Home

absolute rotary encoder with canopen interface user manual

1. decimal nous onous 0 X Send PDO on first Sync message following an event 1 240 X X Send PDO every x Sync messages 241 251 reserved Version 02 09 UME MCD CA 26 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 252 x Receive SYNC message and send PDO on Remote Request 253 Update data and send PDO on Remote Request 254 Oooo X Send PDO on event 255 1 X Send PDO 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 event timer expires The value is written in subindex 5 of a transmit PDO The data transfer also takes place with no change to data The range is between 1 65536 ms Object 1A00h 1 Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1 transmit PDO Subindex Description Data Type Default Value Acces
2. 39 Appendix A Order Codes rrsnwnnnnvnnnnvnnnnnnnnnvennn 52 Object 6301h Cam enable register 1 1 1 39 Appendix B History rnnnvnnnnvvnnnvnnnnvnnnnvnnnnvnnnnvennn 53 Object 6302h Cam polarity register 0 39 Appendix C Glossary rrrnnvnnnnnnvenrnnnnvnnnnnnvnnnnnn 54 Object 6400h Area state register 1 42 Appendix D List of tables rrnnvrnnnnnvvnnnnnvennnnnne 57 Object 6401h Work area low limit 2 43 Appendix E Document history nnvrnnnnnvvnnnnnne 57 Version 02 09 UME MCD CA 3 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN General Security Advise Important Information Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed About this Manual Background This user manual describes how to install and configure an MCD absolute rotary encoder with CANopen interface Relate Note Version date 03 February 2008 Version number 02 09 Reference number UKE20090203 Imprint POSITAL GmbH Carlsw
3. Complex Data Types Manufacturer Specific Data Types Reserved for further use Communication Profile Area Manufacturer Specific Profile Area Standardized Device Profile Area Reserved for further use Tab 12 Overview Object Dictionary UME MCD CA 15 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 5 1 Programming example Preset Value If a CANopen device is connected and configured 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 5 1 1 Set Encoder Preset Value Master to Encoder with Node Number 1 Setting Preset Value Value 1000 Identifier DLC Command Index Subindex NN 1 Download 6003h 601 8 22 03 60 00 Answer of the Encoder Identifier DLC Command Index Subindex NN 1 Download 6003h 581 8 43 03 60 00 Read Preset Value from the Encoder Identifier DLC Command Index Subindex NN 1 Download 6003h 601 8 40 03 60 00 Answer of the Encoder Identifier DLC Command Index Subindex NN 1 Download 6003h 581 8 43 03 60 00 Save Preset Values Identifier DLC Command Index Subindex NN 1 Download 1010h 601 8 22 10 10 01 Version 02 09 UME MCD CA Service Process data Byte 4 Byte 5 00 10 Service Process data Byte 4 Byte 5 00 00 00 Service Process data Byte 4 Byte 5 00 00 00 Service Process data Byte 4 Byte 5 00 10 Service Process data Byte 4
4. customer parameter Please use the following formula to calculate the total resolution of the encoder FAT pea PGA k ganze Zahl GA PAU GA Version 02 09 UME MCD CA 30 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 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 TA 16777216 2048 Customer handicap AU 2048 4096 GA 8388608 Encoder type sign PGA 24 bit PAU 1 2bit If the total resolution of the encoder is less than the physical total resolution the parameter total resolution must be a multiple of the physical total resolution Object 2103h Preset Value The preset value is the desired position value which should be reached at a certain physical position of the axis The position value is set to the desired process value by the parameter preset The preset value must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Subindex Description Data Type Default Value Access Restore after BootUp 0 Preset Value Unsigned 32 yes 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 value
5. EN 60068 2 27 Permanent shock EN 60028 2 29 Vibration EN 60068 2 6 Weight standard version Flange Shaft diameter Shaft length Hollow shaft depth min max Tab 5 Mechanical data Minimum Mechanical Lifetime Flange S06 Synchro flange 6 x 11 5 Tab 6 Minimum Mechanical Lifetime Cable Operating temperature cable Minimum bend radius Cable Tab 7 Cable properties Version 02 09 CANOPEN Nickel plated iron housing Aluminium Stainless steel Dependent on shaft version and shaft loading refer to table Axial 40 N radial 110 N lt 30 gem lt 3 Nem max 12 000 RPM lt 100 g half sine 6 ms lt 10 g half sine 16 ms lt 10 g 10 Hz 1 000 Hz 150 g including cable Synchro S Blind hollow shaft B Clamp C 6 mm 6 mm 10 mm 11 5 mm 20 mm 8 mm 18 mm Lifetime in 10 revolutions with Fa Fr 40 N 60N 40 N 80N 40 N 110N 216 91 35 flexing 5 C bis 70 C static 30 C bis 70 C flexing 10x cable diameter static 5x cable diameter aprox 6 mm type LIYCY 4x2x0 14 UME MCD CA 10 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 4 Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with CANopen interface 4 1 Operating Modes 4 1 1 General The encoder accesses the CAN network after preoperational mode Pre operational mode powerup in pre operational mode
6. This object shall provide the manufacturer specific offset value the manufacturer specific minimum and maximum position value Subindex Description Data Type Default Value Access Restore after BootUp Oh Highest supported subindex Integer 32 no th Manufacturer offset value Integer 32 no 2h Man min position value Integer 32 no 3h Man max position value Integer 32 no Object 650Bh Serial number This object contains the serial number of the device The serial number is also supported in object 1018h subindex 4h Subindex Description Data Type Default Value Access Restore after BootUp Oh Serial Number Unsigned 32 See type sign no Version 02 09 UME MCD CA 47 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 6 Diagnosis 6 2 Troubleshooting 6 2 1 Power on Encoder doesn t respond Problem The bus transmitted no boot up message is active but the installed encoder Possible solution The encoders have the default baud rate 20kbaud Adapt your PLC accordingly setting Reprogram the encoders baud rate Restart encoder so the new baud rate setting will be valid 6 2 2 Malfunction of the position value during transmission Problem During the transmission of the position value occasional malfunction occurs The CAN bus can be temporary in the bus off state also Possible solution Check if the last bus node has switched on the terminal resistor Version 02 09 6 2 3 Too
7. entails reduced activity on the network which BootUp Message 700 hex Node Number simplifies the checking of the accuracy of the sent received SDOs It is not possible to send or It is recommended that the parameters can be receive PDOs in pre operational mode changed by the user when the encoder is in 4 1 2 Mode Preoperational To set a node to pre operational mode the master must send the following message Identifier Byte 0 Byte 1 Description Oh 80h 00 NMT PreOp all nodes Oh 80h NN NMT PreOp NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to pre operational mode 4 1 3 Mode Start Operational To put one or all nodes in the operational state the master have to send the following message Identifier Byte 0 Byte 1 Description Oh NMT Start all nodes Oh Oih NN NMT Start NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to operational mode 4 1 4 Mode Stopped To put one or all nodes in the stopped state the master have to send the following message Identifier Byte 0 Byte 1 Description Oh NMT Stop all nodes Oh 02h NN NMT Stop NN Version 02 09 UME MCD CA 11 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN NN node number It is possible to set all nodes Index 0 or a single node Index NN to stop mode 4 1 2 Reinitialization of the Encoder If a node is not operating correctly it is advisable t
