Datalogic AMT58 16x14 CB Series Instruction Manual Download Page 28 | Manualshive

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AMT58x-CB CANopen®

21

6.7 SDO objects

SDO messages are used to set and read values from the object
dictionary of the encoder.
These parameters are described in the “Object dictionary” section.
4 bytes at the most are used for CAN data, other 4 bytes are used for
Command, Index and Sub-index fields. SDO messages are always
followed by confirmation. It follows that when Master sends a SDO
message to Slave, slave always sends a reply (and a warning,
should an error occur).

SDO structure:

IDENTIFIER

from 4 to 8 CAN data bytes

COB-ID(hex)

0 1 2 3 4 5 6 7

F.C

.

Node-

ID

Com

Index

Sub

Data

1byt

e

LSB MSB

1byt

e

LSB

… …

MSB

Com command
Index parameter

index

Sub parameter

sub-index

Data parameter

value

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Summary of Contents for AMT58 16x14 CB Series

Page 1: ...Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 2: ...tomation S r l Datalogic and the Datalogic logo are registered trademarks di Datalogic S p A in many countries including the U S A and the E U Tutti i marchi e i nomi di prodotti qui citati servono al solo scopo di identificazione e possono essere marchi o marchi registrati dei propri rispettivi proprietari Datalogic non risponde di eventuali errori tecnici o tipografici o di omissioni qui contenu...

Page 3: ... interface 16 6 1 EDS file 16 6 2 Operation states 16 6 2 1 Initialization state 17 6 2 2 Pre operational state 17 6 2 3 Operational state 17 6 2 4 Stopped state 17 6 3 Communication objects 18 6 3 1 Pre defined connection set 18 6 4 NMT objects 19 6 5 Boot up objects 19 PDO1 Cyclic mode cyclic transmission 20 PDO2 and PDO3 SYNC mode synchronous transmission 20 PDO4 Cyclic mode cyclic transmission...

Page 4: ...Limit switch min 32 Limit switch max 32 6001 00 Counts per revolution 32 6002 00 Total resolution 33 6003 00 Preset value 34 6200 00 Cyclic time 35 6500 00 Operating states 35 Code sequence 35 Scaling function 35 Limit switch min 36 Current operating state 36 6501 00 Hardware counts per revolution 36 6502 00 Hardware number of turns 36 6504 00 Supported alarms 36 6506 00 Supported warnings 36 6507...

Page 5: ...ng parameters 32 6001 00 Counts per revolution 32 6002 00 Total resolution 33 6003 00 Preset value 34 6004 00 Position value 35 6200 00 Cyclic time 35 6500 00 Operating states 35 6501 00 Hardware counts per revolution 36 6502 00 Hardware number of turns 36 6504 00 Supported alarms 36 6506 00 Supported warnings 36 6507 00 Profile and software version 36 6508 00 Operating time 37 6509 00 Offset valu...

Page 6: ...t where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to guarantee the safety of the user and a correct use of the device Failure to heed a warning or comply with instructions could lead to personal injury and or damage to the unit or other equipment This icon followed by the word NOTE is mea...

Page 7: ... the first section general information concerning the safety the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided In the second section entitled CANopen Interface both general and specific information is given on the CANopen interface In this section the interface features and the objects implemented in ...

Page 8: ...ng the device connect according to explanation in section 4 Electrical connections in compliance with the 2004 108 EC norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized without noise install EMC filters on device power su...

Page 9: ...characteristics declared by manufacturer unit with solid shaft in order to guarantee maximum reliability over time of mechanical parts we recommend a flexible coupling to be installed to connect the encoder and user s shaft make sure the misalignment tolerances of the flexible coupling are respected unit with hollow shaft the encoder can be mounted directly on a shaft whose diameter has to respect...

Page 10: ...is listed in the delivery document too Please always quote the ordering code and the serial number when reaching Datalogic Automation s r l for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 11: ...er to the flange 2 or to the mounting bell by means of screws 3 secure the flange 2 to the support or the mounting bell to the motor mount the flexible coupling 1 on the motor shaft make sure the misalignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary installation a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 Fissaggio con graffe codice ST 58 KIT a mm b mm c mm d mm AMT58 36 H7...

Page 12: ...AMT58x CB CANopen 5 3 1 3 Installation using a flange code ST 58 FLNG Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 13: ...ing the reducing sleeve 8 if supplied Avoid forcing the encoder shaft fasten the fixing plate 4 to the rear of the motor using two M3 cylindrical head screws 5 fix the collar 3 to the encoder shaft apply threadlocker to screw 3 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 14: ...tance are located inside the encoder connection cap Thus you must remove the connection cap to access any of them NOTE Be careful not to damage the internal components when you perform this operation To remove the connection cap loosen the two screws 1 Please be careful with the internal connector Always replace the connection cap at the end of the operation Take care in re connecting the internal...

Page 15: ...se 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers 4 3 Connection cap The connection cap is fitted with two PG9 cable glands for bus IN bus OUT and supply voltage connections The bus cables can be connected directly to the terminal connectors in front of each cable gland It is recommended to use CANbus certificated cables Core diameter should not exceed Ø 1 5 mm 0 06 inches Clamp De...

Page 16: ...AN Shield 1 1 2 10Vdc 30Vdc Supply voltage 3 0 Vdc Supply voltage 4 CAN High 5 CAN Low 1 CAN Shield is also connected to pin 1 to allow the connection of the shield even if the plug connector has a plastic case 4 5 Connection of the shield Disentangle and shorten the shielding 1 and then bend it over the part 2 finally place the ring nut 3 of the connector Be sure that the shielding 1 is in tight ...

