel 2 6310 CAM 1 low limit integer32 determines the lower limit of position for cam 1 6310 0 ro no 0x2 Number of available channels 6310 1 integer32 rw no 0x00 CAM 1 low limit channel 1 6310 2 Integer32 rw no 0x00 CAM 1 low limit channel 2 Version 00 2014 07 nderungen vorbehalten Specifications subject ot change RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual novoiechnik Siedle Gruppe Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 6311 CAM 2 low limit integer32 determines the lower limit of position for cam 2 6311 0 ro no 0x2 Number of available channels 6311 1 integer32 rw no 0x00 CAM 2 low limit channel 1 6311 2 Integer32 rw no 0x00 CAM 2 low limit channel 2 6312 C
10. A00 has to be set to the numbers of mapping en tries f e 0x03 Step 5 For activating the PDO the MSB of PDO COB ID have to be set to 0 PDO Object COB ID for disabled PDO COB ID for enabled PDO MSB cleared 1 0x1800 0xC0000xxx 0x40000xxx 2 0x1801 0xC0000xxx 0x40000xxx Note TPDO1 value for Event Timer must always be higher than the value for Inhibit Time except for value 0 Failed sending of TPDOs can occur if e more TPDOs shall be sent than the CANbus may accept due to insufficient CAN bit rate compared to TPDO Event Timer e excessive bus load or unfavourable setting of COB ID in the CANopen network prevents TPDO sending e Object 0x1800 5 event timer is set to 0 5 8 Error Handling Depending on the type of error occured the sensor will react accordingly Error Class Error Error Message from Sensor Protocol error SDO protocol error corrupted data received via SDO Abort SDO Transfer PDO protocol error corrupted data received via PDO Not relevant sensor does support TPDOs only Communication error CAN bus off CAN error passive CAN overrun CAN buffer overflow EMCY message Process error Position or sensor error EMCY message Data error Abort SDO Transfer or EMCY message Change of state According to Cams and Work Areas EMCY Message according to DS 301 see chapter 5 6 SDO Services details s
11. AM 3 low limit integer32 determines the lower limit of position for cam 3 6312 0 ro no 0x2 Number of available channels 6312 1 integer32 rw no 0x00 CAM 3 low limit channel 1 6312 2 Integer32 rw no 0x00 CAM 3 low limit channel 2 6313 CAM 4 low limit integer32 determines the lower limit of position for cam 4 6313 0 ro no 0x2 Number of available channels 6313 1 integer32 rw no 0x00 CAM 4 low limit channel 1 6313 2 Integer32 rw no 0x00 CAM 4 low limit channel 2 6320 CAM 1 high limit integer32 determines the higher limit of position for cam 1 6320 0 ro no 0x2 Number of available channels 6320 1 integer32 rw no Ox3FFF CAM 1 high limit channel 1 6320 2 Integer32 rw no Ox3FFF CAM 1 high limit channel 2 6321 CAM 2 high limit integer32 determines the higher limit of position for cam 2 6321 0 ro no 0x2 Number of available channels 6321 1 integer32 rw no Ox3FFF CAM 2 high limit channel 1 6321 2 Integer32 rw no Ox3FFF CAM 2 high limit channel 2 6322 CAM 3 high limit integer32 determines the higher limit of position for cam 3 6322 0 ro no 0x2 Number of available channels 6322 1 integer32 rw no Ox3FFF CAM 3 high limit channel 1 6322 2 Integer32 rw no Ox3FFF CAM 3 high limit channel 2 6323 CAM 4 high limit integer32 determines the higher limit of position for cam 4 6323 0 ro no 0x2 Number of available channels 6323 1 integer32 rw no Ox3FFF CAM 4 high limit channel 1 6323 2 Integer32 rw no Ox3FFF CAM 4 high limit channel 2 6330 CAM 1 unsigned16