8. Byte 5 73 61 Byte 6 00 Byte 6 Byte 6 Byte 6 00 Byte 6 76 Byte 7 00 Byte 7 00 Byte 7 00 Byte 7 00 Byte 7 65 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 5 2 Communication Profile DS301 specific objects from 1000h 1FFFh In this manual we refer to the communication profile DS301 V4 02 Object Description Page Page Page Hand DS301 DS406 Book 1000h Device type 22 86 8 1001h Error register 22 87 8 1003h Pre defined error field 22 88 1005h COB ID SYNC message 23 89 1006h ComCyclePeriode 23 90 1008h Device name 24 91 1009h Hardware version 24 91 100Ah Software version 24 91 100Ch Guard Time 24 92 100Dh Life Time Factor 24 92 1010h Store parameters 25 92 1011h Restore default parameters 25 94 1012h COB ID Time Stamp 26 97 1013h High Resolution Time Stamp 26 98 1014h COB ID Emergency 26 98 1016h Consumer Heartbeat Time 26 100 1017h Producer Heartbeat Time 27 101 1018h Identity Object 27 101 1020h Verify Configuration 117 1029h Error Behaviour 133 9 1800h Communication parameter PDO 1 28 111 9 1801h Communication parameter PDO 2 28 111 11 1A00h Transmit PDO1 Mapping Parameter 30 112 11 1A01h Transmit PDO2 Mapping Parameter 30 112 12 1F50h Download Program Area 1F51h Program Control Tab 13 Object Dictionary 1000h 1FFFh Version 02 09 UME MCD CA POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 5 3 Manufacturer s
9. CANopen interface The products are fully compliant with standard DS406 Measuring System Magnetic rotary encoder determine positions using the Hall effect sensor technology developed for the automotive mass market A permanent magnet fixed to the shaft generates a magnetic field that is sampled by the Hall sensor which translates the measured value into a unique absolute position value To register revolutions even when no voltage is applied energy from the turning of the shaft must suffice for proper operation An innovative patented technology makes this feasible even at low rotational speeds and through long standstill periods a Wiegand wire ensures that the magnetic field can only follow the turning of the shaft in discrete steps A coil wound on the Wiegand wire receives only brief strong voltage spikes which prompt the reliable recognition of each revolution Version 02 09 Typical Applications Packing Machines Mobile Machines e Wind Mills e Medical Equipment 1 1 General CANopen Information The CANopen system is used in industrial applications It is a multiple access system maximum 127 participants which means that all devices can access the bus In simple terms each device checks whether the bus is free and if it is the device is able to send messages If two devices try to access the bus at the same time the device with the higher priority level lowest ID number has permission to send it
10. CANopen related parameters to factory settings Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 no 1 Restore all parameters Unsigned 32 no Storing procedure To save the parameters to non volatile memory the access signature load has to be sent to the corresponding subindex of the device Most significant word Least significant word ASCII D a o Hex value 64h 61h 6Fh 6Ch Note The restoration of parameters will only be taken into account after a power up or reset command Please check all parameters before you store them to the non volatile memory Object 1012h COB ID Time Stamp Object This object contains the COB ID of the Time Stamp object Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 100h rw no Object 1013h High Resolution Time Stamp This object contains a time stamp with a resolution of 11s Subindex Description Data Type Default Value Access Restore after BootUp 0 gt Unsigned 32 0 rw no Version 02 09 UME MCD CA 23 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 1014h COB ID Emergency Object This object contains the EMCY emergency message identifier Subindex Description Data Type Default Value Access Restore after BootUp 0 i Unsigned 32 80h Node ID rw no Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the
11. Communication error Version 02 09 Data Type Unsigned 8 Unsigned 32 Unsigned 32 Data Type Unsigned 8 Unsigned 8 UME MCD CA Default Value Default Value Access Access Access Restore after BootUp no no no no no Restore after BootUp no no no Restore after BootUp no no 25 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 1800h 1 Transmit PDO Communication Parameter This object contains the communication parameter of the 1 transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 yes 1 COB ID Unsigned 32 yes 2 Transmission Mode Unsigned 8 yes 3 Inhibit Time Unsigned 32 yes 4 Not available 5 Event Timer Unsigned 32 yes Object 1801h 2 Transmit PDO Communication Parameter This object contains the communication parameter of the 2 transmit PDO NOTE In the OCD versions C2 and C5 the second PDO was configured via object 1802 Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 yes 1 COB ID Unsigned 32 yes 2 Transmission Mode Unsigned 8 yes 3 Inhibit Time Unsigned 32 yes 4 Not available 5 Event Timer Unsigned 32 yes Transmission Mode The transmission mode can be configured as described below Transfer Transmission Mode Value Cyclic Acyclic Synchro Asynchr Notes
12. Shaft Coupling Drilling 10 mm 10 mm GS 10 29100450 Drilling 6 mm 6 mm GS 06 29100350 Drilling 4 mm 11 mm GS 4 11 29100440 Appendix B History Version 02 09 UME MCD CA Page 53 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Appendix C Glossary A Address APV Baud rate Byte Cc CAL CAN CANopen CCW CiA COB COB ID CW E EDS file Version 02 09 Number assigned to each node irrespective of whether it is a master or slave The encoder address non volatile is configured in the base with rotary switches or SDO objects Absolute Position Value Transmission speed formulated in number of bits per second Bus node Device that can send and or receive or amplify data by means of the bus 8 bit unit of data 1 byte CAN application layer Controller Area Network or CAN multiplexing network Application layer of an industrial network based on the CAN bus Counter clockwise CAN In Automation organization of manufacturers and users of devices that operate on the CAN bus Elementary communication object on the CAN network All data is transferred using a COB COB Identifier Identifies an object in a network The ID determines the transmission priority of this object The COB ID consists of a function code and a node number Clockwise Standardized file containing the description of the parameters and the communication methods of the associated device UME MCD CA Page
13. Unsigned 16 no The CA encoder supports the position error alarm Object 6505h Warnings This object shall provide the warnings Warnings indicate that tolerance for certain internal parameters of the encoder have been exceeded In contrast to alarm and emergency messages warnings do not imply incorrect position values All warnings shall be cleared if the tolerances are again within normal parameters Subindex Description Data Type Default Value Access Restore after BootUp Oh Warnings Unsigned 16 romap no Bit structure of the warnings Bit 15 114 113 12 111 10 9 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R IR R R R R RP BC OT CP LC FE gt Table Description MS Manufacturer Specific Warnings not supported R Reserved for future use RP Reference Point reached not reached not supported BC Battery charge not supported OT Operating Time limit not supported CP CPU watchdog status not supported LC Light control reserve not supported FE Frequency warning not supported Version 02 09 UME MCD CA 45 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6506h Supported warnings The object provides the supported warnings of the device Please refer to the bit structure table to find more details about the supported warnings Subindex Description Data Type Default Value Access Restore after BootUp Oh Supported Warnings Unsigned 16 no Currently there