12. RFC 4800 CANopen Gebrauchsanleitung novotechnik RFC 4800 CANopen user manual Siedle Gruppe Content 5 CANopen 2 5 1 EDS Files 2 5 2 Features 2 5 2 1 Basic information 2 5 2 2 Basics based on CiA DS 301 V4 2 0 2 5 2 3 Basics based on CiA DSP 406 V3 2 3 5 2 4 Basics SDO communication 3 5 2 5 Basics PDO communication 3 5 3 Object Library 4 5 3 1 Communication Profile Area based on DS 301 V4 2 0 4 5 3 2 Device Profile Area 6 5 3 3 Manufacturer specific Area 8 5 4 Explanations to Object Library 9 5 4 1 Object 0x6000 Operating Parameter 9 5 4 2 Object 0x6001 Measuring Step per Revolution 9 5 4 3 Object 0x6002 Total Measuring Range in measuring units 9 5 4 4 Object 0x6300 Encoder Cams 9 5 4 5 Cam state registers 9 5 4 6 Object 0x6400 Work Area 9 5 4 6 1 Work Area Supervision 10 5 4 6 2 Work Area State 10 5 5 LSS Layer Setting Service 10 5 5 1 Configuration of Node ID 11 5 5 2 Configuration of Bit Rate 11 5 5 3 Store Configuration Data 11 5 6 SDO Services 11 5 6 1 SDO Download 12 5 6 2 SDO Upload 12 5 6 3 SDO Abort 12 5 7 Process Data PDO 13 5 7 1 PDO Default Setting 13 5 7 2 PDO Parameter Setting 13 5 8 Error Handling 14 5 8 1 Emergency Messages 14 5 9 Error Objects 15 5 9 1 Manufacturer specific Status 15 5 9 2 Alarms 16 5 9 3 Warnings 16 5 10 Non Volatile Storage and Data Restoration 16 5 11 Abbreviations 17 5 12 Document Changes 17 Version 00 2014 07 nderungen vorbehalten Specifications subject ot change 1 RFC 4800 CANopen
13. This object contains the delay setting hysteresis of switch points for cam 1 6330 0 ro no 0x2 Number of available channels 6330 1 unsigned16 rw no 0x0 CAM 1 hysteresis channel 1 6330 2 unsigned16 rw no 0x0 CAM 1 hysteresis channel 2 6331 CAM 2 unsigned16 This object contains the delay setting hysteresis of switch points for cam 2 6331 0 ro no 0x2 Number of available channels 6331 1 unsigned16 rw no 0x0 CAM 2 hysteresis channel 1 6331 2 unsigned16 rw no 0x0 CAM 2 hysteresis channel 2 6332 CAM 3 unsigned16 This object contains the delay setting hysteresis of switch points for cam 3 6332 0 ro no 0x2 Number of available channels 6332 1 unsigned16 rw no 0x0 CAM 3 hysteresis channel 1 6332 2 unsigned16 rw no 0x0 CAM 3 hysteresis channel 2 6333 CAM 4 unsigned16 This object contains the delay setting hysteresis of switch points for cam 4 6333 0 ro no 0x2 Number of available channels 6333 1 unsigned16_ rw no 0x0 CAM 4 hysteresis channel 1 6333 2 unsigned16 rw no 0x0 CAM 4 hysteresis channel 2 6400 area state unsigned8 This object contains the actual area register status of the encoder position Bit meaning 0 out of range 1 range overflow 2 range underflow 6400 0 ro no 0x2 Number of available work areas 6400 1 unsigned8 ro yes 0x0 Work area state channel 1 6400 2 unsigned8 ro yes 0x0 Work area state channel 2 6401 work area low integer32 This object contains the lower limit of limit the work area 6401 0 ro no 0x2 Number of availa
14. X lt XK gt lt gt lt gt lt gt K gt lt lt x lt NMT Startup Node ID X lt gt lt gt lt gt lt gt lt gt lt lt D X lt lt BitRate Ordering X Custom X Operating Parameters Measurement units per Revolution Total Measurement Range Preset Value CAM Enable CAM Polarity X lt lt gt lt gt lt gt lt LK lt X lt lt gt lt gt lt gt lt LK lt CAM Low Limit Version 00 2014 07 Anderungen vorbehalten Specifications subject ot change RFC 4800 CANopen Gebrauchsanleitung novotechnik RFC 4800 CANopen user manual Siedle Gruppe Object 0x1010 Subindex 1 Subindex 2 Subindex 3 Subindex 4 Object 0x1011 All Communication Application Manufacturer CAM High Limit X X CAM Hysterese X Work Area Low Limit X Work Area High Limit X X data saved or restored D data set to default value e Delete via SDO Object 0x1010 Additionally to the functionality defined in CiA standard DS 301 CANopen library offers the possibility to delete data in the non volatile memory Delete process is initiated by sending the signature kill Ox6B696CEC to object 0x1010 5 11 Abbreviations CAN Controller Area Network ch channel COB ID Communication Object Identifier const constant parameter only readable DLC Data Length Code DS Draft Standard EMCY E