14. acceleration measurement is disabled by default Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th Enable Acceleration Unsigned 8 Yes 2h Acceleration modus Unsigned 8 yes Object 3021h Acceleration Value This object contains acceleration value Subindex Description Data Type Default Value Access Restore after BootUp Oh Acceleration Value INTEGER32 romap Object 4000h Bootloader Conirol This object controls the Bootloader functionality see Bootloader chapter Writing the security code to this object causes erasing the EEPROM and application information in the flash memory and resets the device After a power up the Bootloader checks the user application and detects no more information The Bootloader starts up with a pre defined CANopen node ID of 1 0x1 and a fixed CAN baud rate of 125 kbits Subindex Description Data Type Default Value Access Restore after BootUp Oh Bootloader Control Unsigned32 NOTE Activating the Bootloader courses a deep reset of the device After this only a few objects are still available the device does not behave like an encoder and waits for new programming That is the reason why the security code is not published in this document Please contact POSITAL to obtain the code Version 02 09 UME MCD CA 35 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6000h Operating parameters This object shall indica
15. 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 specific software version Subindex Description Data Type Default Value Access Restore after BootUp Oh Profile and Software Version Unsigned 32 04040302h no The value is divided into the profile version part and the Software version part Each part is divided in upper version and lower version MSB LSB Software Version 4 4 Profile Version 3 2 Upper Software Version Lower Software Version Lower Profile Version 02 04 04 Object 6508h Operating time This object indicates the operating time of the device Currently the operating time is not supported and the value of this object will always be FFFFFFFFh Subindex Description Data Type Default Value Access Restore after BootUp Oh Operatiung time Unsigned 32 FFFFFFFFh no Version 02 09 UME MCD CA 46 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6509h Offset value This object contains the offset value It is been calculated by the preset function and shifts the physical position value with the desired value Subindex Description Data Type Default Value Access Restore after BootUp Oh Offset value Integer 32 no Object 650Ah Module identification
16. 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 6 2 4 Limit switches without function Problem The encoder didn t transmit the bits for the limit switches Possible solution The limit switch functionality has to be activated once Please follow the description you can find at 4 5 6 2 5 Baudrate and Node Number changes Notice The changing of baud rate and node number are only valid after a new power up NMT command Reset or the store parameters UME MCD CA 48 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 7 Mechanical Drawings Synchro Flange S Cable exit or 5 pin male M12 Connector Clamp flange C Cable exit or 5 pin male M12 Connector 73 0 5 lt gt 3x M4x0 7 20 43 16 ig i 3x M3x0 5 gt lt TK 48 Mh O Cs Sd 58 3617 10 h8 ma 85 lap 36 5 Version 02 09 UME MCD CA 49 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Hollow hollow shaft B Cable exit or 5 pin male M12 Connector 6F7V 18 Mounting instructions The clamp ring may only be tightened if the shaft Allowed shaft movements of the drive element are of the driving element is in the hollow
17. 31 1 with the next message telegram if the process value reaches or passes under the value of the limit switch Status Function bits Process value Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 2 1 0 R 110 X X X XIX X X X X X X X X IX JK X X X X X X X X X X X IX IX X X Object 2160h Customer storage This object provides for the customer the possibility to store any value Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th Customer Storage1 Unsigned 32 Version 02 09 UME MCD CA 32 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 2h Customer Storage2 Unsigned 32 3h Customer Storage3 Unsigned 32 4h Customer Storage4 Unsigned 32 Object 2200h Cyclic Timer PDO This object contains cyclic time of the event timer in ms of PDO 1 Subindex Description Data Type Default Value Access Restore after BootUp The object 2200h is hard wired to the objects 1800h subindex 5h and 6200h and provide the cycle time for the cyclic mode See chapter Cycle Time and Event Timer Object 2300h Save Parameter with Reset With this object all parameters can be stored in the non volatile memory After storing the parameters a reset is executed Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32
18. 336h Cam7 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam7 hyteresis channel1 rw 6337h Cam8 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam8 hyteresis channel1 rw Version 02 09 UME MCD CA 41 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6400h Area state register This object contains the area state register The object provides the actual area status of the encoder position Figure 9 specifies the object structure and Table 106 specifies the value definition Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices th Work area state channel yes 7 6 5 4 3 2 1 0 R r r r r Range Range Out of underflow overflow range MSB LSB Signal Value Definition out of range 0 Position between low and high limit 1 Position out of range refer to module identification object 650Ah is reached range overflow 0 No range overflow 1 Position is lower than the position value set in object 6402h work area low limit range underflow 0 No range underflow 1 Position is higher than the position value set in object 6401h work area high limit r 0 Reserved Version 02 09 UME MCD CA 42 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6401h Work area low limit This object indicates the position value at which bit 2 of the according work area state channe
19. 3h Pre Defined Error Field The object holds the errors that have occurred on the device and have been signaled via the Emergency Object e The error code is located in the least significant word e Additional Information is located in the most significant word e Subindex 0 contains the number of recorded errors Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of recorded errors Unsigned 8 no 1 Most recent errors Unsigned 32 no 2 Second to last error Unsigned 32 no 10 Clearing Error Log The error log can be cleared by writing 0 to subindex 0 of object 1003 Version 02 09 UME MCD CA 20 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 1005h COB ID Sync This object contains the synchronization message identifier Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 32 80000080h rw no Object 1008h Manufacturer Device Name This object contains the device name Subindex Description Data Type Default Value Access Restore after BootUp 0 String ro no Object 1009h Manufacturer Hardware Version This object contains the article name of the circuit board Subindex Description Data Type Default Value Access Restore after BootUp 0 String ro no There is one actual version of circuit boards for MCD e POS033 MCD CA Object 100Ah Manufacturer Software Version This object contains the manu
20. 54 FAQ FC Function code L Line terminator LMT NMT NN PCV PDO PV RO ROMAP RW Version 02 09 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Frequently Asked Questions Determines the type of message sent via the CAN network Resistor terminating the main segments of the bus Network management object This is used to configure the parameters of each layer in the CAN Master Active device within the network that can send data without having received a request It controls data exchange and communication management Network management object This is responsible for managing the execution configuration and errors in a CAN network Node number Process Value Communication object with a high priority for sending process data Preset Value Configuration value Read Only Parameter that is only accessible in read mode Read Only MAPable Parameter that can be polled by the PDO Read Write Parameter that can be accessed in read or write mode UME MCD CA Page 55 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN SDO Communication object with a low priority for messaging configuration error handling diagnostics Slave Bus node that sends data at the request of the master The encoders are always slaves WO Write Only Parameter that is only accessible in write mode Version 02 09 UME MCD CA Page 56 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Appendix D Lis