15. ation about the device This information is also used as the LSS address when using switch mode selective command 1018 1 unsigned32 ro no 0x00000182 Vendor ID 1018 2 unsigned32 ro no 0x0 see Product code 5 2 1Basic information 1018 3 unsigned32 ro no see Revision number 5 2 1Basic information 1018 4 unsigned32 ro see Serial number 5 2 1Basic information Version 00 2014 07 Anderungen vorbehalten Specifications subj ect ot change RFC 4800 CANopen Gebrauchsanleitung novotechnik RFC 4800 CANopen user manual Siedle Gruppe Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 1800 transmit PDO PDO_COMM It contains the communication pa communication _PAR rameters of the current PDO the parameter 1 device is able to transmit 1800 1 unsigned32 rw no 0x40000180 COB ID of the PDO Node ID 1800 2 unsigned8 rw no OxFE 254 Transmission type asynchronous 254 synchronous 1 239 acc CiA DS 301 1800 3 unsigned16 rw no 0x0 Inhibit Time in 100us 1800 4 unsigned8 rw no 0x00 Compatibility entry 1800 5 unsigned16 rw no 0x0 Event timer in ms disabled Range 1 65535 1801 transmit PDO PDO_COMM It contains the communication pa communication _PAR rameters of the current PDO the parameter 2 device is able to transmit 1801 1 unsigned32 rw no 0x40000280 COB ID o
16. ble work areas 6401 1 integer32 rw no 0x00 Low limit work area 1 6401 2 integer32 rw no 0x00 Low limit work area 2 Version 00 2014 07 Anderungen vorbehalten Specifications subj ect ot change RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual novoiechnik Siedle Gruppe Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 6402 work area high integer32 This object contains the higher limit of limit the work area 6402 0 ro no 0x2 Number of available channels 6402 1 integer32 rw no Ox3FFF High limit work area 1 6402 2 integer32 rw no Ox3FFF High limit work area 2 6500 operating status unsigned16 ro no 0x0 This gives information on encoder internal programmed parameters 6501 measuring units unsigned32 ro no 0x4000 This object gives the number of steps per resolution per revolution that are output for the absolute singleturn position value 6502 number of unsigned16 ro no Singleturn This object contains the number of distinguishable 0x1 distinguishable revolutions that the revolutions Multiturn multiturn encoder can output f e 0x16 f e Multiturn with 16 revolutions 6503 alarms unsigned16 ro yes 0x0 This object shows which alarm is active 6504 supported alarms unsigned16 ro no 0x1001 This object informs on alarms sup ported by the encoder 6505 warnings unsi
17. change 9 RFC 4800 CANopen Gebrauchsanleitung novotechnik RFC 4800 CANopen user manual Siedle Gruppe 5 4 6 1 Work Area Supervision 5 4 6 2 Work Area State Condition State register 0x6400 Position lt Work Area Low Limit Bit 2 1 Position gt Work Area Low Limit Bit2 0 Position gt Work Area High Limit Bit 1 1 Position lt Work Area High Limit Bit 1 0 Position lt Preset Value or Position gt Sensor length Bit 0 1 otherwise BitO 0 The values for low limit 0x6401 and high limit 0x6402 regard the values for preset 0x6010 and scaling 0x6501 0x6502 A change in work area state causes an EMCY message The work area state objects 0x6400 are able to be mapped to the TPDOs 5 5 LSS Layer Setting Service To configure the encoder via the LSS according CiA DS 305 the encoder is handled as a slave the PLC must have a LSS master functionality A LSS message is composed as follows COB ID DLC Command ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 This applies to the COB ID e LSS Master gt LSS Slave 2021 0x7E5 e LSS Slave LSS Master 2020 0x7E4 LSS can only be used when the encoder is in the stopped status or pre operational status The NMT command for setting the encoder in stopped status is COB ID_ DLC Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00
18. configuration state the Node ID and or the baud rate can be changed 5 5 1 Configuration of Node ID The Node ID can be programmed with the LSS Command 0x11 N ID new Node ID in the range of 1 127 Err Code 0 protocol successfully completed 1 Node ID out of range COB ID DLC EX Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 Rx 0x11 N ID 0x00 0x00 0x00 0x00 0x00 0x00 0x7E4 8 Tx 0x11 Err Code 0x00 0x00 0x00 0x00 0x00 0x00 Change of Node ID will cause e Automatic alteration of COB ID s for SDO1 EMCY and Heartbeat and TPDOs e Non volatile Node ID storage through Store Configuration in the LSS mode configuration 5 5 2 Configuration of Bit Rate The Bit Rate can be programmed with LSS Command 0x13 Table Index 0x06 50 kBaud 0x04 125 kBaud 0x03 250 kBaud 0x02 500 kBaud 0x01 800 kBaud 0x00 1000 kBaud Err Code 0 protocol successfully completed 1 Bit timing not supported COB ID LC ay Command Byte0 Byte1 Byte2 Byte3 Byte4 Byted Byte6 0x75E 8 Rx 0x13 Table 0x00 0x00 0x00 0x00 0x00 0x00 Index 0x74E 8 Tx 0x13 Err Code 0x00 0x00 0x00 0x00 0x00 0x00 Change of Bit rate will cause e The bitrate gets active e Non volatile CAN bit rate storage through Store Configuration in the LSS mode configuration 5 5 3 Store Configuration Data The LSS configuration data Node ID and Bit Rate are store
19. d to the non volatile memory of the sen sor using LSS Command 0x17 Err Code 0 protocol successfully completed 2 storage media access error COB ID DLC Ri Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x75E 8 Rx 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x74E 8 Tx 0x17 Err Code 0x00 0x00 0x00 0x00 0x00 0x00 5 6 SDO Services Service Data Objects SDO according to CiA DS 301 manage the parameter data exchange e g the non cyclical execution of the preset function Parameters of device object library object index subindex see chapter 5 3 Object Library can be read written or stored by means of SDO Version 00 2014 07 Anderungen vorbehalten Specifications subject ot change 11 RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual 5 6 1 SDO Download The SDO download service is used to configure the parameters Command 0x2_ 0x22 write command parameter to encoder novoiechnik Siedle Gruppe 0x23 write command 4 Byte parameter to encoder 0x27 write command 3 Byte parameter to encoder 0x2B write command 2 Byte parameter to encoder Ox2F write command 1 Byte parameter to encoder Command 0x60 confirmation parameter received COB ID DLC Ry Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x600 Node ID 8 Rx 0x2_ Index Sub Data Data Data Data index LSB MSB 0x580 Node ID 8 Tx 0x60 Index Sub 0x00 0x00 0x00 0x00
20. d with the disabled guard time gives the life time for the device 1010 store parameter unsigned32 This entry supports saving of pa field rameters in non volatile memory With a read access the device pro vides information about its saving capabilities For saving the signature save 0x65766173 must be written 1010 1 __ store parameter unsigned32___ rw no 0x00000000__ Save all parameters 1010 2 field unsigned32 rw no 0x00000000_ Save communcation parameters 1010 3 unsigned32 rw no 0x00000000 __ Save application parameters 1010 4 unsigned32 rw no 0x00000000_ Save manufacturer defined parame ters 1011 restore default unsigned32 This entry supports restoring of parameters default parameters With a read access the device provides infor mation about its capabilities to re store these values For restoring the signature load 0x64616f6c must be written 1011 1 unsigned32 rw no 0x00000000 __ Restore all default parameters 1011 2 unsigned32 rw no 0x00000000 __ Restore communication default parameters 1011 3 unsigned32 rw no 0x00000000 Restore application default parame ters 1011 4 unsigned32 rw no 0x00000000 Restore manufacturer defined pa rameters 1014 COB ID EMCY unsigned32 ro no 0x00000080 COB ID used for emergency mes Node ID sage Emergency Server 1017 producer heart unsigned16 rw no 0x00000000 Heartbeat time periode in ms beat time disabled Range 0 0xFFFF 1018 identify object identity General inform
21. ee chapter 5 8 1 Emergency Messages 5 8 1 Emergency Messages COB ID EMCY DLC Ry Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x80 Node ID 8 Tx See next table COB ID EMCY in object 0x1014 Error Register in object 0x1001 0x50xx Device Hardware 0x60xx Device Software 0x80xx Monitoring 0x90xx External Error Version 00 2014 07 nderungen vorbehalten Specifications subject ot change RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual Siedle Gruppe Error Code Error Additional Byte Description Register Byte 0 1 Byte 2 Byte Byte Byte 3 4 5 6 7 0x0000 0 0 0 0 Sensor Error resetted no Error 0x5000 1 1 1 0 Sensor Error Cause An internal error bit is set The current process values stay in