21. 55AAAA55h no Object 3000h Node Number This object contains the node number of the device The POSITAL standard node number is 32 Subindex Description Data Type Default Value Access Restore after BootUp 0 Node Number Unsigned 8 Yes NOTE To avoid the node number 0 one will be added to the value of this object E g 1Fh 1h 20h 32 dec Version 02 09 UME MCD CA 33 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 3001h Baudrate This object contains the baudrate of the device Subindex Description Data Type Default Value Access Restore after BootUp Eight different baud rates are provided To adjust the baud rate only one byte is used Baudrate in kBit s Byte 20 ooh gt 50 oh 100 ohn gt 125 Jo 250 loh 500 Toh 800 loeh 000 ohn gt Object 3010h Speed Control This object contains the speed control The speed measurement is disabled by default Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th Enable Speed Unsigned 8 yes 2h Speed modus Unsigned 8 yes Object 3011h Speed Value This object contains speed value Subindex Description Data Type Default Value Access Restore after BootUp Oh Speed value Unsigned 8 romap no Version 02 09 UME MCD CA 34 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 3020h Acceleration Control This object contains the acceleration control The
22. 6502h Number of distinguishable revolutions This object contains number of revolutions of the absolute rotary encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of Revolutions Unsigned 16 see type sign no Object 6503h Alarms Additionally to the emergency messages in CiA301 this object shall provide further alarm messages An alarm shall be set if a malfunction in the encoder could lead to incorrect position value If an alarm occurs the according bit shall indicate the alarm til the alarm is cleared and the encoder is able to provide an accurate position value Subindex Description Data Type Default Value Access Restore after BootUp Oh Alarms Unsigned 16 romap no Bit structure of the alarms Bit 15 114 113 112 11 10 19 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R TIR R IR TIR R R CD PE Table Description MS Manufacturer Specific Alarm not supported R Reserved for future use CD Commissioning diagnostic control not supported PE Position Error not supported Version 02 09 UME MCD CA 44 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6504h Supported alarms The object shall provide the supported alarms of the device Please refer to the bit structure table to find more details about the supported alarms Subindex Description Data Type Default Value Access Restore after BootUp Oh Supported Alarms
23. 6505h Warnings 47 67 6506h Supported warnings 47 68 6507h Profile and software version 48 69 6508h Operating time 48 70 6509h Offset value 49 70 650Ah Module identification 49 71 650Bh Serial number 49 72 Tab 15 Object Dictionary 6000h 6FFFh 5 5 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 profile that is used and a second 16 bit field which gives additional information about optional functionality of the device The additional information parameter is device profile specific Subindex Description Data Type Default Value Access Restore after BootUp 0 i Unsigned 32 N A ro no MCD absolute rotary encoder single turn 10196h MCD absolute rotary encoder multi turn 20196h Version 02 09 UME MCD CA 19 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 1001h Error Register This object is used by the device to display internal faults When a fault is detected the corresponding bit is therefore activated The following errors are supported Bit Description Comments 0 Generic Error The generic error is signaled at any error situation Subindex Description Data Type Default Value Access Restore after BootUp 0 i Unsigned 8 N A ro no Object 100
24. AL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6001h Measuring units per revolution This object shall indicate the number of distinguishable steps per revolution Subindex Description Data Type Default Value Access Restore after BootUp Oh Measuring units per revolution Unsigned 32 see type sign yes Hardwired with 2101h Object 6002h Total measuring range in measuring units This object shall indicate the number of distinguishable steps over the total measuring range Subindex Description Data Type Default Value Access Restore after BootUp Oh Total measuring steps Unsigned 32 see type sign yes Object 6003h Preset value This object indicates the preset value for the output position value Subindex Description Data Type Default Value Access Restore after BootUp Oh Preset Value Unsigned 32 yes Object 6004h Position value This object contains the process value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Unsigned 32 romap yes Hardwired with Object 2000h Version 02 09 UME MCD CA 37 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6030h Speed Value This object contains the speed value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 ro th Speed value channel1 Integer 16 romap yes If the velocity exceeds the data type the speed value i
25. OB ID Emergency Object 24 SYNCRO S ora aent ar 10 Object 1016h Consumer Heartbeat Time 24 Blind hollow shaft B ceecee 10 Object 1017h Producer Heartbeat Time 24 Clamp G een e eer terre rerer cere tree cece reer rece e 10 Object 1018h Identity Object ee 25 Minimum Mechanical Lifetime 0 eee 10 Object 1020h Verify configuration 25 G DIE Len 10 Object 1029h Error behaviour ranvrnervrnennrnrr 25 4 Configuration 2 sisnsssrsentendsneenn 11 Object 1800h 1 Transmit PDO Communication 4 1 Operating Modes eenrrrenvnnenvnnenvnnrnrnnenvnnennnnren 11 ag Ue ee 26 4 1 1 General oo eee eee cece eceeeeeeeeteeeeseeeseeeeneees 11 Object 1801h 2 Transmit PDO Communication 4 1 2 Mode Preoperational ssnrrnrnrnnrnnrvnvrnnnnnn 11 Paramete tists nam m ne siden eae ace 26 4 1 3 Mode Start Operational eee 11 Event TIMOR sisena aa 27 4 1 4 Mode Stopped arvronvvnrnvvnenvnnrnrnnenrnnennnnnn 11 Object 1A00h 1 Transmit PDO Mapping 4 1 2 Reinitialization of the Encoder 12 ParaMOte lise ccs cnessegccdueenntaiidctendlenes kh iaie 27 4 2 Normal Operating rrronvrnonvrnonvnnrnrrnrnvnnennnnnn 12 Object 1A01h 2 Transmit PDO Mapping 4 3 Storing Parameter ronnnnnnvnnonvnnrnrnnenvnnenrnnen 13 Parameters renses Ren 28 4 3 1 List of storable Parameter eee 13 Object 1F50h Download Program Area 28 4 3 1 Storing Procedure arrnnrnrnnenvnnrnrnn
26. POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE USER MANUAL ZUNDIS SA HERHEITS H LZER CANopen Main Features Programmable Parameters Compact and heavy duty industrial design Direction of rotation complement Interface CANopen DS406 Resolution per revolution CANopen Lift DSP417 Total resolution Housing 36 mm Preset value Solid shaft 6 or 10MM Two limit switches and eight cams Blind hollow shaft 6mm Baud rate and CAN identifier i Max 4096 steps per revolution 12 Bit Transmission mode Polled mode cyclic Max 65536 revolutions 16 Bit mode sync mode Code Binary Velocity and Acceleration Output LSS services Electrical Features Highly integrated circuit in SMD Mechanical Structure technology z Aluminium flange and housing Polarity inversion protection Nickel plated steel housing G Over voltage peak protection Stainless steel shaft Galvanic Isolation Precision ball bearings POSITAL GmbH Carlswerkstra e 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital eu info posital eu POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Table of Contents Main Features ccccccesecceeeeseeeeeeeneeeeeseeeeereeeneees 1 5 4 Application specific objects 6000h 67FEh 18 Mechanical Structure anrrrorvrnrnrrnenvrnenrrnenrnnenrnnen 1 5 5 Object Descriptions rrnrnrrnonvrnnnvrnrrnrnnnnrnnn 19 Programm