the object directory the cam and work area states stay unchanged If the internal error bit is reset to 0 an EMCY with 0x0000 is sent 0x6000 1 1 0 0 Insufficient Event Timer Value Cause CAN bit rate has been set to a low value and an insufficient Event Timer value has been set for TPDO1 accordingly Reaction TPDO1 sending will occur partially 0x8110 1 1 0 0 CAN Controller Overflow CAN Overrun Cause data buffers of CAN controller are still holding data and cannot accept new entries Data is being lost Reaction none 0x8110 1 2 0 0 CAN Buffer Overflow Cause data buffers of CANopen library are still holding data and cannot
22. f the PDO 1801 2 unsigned8 rw no 0x1 Transmission type synchronous 1801 3 unsigned16 rw no 0x0 Inhibit Time in 100us 1A00 TPDO mapping PDO_ Contains the mapping for the PDOs parameter 1 MAPPING the device is able to transmit 1A00 0 unsigned8 rw no 0x02 Number of entries 1A00 1 unsigned32 rw no 0x60200120 Mapping entry 1 default Position value channel 1 1A00 2 unsigned32 rw no 0x60200220 Mapping entry 2 0x60300120 default Position value channel 2 default Speed value channel 1 1A00 3 unsigned32 rw no 0x00000000 Mapping entry 3 1A00 4 unsigned32 rw no 0x00000000 Mapping entry 4 1A00 5 unsigned32 rw no 0x00000000__ Mapping entry 5 1A01 TPDO mapping PDO_ Contains the mapping for the PDOs parameter 2 MAPPING the device is able to transmit 1A01 0_ TPDO mapping unsigned8 rw no 0x02 Number of entries 1A01 1 parameter 2 unsigned32 rw no 0x60200120 Mapping entry 1 default Position value channel 1 1A01 2 unsigned32 rw no 0x60200220 Mapping entry 2 0x60300120 default Position value channel 2 default Speed value channel 1 1A01 3 unsigned32 rw no 0x00000000__ Mapping entry 3 1A01 4 unsigned32 rw no 0x00000000 __ Mapping entry 4 1A01 5 unsigned32 rw no 0x00000000 __ Mapping entry 5 1F80 NMT startup unsigned32 rw no 0x0 This object determines the startup behavior of a device in the network Bit 3 set sensor starts in operational mode
23. gned16 ro yes 0x0 This object reports warnings 6506 supported unsigned16 ro no 0x1000 This object informs on warnings warnings supported by the encoder 6507 profile and unsigned32 ro no f e This object reports the versions software version 0x01020302 byte 3 2 software version byte 1 0 profile version 650C offset value integer32 The offset value is calculated by the preset function in object 6010 and shifts the position value with the calculated value The offset value is stored and can be read from the encoder for diagnostics 6500 1 integer32 ro no 0x0 Offset value channel 1 650C 2 integer32 ro no 0x0 Offset value channel 2 for one channel version default value 0x01 for one channel version not available 5 3 3 Manufacturer specific Area Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 2000 node ID unsigned8 rw no Ox7F Node ID of the sensor Range 1 127 2001 CAN bit rate unsigned16 rw no See CAN bit rate of the sensor in kbit s datasheet f e RFC 4801 214 614 511 odering code 250kBaud f e 250 0x03 2002 chip temperature integer16 ro yes f e 37 Temperature from inside the uC in Celsius f e at ambient temperature 2003 ordering unsigned16 Manufacturer defined array 2004 custom unsigned16 Manufacturer defined array not writable for the customer Version 00 2014 07 Anderungen vorbehalten Specifications subject o
24. integer32 This object defines the output posi tion value 6020 0 ro no 0x2 Number of available channels 6020 1 integer32 ro yes 0x0 Position value channel 1 6020 2 integer32 ro yes 0x0 Position value channel 2 6030 speed value unsigned This object defines the output speed value 6030 0 ro no 0x2 Number of available channels 6030 1 integer16 ro yes 0x0 Speed value channel 1 6030 2 integer16 ro yes 0x0 Speed value channel 2 6200 cyclic timer value unsigned16 rw no 0x0 defines the transmission period in ms for asynchronous PDO mapped to object 0x1800 5 6300 CAM state unsigned8 defines the status bit of the cam in a register cam channel The bit value 0 means cam inactive The bit value 1 means cam active If the