27. able Parameters n e 1 Object 1000h Device Type 1 W W Wu u u sseseverererrrennee 19 Electrical Features mrrrnrrnnnnnvrnnnvnnvrnrrrnrrnnnvrvrnnnrnn 1 Object 1001h Error Register eee 20 Table of ContentS rrswrrnnvnnnnnnnnnvnnnnnennnnennnnennnnennnn 2 Object 1003h Pre Defined Error Field 20 General Security Advise rrrsvrnsnvnnnnvnnnnvnnnnvnnnner 4 Object 1005h COB ID SynC srnranvnnenrnnenvnnenvnnenn 21 About this Manual eeeeueasvernnnnvvrnnnnvvnnnnnnvnnnnnnver 4 Object 1008h Manufacturer Device Name 21 1 Introduction rennsnvnnnnnnnvnnnnnnvnnnnnnvnnnnnnnennnnnnenenn 5 Object 1009h Manufacturer Hardware Version 21 1 1 General CANopen Information 2 5 Object 100Ah Manufacturer Software Version 21 2 Installation ussnvvernnnvvnnnnnnvnnnnnnnvnnnnnnennnnnnvnnnnnnn 7 Object 100Ch Guard Time asrrnervrnnnronrrvrnnrnrnnr 22 2 1 Electrical Connection anrnrnnrnnnnvnnnnrnnnnrnnnnrne 7 Object 100Dh Life Time Factor 22 3 Technical Data ererannnvnnnnnnvnnnnnnnvnnnnnnvnnnnnnvnnnnnnn 9 Object 1010h Store Parameters srrrrvrnrnnrrrr 22 Electrical Data ienen eninin A 9 Object 1011h Restore Parameters 1 1 1 1 1 23 Sensor data nnnums n an ia n erae eE E neant 9 Object 1012h COB ID Time Stamp Object 23 Tab 3 Sensor data ualarn kuene nende 9 Object 1013h High Resolution Time Stamp 23 Fl de weak Erann NT 10 Object 1014h C
28. cts are based on the CiA 406 DS V3 2 CANopen profile for encoders www can cia org Command 22h 23h 27h 2Bh 2Fh 60h 40h 43h 47h 4Bh 4Fh 80h Function Domain Download Domain Download Domain Download Domain Upload Domain Upload Warning Tab 10 General Command Byte Description CANOPEN Telegram Request Request Confirmation Request Reply Reply Description Parameter to Encoderr Parameter to Encoder Bytes indicated Parameter received Parameter request Parameter to Master Bytes indicated Transmission error The value of the command byte depends on the data length of the called parameter Command Data length Data type 43h 4Byte Unsigned 32 47h 3Byte Unsigned 24 4Bh 2Byte Unsigned 16 4Fh 1Byte Unsigned 8 Tab 11 Detailed Command Byte Description Object Dictionary The data transmission according to CAL is realized exclusively by object oriented data messages 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 beside Version 02 09 Command Data length Data type 23h 4 Byte Unsigned 32 27h 3Byte Unsigned 24 __ 2Bh 2Byte Unsigned 16 2Fh 1Byte Unsigned8 Index hex Object 0000 not used 0001 001F Static Data Types 0020 003F 0040 005F 0060 0FFF 1000 1FFF 2000 5FFF 6000 9FFF A000 FFFF
29. ent Connector Cable RJ45 Connector UME MCD CA POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Setting Node Number via SDO Objects The node number has to be adjusted via SDO objects The default node number is 32 To set Setting Baud Rate via SDO Objects 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 Setting Node Number via LSS The node number can also be adjusted via Layer Setting Services LSS For further information regard chapter 4 5 Setting Baud Rate via LSS The baud rate can also be adjusted via Layer Setting Services LSS The default baud rate is 20 kBaud For further information regard chapter 4 5 Bus Termination If the encoder is the last device in the bus you can use an external termination resistor on a T coupler Version 02 09 the node number object 3000h has to be written For further information regard chapter 5 5 Object Dictionary further information please regard chapter 5 5 Object Dictionary UME MCD CA 8 POSITAL FRABA ABSOLUTE ROTARY ENCODER 3 Technical Data CANOPEN In the following section you will find general technical data about MCD absolute rotary encoders with CANopen interface Electrical Data Interface Transmission rate Device addressing Supply voltage Current consumption Power consumption EMC Electrical lifetime Tab 2 Electrical Data Tran
30. entries The transmission speed can range from 20kBaud up to iMbaud 30m cable for a maximum speed of 1Mbaud 1000m 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 Version 02 09 Further information is available at CAN in Automation CiA International Users and Manufacturers Group e V Kontumazgarten 3 DE 90429 Nurenberg Reference CAN Application Layer for Industrial Applications CiA Draft Standard 201 207 Version 1 1 CAL based Communication Profile for Industrial Systems CiA Draft Standard 301 CiA Draft Standard 305 Layer Setting Services CiA Draft Standard 406 Device Profile for Encoders Note All datasheets and manuals can be downloaded for free from our website www posital eu We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice UME MCD CA 6 2 Installation 2 1 Electrical Connection Function Can High Can Low Can GND GND Up 10 30 V 5 pin male M12 connector rs r g e I Woa 9 Version 02 09 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Wire end Connector Pin RJ45 white 1 brown 2 green 3 yellow 4 red 8 Connector Pin M12 4 N ow 01 Tab 1 Signal Assignm
31. envnnnnrenen 13 Object 1F51h Program Control rasnrnorvrnnnnnnnn 28 4 4 Restoring Parameters ennnnnvrnrnvnnrnnnvrnrnnnnnn 14 Object 2000h Position Value cee 29 4 5 Usage of Layer Setting Services LSS 14 Object 2100h Operating Parameters 1 1 1 1 29 5 Programmable Parameters srnnnnnnvvnnnnnvennn 15 Object 2101h Resolution per Revolution 30 5 1 Programming example Preset Value 16 Object 2102h Total Resolution cceee 30 5 1 1 Set Encoder Preset Value ceeeee 16 Object 2103h Preset Value 31 5 2 Communication Profile DS301 specific Object 2104h Limit Switch min ee 31 objects from 1000h 1FFFh ssnornrornronnnvnvrnnrennnn 17 Object 2105h Limit Switch max 0 0 eee 32 5 3 Manufacturer specific objects 2000h Object 2160h Customer storage 1 32 oe 18 Object 2200h Cyclic Timer PDO rannrnnnvrnnnnnnnr 33 Version 02 09 UME MCD CA 2 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 2300h Save Parameter with Reset 33 Object 6402h Work area high limit 1 43 Object 3000h Node Number rrnnvrnnnnrnnnvrnnnvrnernr 33 Object 6500h Operating status ee 43 Object 3001h Baudrate ee eeeeeeeeeeneeeeneees 34 Object 6501h Single turn resolution 1 1 1 1 1 1 1 44 Object 3010h Speed Control srnnnnnnnnvrnnnnnnernr 34 Object 6502h Number
32. er 4 3 1 List of storable Parameter Object Index Object Description 1005h COB ID Sync 100Ch Guard Time 100Dh Life Time Factor 1016h Consumer Heartbeat Time 1017h Producer Heartbeat Time 1020h Verify configuration 1800h Communication parameter PDO 1 1801h Communication parameter PDO 2 1A00h Transmit PDO1 Mapping Parameter 1A01h Transmit PDO2 Mapping Parameter 2100h Operating Parameters 2101h Resolution per Revolution 2102h Total Resolution 2103h Preset Value 2104h Limit Switch min 2105h Limit Switch max 2160h Customer Storage 2200h Cyclic Timer 3000h Node Number 3001h Baud rate 6000h Operating Parameter 6001h Steps per Revolution 6002h Total Resolution 6003h Preset Value 6200h Cyclic Timer Tab 9 List of Storable Parameters 4 3 1 Storing Procedure The parameter settings can be stored in a non stored in RAM when being programmed volatile E7PROM The parameter settings are When all the parameters are set and proved Version 02 09 UME MCD CA 13 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN they can be transferred in one burn cycle to the E PROM by the parameter memory transfer The stored parameters are copied after a Storing without Reset By using the object 1010h from the communication profile related object dictionary Storing with Reset By using the object 2300h from the manufacturer specific object dictionary you can store the parameters into the non volatile memory After 4 4 Rest
33. erkstrasse 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 Internet http www posital eu e mail info posital eu Version 02 09 This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death Please Note Electrical equipment should be serviced only by qualified personnel No responsibility is assumed by POSITAL for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained people Copyright The company POSITAL GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy this documentation without written approval by the company POSITAL GmbH Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice User Annotation The POSITAL GmbH welcomes all readers to send us feedback and commands about this document You can reach us by e mail at info posital eu UME MCD CA 4 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 1 Introduction This manual explains how to install and configure the MAGNETOCODE absolute rotary encoder with CANopen interface applicable for both military and industrial applications with
34. ersion 02 09 UME MCD CA 28 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 2000h Position Value This object contains the position value Subindex Description Data Type Default Value Access Restore after BootUp 0 Position Value Unsigned 32 n a Object 2100h Operating Parameters As operating parameters the code sequence Complement can be selected and the limit switches can be turned on or off Subindex Description Data Type Default Value Access Restore after BootUp 0 Operating Parameters Unsigned 8 yes The parameter code sequence Complement determines the counting direction in which the output process value increases or decreases CW Clockwise CCW Counterclockwise The code sequence is determined by Bit 0 in Index 2100h Additionally the two limit switches Min and Max can be turned on or off in Index 2100h Optional an event triggered PDO can be activated Remark This function produces a 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 Bit 0 Code Code Bit1 Limit switch Bit 2 Limit switch Bit 3 Event triggered sequence min max PDO 0 CW increasing 0 off 0 off 0 off 1 CCW increasing 1 on 1 on 1 on Calculation Example Target Absolute rotary encoder with direction CCW increasing limit switch min enabled limit switch max disabled and event triggered PDOs enabled Bi
35. expected heartbeat cycle time in ms The device can only monitor one corresponding device If the time is set to 0 the monitoring is not active The value of this object must be higher than the corresponding time object 1017 of the monitored device Subindex Description Data Type Default Value Access Restore after BootUp 0 no 1 Consumer heartbeat time Unsigned 32 0 rw yes The context of subindex 1 is as follows Bit 31 to 24 23 to 16 15t00 Value Oh reserved Address of monitored Monitoring time ms 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 Subindex Description Data Type Default Value Access Restore after BootUp 0 Unsigned 16 yes Version 02 09 UME MCD CA 24 POSITAL FRABA ABSOLUTE ROTARY ENCODER Object 1018h Identity Object This object contains the device information Subindex Description 0 Number of entries 1 Vendor ID 2 Product Code 3 Revision Number 4 Serial Number Object 1020h Verify configuration CANOPEN Data Type Default Value Unsigned 32 10000h Unsigned 32 This object indicates the downloaded configuration date and time Subindex Description Oh Number of entries th Configuration date 2h Configuration time Object 1029h Error behaviour This object indicates the error behavior Subindex Description Oh Number of entries th
36. facturer software version The new encoder line 2008 starts with version 4 00 Subindex Description Data Type Default Value Access Restore after BootUp 0 String 4 00 ro no Version 02 09 UME MCD CA 21 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 100Ch Guard Time This object contains the guard time in milliseconds Subindex Description Data Type Default Value Access Restore after BootUp 0 i Unsigned 16 0 rw yes Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard time gives the life time for the node guarding protocol Subindex Description Data Type Default Value Access Restore after BootUp 0 z Unsigned 8 0 rw yes Object 1010h Store Parameters This object is used to store device and CANopen related parameters to non volatile memory Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 no 1 Store all parameters Unsigned 32 no Storing procedure To save the parameters to non volatile memory the access signature save has to be sent to the corresponding subindex of the device Most significant word Least significant word ASCII E v a S Hex value 65h 76h 61h 73h Version 02 09 UME MCD CA 22 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 1011h Restore Parameters This object is used to restore device and
37. his object contains the cam enable register Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th Cam polarity channel 1 Unsigned 8 yes List of Cam objects Cam1 low limit Highest sub index supported Cam 1 low limit channel Cam2 low limit Highest sub index supported Cam2 low limit channel1 Version 02 09 UME MCD CA 39 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 6312h Cam3lowlimt J w Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam low limit channel1 rw 6313h Cam4 low limit rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam4 low limit channel1 rw 6314h Cam5 low limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam5 low limit channel1 rw 6315h Cam6 low limit rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam6 low limit channel1 rw 6316h Cam7 low limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam7 low limit channel1 rw 6317h Cam8 low limit rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam8 low limit channel1 rw 6320h Cam1 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam1 high limit channel1 rw 6321h Cam2 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam2 high limit channel1 rw 6322h Cams h
38. igh limit rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam3 high limit channel1 rw 6323h Cam4 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam4 high limit channel1 rw 6324h Cam5 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam5 high limit channel1 rw 6325h Cam6 high limit rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam6 high limit channel1 rw Version 02 09 UME MCD CA 40 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 6326n TCamzhighlimt w Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam7 high limit channel1 rw 6327h Cam8 high limit rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam8 high limit channel1 rw 6330h Cam1 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam1 hyteresis channel1 rw 6331h Cam2 hyteresis rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam2 hyteresis channel1 rw 6332h Cam3 hyteresis rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam3 hyteresis channel1 rw 6333h Cam4 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam4 hyteresis channel1 rw 6334h Cam5 hyteresis rw Oh VAR Highest sub index supported U8 ro 0x1 th VAR Cam5 hyteresis channel1 rw 6335h Cam6 hyteresis rw Oh VAR Highest sub index supported U8 ro Ox1 th VAR Cam6 hyteresis channel1 rw 6
39. l in object 6400h shall flag the underflow of the related work area Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Integer 32 th Work area low limit channel 1 Integer 32 yes This object is hardwired with 2104h Limit Switch Min Object 6402h Work area high limit This object indicates the position value at which bit 1 of the according work area state channel in object 6400n shall flag the overflow of the related work area Subindex Description Data Type Default Value Access Restore after BootUp Oh 1h Number of sub indices Integer 32 Work area high limit channel Integer 32 1 This object is hardwired with 2105h Limit Switch Max yes Object 6500h Operating status This object shall provide the operating status of the encoder It gives information on encoder internal programmed parameters Subindex Description Data Type Default Value Access Restore after BootUp Oh Operating status Unsigned 16 no The operating status object corresponds to the value of the object 6000h and 2100h Version 02 09 UME MCD CA 43 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6501h Single turn resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Single Turn Resolution Unsigned 32 see type sign no Object
40. nnnrnrnnrnnennnsrnrensnnnssnrnsennnennnne Tab 15 Object Dictionary 6000h 6FFFh ssrnnnvrnnnnrnnnvrnnnnrnnnvrnnnnrnrnvrnnennnennrensnrnernrnnsnnnennn Tab 16 Order Key ees sense cess sces ante enana a o Eaa Ea AEAEE EEEE E Appendix E Document history Version Date Comment 02 09 03 02 09 Initial version Version 02 09 UME MCD CA Page 57