polarity bit of a cam is set the actual cam state will be inverted 6300 0 ro no 0x2 Number of available channels 6300 1 unsigned8 ro yes 0x0 CAM state channel 1 6300 2 unsigned8 ro yes 0x0 CAM state channel 2 6301 CAM enable unsigned8 This object contains the calculation state for 4 cams for one position channel If the enable bit is set to 1 the cam state will be calculated by the device In the other case the cam state of the related cam will be set permanently to 0 6301 0 CAM enable ro no 0x2 Number of available channels 6301 1 unsigned8 rw no 0x0 CAM enable channel 1 6301 2 unsigned8 rw no 0x0 CAM enable channel 2 6302 CAM polarity unsigned This object contains the actual register polarity
25. lue 1 01 pro operational 00 initialisation 5 9 2 Alarms Interpretation of object 0x6503 Bit Definition if bit value 1 12 No magnet position reading failed 0 2 channel version difference between positions is out of range 5 9 3 Warnings Interpretation of object 0x6505 Bit Definition if bit value 1 12 Magnet out of operation distance 5 10 Non Volatile Storage and Data Restoration Default values for all data objects are stored in the non volatile program memory Data encryption to the non volatile memory is only admitted in the pre operational status e Storage via LSS Data must be stored through the LSS Service Configuration Store while in LSS Configuration Mode see chapter 5 5 LSS Layer Setting Service e Storage via SDO Object 0x1010 Data is stored in the non volatile memory during encryption of object 0x1010 with save signature 0x65766173 Object 0x1011 Encryption of object 0x1011 with the signature load 0x64616F6C will upload data from the non volatile memory Default settings are being restored see chapter 5 6 SDO Services Object 0x1010 Subindex 1 Subindex 2 Subindex 3 Subindex 4 Object 0x1011 All Communication Application Manufacturer COB ID Sync Guard Time Life Time Factor Heartbeat Timer TPDO COB ID TPDO Trans Typ TPDA Inhibit Time TPDO Event Timer TPDO Mapping
26. mergency Service NMT Network Management PDO Process Data Object Pos Position value ro read only parameter can change rw read write Rx Novotechnik sensor is consumer of the CAN data frame RTR Remote Transmission Request SDO Service Data Object SYNC Synchronisation message TPDO Transmit Process Data Object Tx Novotechnik sensor is producer of the CAN data frame 5 12 Document Changes Revision Changes Date Who v_00 e First edition 30 06 14 VM mm V_01 V_02 e V_03 e V_04 V_05 e Version 00 2014 07 Anderungen vorbehalten Specifications subject ot change 17
27. possible if scaling 0x6000 Bit 2 is on Changes of this objects also changes object 0x6001 The default value is Ox3FFF 14bit is the maximum total step size The resolution can only be reduced 5 4 4 Object 0x6300 Encoder Cams Encoder cams are used to indicate if a position falls below or exceeds a defined value 5 4 5 Cam state registers Cam active the current position value is between the higher and lower cam limit Cam inactive the current position value is not between the higher and lower cam limit The values for low limit 0x631x and high limit 0x632x regard the values for preset 0x6010 and measuring units per resolution 0x6001 The value of hysteresis 0x633x is added in direction of motion Note The cam high limit value can have a lower value than the cam low limit A change in cam state causes an EMCY message The cam state objects 0x6300 are able to be mapped to the TPDOs 5 4 6 Object 0x6400 Work Area It is possible for encoders to define a so called user defined working area The main purpose for a work area is to get a high priority information via EMCY message when the transducer s po sition leaves its predefined working area The actual work area information with work area low limit and work area high limit may be stored in object 0x6401 and 0x6402 This way the area state object 0x6400 may also be used as software limit switches Version 00 2014 07 Anderungen vorbehalten Specifications subject ot