41. o carry out a reinitialization NN Command Index Description Oh Reset Communication Oh 81h NN Reset Node NN node number It is possible to set all nodes Index 0 or a single node Index NN in reset mode After reinitialization the encoder accesses the bus in pre operational mode 4 2 Normal Operating Polled Mode Cyclic Mode Sync Mode By a remote transmission request telegram the connected host calls for the current process value The encoder reads the current position value calculates eventually set parameters and sends back the obtained process value by the same identifier 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 After receiving a sync telegram by the host the encoder answers with the current process value If more than one node number encoder shall answer after receiving a sync telegram the answer telegrams of the nodes will be received by the host in order of their node numbers The programming of an offset time is not necessary If a node should not answer after each sync telegram on the CAN network the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again Tab 8 CAN Transmission Mode Description Version 02 09 UME MCD CA 12 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 4 3 Storing Paramet
42. of distinguishable Object 3011h Speed Value rrnrrrrrnrnnrrrnrrnrrrnnnn 34 revolutions rnrrnnnnnnonrnnnrnnnnnnannrnnnrnnnnnnnnrrnnnnnnen 44 Object 3020h Acceleration Control 1 1 35 Object 6503h Alarms eronvrnonvrnervrnnnrrnervrnnnnnnenn 44 Object 3021h Acceleration Value 35 Object 6504h Supported alarms rrrvrnnnnnrrr 45 Object 4000h Bootloader Control 35 Object 6505h WarningS srnonvrnrnvrnnnvrnrrvrnnnnrnnnn 45 Object 6000h Operating parameters 1 1 1 36 Object 6506h Supported warnings ee 46 Object 6001h Measuring units per revolution 37 Object 6507h Profile and software version 46 Object 6002h Total measuring range in Object 6508h Operating time eeeee 46 measuring UNITS was ek Ahi ea inner 37 Object 6509h Offset value rrrrvrrrnrrnervrnnrnrnnr 47 Object 6003h Preset value rrrnrnnnrrrvrvrnenvrnernr 37 Object 650Ah Module identification 47 Object 6004h Position value rnrnnnnrnnnvrnnnvrnernr 37 Object 650Bh Serial number rrrnnnnrnnnvrnnnnnnnr 47 Object 6030h Speed Value rnrrrrrnrvnrrrnnrnrrennnn 38 6 DIAQNOSIS EEG 48 Object 6040h Acceleration Value 38 6 2 Troubleshooting rrrrrrnvrvnnvnnvrnrrrnnrnnnrrrennnnnn 48 Object 6200h Cyclic timer 1 sees 38 7 Mechanical Drawings ssevvvnnnnnnnnnnnvvvnnnnnnnnnn 49 Object 6300h Cam state register
43. oring Parameters The default parameters can be restored by using the object 1011h from communication profile related object dictionary The already in the non volatile memory programmed parameters are not overwritten Only after a new store command the default parameters are stored in the non volatile memory To restore the default 4 5 Usage of Layer Setting Services LSS To configure the encoder via LSS the encoder will be the LSS slave device and the control has to support LSS master device functionality The LSS master device requests services that are performed by the LSS slave devices encoder The LSS master device requests the LSS address vendor id product code revision number serial number from the LSS slave device After receiving this information the Version 02 09 RESET Power on NMT Reset from the E PROM to the RAM volatile memory you can store the parameters into the non volatile memory without a reset storing the parameters a reset of the device is performed parameter the following telegram is used The restored parameters are equal for every type of CANopen encoder and might not fit with the status after delivery Please check the restored parameters before you store them to the non volatile memory control can unequivocally identify the encoder and the node number and baud rate can be set UME MCD CA 14 POSITAL FRABA ABSOLUTE ROTARY ENCODER 5 Programmable Parameters Obje
44. pecific objects 2000h 5FFFh Object Description Page Hand Book 2000h Position Value 31 2100h Operating Parameters 31 2101h Resolution per Revolution 31 2102h Total Resolution 33 2103h Preset Value 34 2104h Limit Switch min 34 2105h Limit Switch max 33 2160h Customer Storage 35 2200h Cyclic Timer 35 2300h Save Parameter with reset 35 3000h Node Number 36 3001h Baudrate 36 3010h Speed Control 37 3011h Speed Value 37 3020h Acceleration Control 37 3021h Acceleration Value 37 4000h Bootloader Control 38 Tab 14 Object Dictionary 2000 5FFF 5 4 Application specific objects 6000h 67FEh In this manual we refer to the communication profile DS406 V3 2 Object Description Page Page Hand Book DS406 6000h Operating Parameters 38 17 6001h Measuring units per revolution 38 18 6002h Total measuring range in measuring units 39 19 6003h Preset value 39 19 6004h Position Value 40 20 6030h Speed Value 40 25 6040h Acceleration Value 40 26 6200h Cyclic Timer 40 28 6300h Cam state register 40 30 Version 02 09 UME MCD CA POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN 6301h Cam enable register 41 32 6302h Cam polarity register 41 33 6400h Area state register 44 6401h Work area low limit 44 6402h Work area high limit 44 6500h Operating status 45 63 6501h Single turn resolution 45 64 6502h Number of distinguishable revolutions 45 65 6503h Alarms 46 65 6504h Supported alarms 46 66
45. s Restore after BootUp 0 Number of sub indices Unsigned 8 yes 1 1st mapped object Unsigned 32 60040020h yes Version 02 09 UME MCD CA 27 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 1A01h 2 Transmit PDO Mapping Parameter This object contains the mapping parameter of the ord transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 yes 1 2 mapped object Unsigned 32 60040020h yes Object 1F50h Download Program Area This is a special object that has functionality for the bootloader feature see Bootloader chapter Use this entry to download your Intel hex file with the programming data Detailed information about Domain download and Block transfer in CiA Draft Standard 301 Application Layer and communication Profile Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 Yes Object 1F51h Program Control This is a special bootloader object to update the firmware see Bootloader chapter This array controls the programs residing at index 0x1F50 Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of program control Unsigned 8 yes entries th Unsigned 32 yes 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 V
46. s frozen to the maximal possible value The customer can use the 3010h 32 bit object Object 6040h Acceleration Value This object contains the acceleration value of the encoder Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 ro th Acceleration value channel1 Integer 16 romap yes Object 6200h Cyclic timer This object contains the value of the event timer of the corresponding TPDOs The value can be changed between 1 65538 ms Subindex Description Data Type Default Value Access Restore after BootUp Oh Cyclic Time Unsigned 16 yes The object 6200h is hard wired to the objects 1800h subindex 5h and 2200h and provide the cycle time for the cyclic mode See chapter Cycle Time and Event Timer Version 02 09 UME MCD CA 38 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 6300h Cam state register This object contains the cam state register The subindices 1h to FEh contain the cam state of channel 1 to 254 Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th Cam state channel 1 Unsigned 8 yes Object 6301h Cam enable register This object contains the cam enable register Subindex Description Data Type Default Value Access Restore after BootUp Oh Number of sub indices Unsigned 8 th Cam enable channel 1 Unsigned 8 yes Object 6302h Cam polarity register T
47. s 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 priority of the message consists of a function code and a node number The node number corresponds to the network address of the device It is unique on a bus The function code varies according to the type of message being sent e Management messages LMT NMT e Messaging and service SDOs e Data exchange PDOs e Layer Setting Services LSS e Predefined messages synchronization emergency messages UME MCD CA 5 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN The absolute rotary encoder supports the following operating modes e 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 SYNG is received The position value is sent every n SYNGs n 2 1 Other functions offset values resolution etc can be configured The absolute rotary encoder corresponds to the class 2 encoder profile DS 406 in which the characteristics of encoder with CANopen interface are defined The node number and speed in bauds are determined by their corresponding object dictionary
48. s must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Bit 30 1 Limit Switch Min reached or passed under Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch min Unsigned 32 yes Version 02 09 UME MCD CA 31 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN The limit switch Min sets Bit 30 1 with the next message telegram if the process value reaches or passes under the value of the limit switch Status Function bits Process value Bit 31 130 2928 27 26125 24123122 211201191181171161151141131211111019 8 7 6 5 F De oO OH X X X X X X X X IX XIX IX X X X X X X X X X IX IX IX IX X X X X X Object 2105h Limit Switch max Two position values can be programmed as limit switches By reaching this value one bit of the 32 bit process value is set to high Both programmed values must not exceed the parameter total resolution to avoid run time errors If the parameter value exceeds the total resolution of the encoder a SDO Out of range message is generated Bit 31 1 Limit Switch Max reached or passed beyond Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch max Unsigned 32 yes The limit switch max sets Bit
49. sceiver according ISO 11898 galvanically isolated by opto couplers max 1 MBaud Adjustable by SDO telegrams or Layer Setting Services 10 30 V DC absolute limits max 100 mA with 10 V DC max 50 mA with 24 V DC max 1 2 Watts EN 61000 6 4 EN 61000 6 2 Emitted interference Noise immunity gt 10 h Absolute rotary encoders should be connected only to subsequent electronics whose power supplies comply with EN 50178 protective low voltage Sensor data Singleturn technology Singleturn resolution Singleturn accuracy Internal cycle time Multiturn technology Multiturn resolution Tab 3 Sensor data Environmental Conditions Operating temperature Storage temperature Humidity Protection Class EN 60529 Tab 4 Environmental Conditions Version 02 09 magnetic 2 axis Hall sensor up to 4096 steps revolution 12 Bit 0 35 lt 1ms self supplied magnetic pulse counter Can measure up to 200 Billion revolutions 30 85 C M12 connector version 30 70 C Cable exit version 30 85 C M12 connector version 30 70 C Cable exit version 98 without liquid state Casing side IP54 Cable exit version IP65 M12 Connector version Shaft side IP65 UME MCD CA 9 POSITAL FRABA ABSOLUTE ROTARY ENCODER Mechanical Data Housing Flange Shaft Lifetime Max shaft loading Inertia of rotor Friction torque RPM continuous operation Shock
50. shaft listed in the table axial radial static 0 3 mm 0 5 mm dynamic 0 1 mm 0 2 mm Version 02 09 UME MCD CA 50 POSITAL FRABA 5 pin male M12 Connector Flange and housing dimensions from Synchro Flange 57 50 43 a 36 50 D6h6 I 3 50 033 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Appendix A Order Codes Remark This table is only for your information and to find out what is the meaning of the type key on your encoder For a valid type combination please refer to the corresponding datasheet or contact one of our distributors or Posital directly Description Magnetocode MCD C 00 B Interface and Version CANopen CA CANopen lift DSP417 CL Current Version CA 00 CL 00 Code Binary B Bits for Revolutions Single turn 00 Multi turn 4 096 turns 12 Multi turn 65 536 turns 16 Steps per revolution Bits 4 096 12 Flange Synchro flange S Blind hollow shaft B Clamp flange C Shaft diameter 06 mm Flange S and B 06 10 mm Flange GC 10 Mechanical options Without 0 Customized C Connection Cable exit axial 1m CAW Connector axial 5 pin male M12 PAM Tab 16 Order Key Standard bold further models on request Ordering example MCD CA00B 1612 5060 CAW Version 02 09 UME MCD CA Page 52 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Accessories and documentation Description Article Name Article Number
51. t of tables Tab 1 Signal Assignment Connector Cable rrrrrnnrnrrronrrnrrrnrrrrrrnnnnnrrrnnnrrrrnrnerrnnnnsrrnnnnn Tab 2 Electrical Data uuuuansnde onakusemnli famlse said edenlan atle Saintes seceatljasdendeeneareddaedae Tab 3 Sensor data irci en andet r a ia aa aae e ae a a E aaia ER aia Tab 4 Environmental Conditions asrrronvrnnnnrnrnvrnnnvrnrnvrnnnnnnnnvrnnnnnnennrnnennnsnnrnnennnernrnsennnennnn Tab 5 Mechanical data errnnnvoenonnvvnnrrnnvnnnnnnvnvnnnnnnnnnrnnvnnnnnnvnnnnvnnnnensnnnnenennrnnenvnnnntesnnnnen Tab 6 Minimum Mechanical Lifetime rrnronnnnnvrnrnnnnrnnrrrnvnnnnnnvrnnnrnnvnnnrrnvrnnnenrnnrensrrerrrnnnne Tab 7 Cable Properties srren ied hie kar oe eee Tab 8 CAN Transmission Mode Description ranvvrrnvrnnnnrnrnvrnnnnrnrnnrnnnnvnnnnrnnnnrnnnnrnnsnnnernnn Tab 9 List of Storable Parameters rrrrrvrnnnnrnnnvrnnnnrnnrnrnnnnrnnnnrennnnnnnnrnnnnnnnrnrennnnnnnnrenennnennnen Tab 10 General Command Byte Description eannvrrnvrnnnnvnnnvrnnnnrnrnvrnnnnrnnnnrnnnnrnnnnrnnenenennnn Tab 11 Detailed Command Byte Description asnvrorvrnnnnvnnnvrnnnnrnenvrnnnnvnnrnrnnenvnnrnrnnennnennnn Tab 12 Overview Object Dictionary orvrnnnnrnnnvrnnnvrnnnvrnnnnvnnnvrnnnnnnenvrnnnnnnnrnrnnenenennrnsennnennnn Tab 13 Object Dictionary 1000h 1FFFh usnrnenvrnnnnvnnnvrnnnnvnnnvrnnnnnnrnnrnnenenernrnnenvnernrnsenenennnne Tab 14 Object Dictionary 2000 5FFF renvrnnnnvnnnvrnnnnrnrnvrnnnnrnnrnrn
52. te the functions for code sequence commissioning diagnostic control and scaling function control Subindex Description Data Type Default Value Access Restore after BootUp Oh Operating Parameter Unsigned 16 1h Code sequence The code sequence defines whether increasing or decreasing position values are output rw yes 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 parameters 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 15 114 113 112 i11 10 19 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R R R IR TR IMD SFC CD CS 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 Up 1 CCW Up Code Sequence CS Bit 0 is hardwired to Code Sequence CS Bit 0 in object 2100h Version 02 09 UME MCD CA 36 POSIT
53. tmatrix Bit 0 1 Direction increasing CCW Bit 1 1 Limit switch min enabled Bit 2 0 Limit switch max disabled Bit 3 1 Event triggered Result 1011b Bh Version 02 09 UME MCD CA 29 POSITAL FRABA ABSOLUTE ROTARY ENCODER CANOPEN Object 2101h Resolution per Revolution This object contains the desired steps per revolution of the encoder Subindex Description Data Type Default Value Access Restore after BootUp 0 Resolution per Revolution Unsigned 32 see type sign yes If the desired value exceeds the hardware resolution of the encoder or is not a value of 2 it will be out of range Only values in the power of two are valid otherwise the error code 06090030h Value range of parameter exceeded will appear Object 2102h Total Resolution This object contains the desired total resolution of the encoder Subindex Description Data Type Default Value Access Restore after BootUp 0 Total Resolution Unsigned 32 see type sign yes This parameter is used to program the desired number of measuring units over the total measuring range This value must not exceed the total resolution of the absolute rotary encoder which is printed on the type sign of the encoder Attention Following formula letter will be used PGA Physical total resolution of the encoder see type sign PAU Physical resolution per revolution see type sign GA Total resolution customer parameter AU Resolution per revolution

absolute rotary encoder with canopen interface user manual

Contents

Download Pdf Manuals

Related Search

Related Contents