28. t change RFC 4800 CANopen Gebrauchsanleitung novoiechnik RFC 4800 CANopen user manual Siedle Gruppe 5 4 Explanations to Object Library 5 4 1 Object 0x6000 Operating Parameter This object contains the function for the counting direction The counting direction clockwise cw or counterclockwise ccw is defined whether the signal values are rising or fall ing when sensor shaft or position marker is rotated cw view on the position marker or shaft Bit 0 0 counting direction cw Bit 0 1 counting direction ccw This object also includes the switching on and off of the scaling function which is required to change the sensor resolution Bit 2 0 scaling off Bit 2 1 scaling on further scaling is done by objects 0x6001 or 0x6002 This object also includes the moving average function for position and speed calculation Bit 14 12 0 moving average function off Bit 14 12 n moving average over 2 n values n 1 7 5 4 2 Object 0x6001 Measuring Step per Revolution This object sets the number of distinguishable steps per revolution Writing is only possible if scaling 0x6000 Bit 2 is on Changes of this objects also changes object 0x6002 The default value is Ox3FFF 14bit is the maximum step size per revolution The resolution can only be reduced 5 4 3 Object 0x6002 Total Measuring Range in measuring units This object sets the number of distinguishable steps over the total measuring range Writing is only
29. to encoder 0x47 read command 3 Byte parameter to encoder 0x4B read command 2 Byte parameter to encoder Ox4F read command 1 Byte parameter to encoder COB ID DLC R Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x600 Node ID 8 Rx 0x40 Index Sub 0x00 0x00 0x00 0x00 index 0x580 Node ID 8 Tx 0x4_ Index Sub Data Data Data Data index LSB MSB 5 6 3 SDO Abo If the SDO download or SDO upload service fails for any reason the sensor responds with a SDO abort protocol rt Abort Code 0x06090011 subindex does not exist 0x06090030 value exceeded 0x06020000 object does not exist 0x06010001 object is write only 0x06010002 object is read only 0x08000020 data transport error 0x08000000 general error 0x08000022 wrong state Version 00 2014 07 nderungen vorbehalten Specifications subject ot change RFC 4800 CANopen Gebrauchsanleitung novotechnik RFC 4800 CANopen user manual Siedle Gruppe COB ID DLC Ry Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x580 Node ID 8 Tx 0x80 Index Sub Abort code index 5 7 Process Data PDO Process Data Objects according CiA DS 301 manage the process data exchange f e the cyclical transmission of the position value The process data exchange with the CANopen PDOs is a very slim process without protocol overhead 5 7 1 PDO Default Setting 2 Transmit PDOs TPDO with each max 8 bytes are provided 0x1800 TPDO1
30. x580 Node ID Bit rate is defined in the ordering code 6_7 50 kBaud 6_5 125 kBaud 6_4 250 kBaud CAN Bit rates 6_3 500 kBaud 6_2 800 kBaud 6_1 1000 kBaud setting per LSS see chapter 5 5 LSS Layer Setting Ser vice or object Ox2001 see chapter 5 6 SDO Services Node ID n per LSS see chapter 5 5 LSS Layer Setting Ser vice or object 0x2001 see chapter 5 6 SDO Services SYNC Consumer Time Stamp no Emergency Messages Producer Node Guarding yes Heartbeat Producer Non volatile storage yes Program Download no NMT Service Slave Version 00 2014 07 nderungen vorbehalten Specifications subject ot change 2 RFC 4800 CANopen Gebrauchsanleitung RFC 4800 CANopen user manual 5 2 3 Basics based on CiA DSP 406 V3 2 Encoder class O Ci kl C2 Encoder type Absolute Rotary Multi Sensor Encoder Interface Max bit bandwidth of position value 14 bit Encoder Cams Channels to be detected Pos ch1 Pos ch2 Cams per channel 4 Polarity invertable Hysteresis yes Work Area Supervision channels Pos ch1 Pos ch2 5 2 4 Basics SDO communication SDO communication 1 Server expedited transfer yes segmented transfer no Block transfer no 5 2 5 Basics PDO communication PDO communication principle Producer TPDO1 asynchronous with Event Timer TPDO s synchronous TPDO2 synchronous PDO Mapping dynamic max PDO
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