Page 17: ...ansmission line 4 7 Diagnostic LEDs Two diagnostic LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the CANopen interface GREEN LED Description ON Encoder is in Operational state Single flash Encoder is in Stopped state Blinking Encoder is in Pre Operational state RED LED Description ON The CAN controller is switched off Double flash Node gu...

Page 18: ...Set binary value of transmission rate considering that ON 1 OFF 0 bit 1 LSB 2 3 MSB 4 20 21 22 ON OFF Available baud rate values Decimal value Binary value Baud rate 0 000 20 Kbit s 1 001 50 Kbit s 2 010 100 Kbit s 3 011 125 Kbit s 4 100 250 Kbit s 5 101 500 Kbit s default 6 110 800 Kbit s 7 111 1000 Kbit s Example Set 250Kbit s 410 1002 binary value see table above bit 1 2 3 4 20 21 22 23 OFF OFF...

Page 19: ...0012 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON OFF OFF ON ON OFF OFF OFF Set node number 55 5510 0011 01112 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON ON ON OFF ON ON OFF OFF WARNING If baud rate and node number are set via software master device has to detect the baud rate of the slave scanning of baud rate when the encoder is being installed Once communication has be...

Page 20: ...ot match the ordering code see encoder label then it is compulsory to set the hardware resolution for any information on reading the hardware resolution refer to section 5 2 Using the default settings Please note that the parameters 6001 00 Counts per revolution and 6002 00 Total resolution refer to the scaling function anyway the unit can run properly only if the hardware resolution is set correc...

Page 21: ...dex Sub Process data 600 ID 23 02 65 00 B4 B5 B6 B7 Encoder Master COB ID Cmd Index Sub Process data 580 ID 60 02 65 00 00 00 00 00 Step 4 Send a Reset node command Master Encoder COB ID Cmd Slave ID 000 81 ID Step 5 Store parameters object 1010 01 Store parameters Master Encoder COB ID Cmd Index Sub Process data 600 ID 23 10 10 01 73 61 76 65 Encoder Master COB ID Cmd Index Sub Process data 580 I...

Page 22: ...Index Sub Process data 581 43 01 65 01 A0 A1 A2 A3 steps rev A3 24 A2 16 A1 8 A0 Read number of revolutions 6502 00 Hardware number of turns Master Encoder COB ID Cmd Index Sub Process data 601 40 02 65 00 Encoder Master COB ID Cmd Index Sub Process data 581 43 02 65 01 B0 B1 B2 B3 N rev B3 24 B2 16 B1 8 B0 Set cyclic time 6200 00 Cyclic time 100 ms 64h Master Encoder COB ID Cmd Index Sub Process ...

Page 23: ... file has to be installed on CANopen master device 6 2 Operation states CANopen devices are designed to operate using different states Transition from one state to another is made by sending specific NMT messages see Figure below 1 Power on 2 Initialization carried out boot up message is sent automatically 3 NMT message Start remote node 4 NMT message Enter pre operational 5 NMT message Stop remot...

Page 24: ...essage 6 2 3 Operational state In this state slave device is active and all communication objects are available Slave device can use the parameters available in the Object dictionary and is allowed to send process data using PDO messages Object dictionary can be accessed using SDO messages To switch slave device to Pre operational state master must send an Enter pre operational command using a NMT...

Page 25: ...ces to transmit process data encoder position and velocity Emergency error messages are triggered by each error event Nodeguard used to request the state of the slave Relation between device states and communication objects Initial Pre oper Operat Stopped NMT X X X PDO X SDO X X SYNC X EMCY X X Boot up X Node guard X X X 6 3 1 Pre defined connection set Master Slave broadcast Type of COB Object Fu...

Page 26: ...des NMT Function Command NMT Function State node 01 hex Start remote node Operational 02 hex Stop remote node Stopped 80 hex Enter pre operational Pre operational 81 hex Reset node Pre operational 82 hex Reset communication Pre operational 6 5 Boot up objects Boot up message structure COB ID hex 1 CAN Data Bytes 700 Node ID 00 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin ...

Page 27: ...eral nodes encoders are connected to the network the Master receives the position values from the slaves respecting the Node number order The encoder can be programmed to send a reply after a set number of SYNC messages by setting a counter The PDO message will be transmitted after having received the set number of SYNC messages For PDO2 the value of the counter must be set in object 1801 PDO2 par...

Page 28: ...ub index fields SDO messages are always followed by confirmation It follows that when Master sends a SDO message to Slave slave always sends a reply and a warning should an error occur SDO structure IDENTIFIER from 4 to 8 CAN data bytes COB ID hex 0 1 2 3 4 5 6 7 F C Node ID Com Index Sub Data 1byt e LSB MSB 1byt e LSB MSB Com command Index parameter index Sub parameter sub index Data parameter va...

Page 29: ...messages to master e g Index does not exist Comman d COB COB type Data length 22h Set M S request not spec 23h Set M S request 4 byte 2Bh Set M S request 2 byte 2Fh Set M S request 1 byte 60h Set S M confirmation 0 byte 40h Req M S request 0 byte 42h Req S M reply not spec 43h Req S M reply 4 byte 4Bh Req S M reply 2 byte 4Fh Req S M reply 1 byte 41h Req S M reply segmented SDO 80h Warning S M rep...

Page 30: ...dard objects DS 301 1000 00 Device type Unsigned32 ro Default 0001 0196h singleturn encoder DS 406 0002 0196h multiturn encoder DS 406 1001 00 Error register Unsigned8 ro Should an error occur bit 0 in this object will be set to 1 Default 00h 1003 Pre defined error field This object contains the last four errors which generated an emergency message 00 Number of current errors Unsigned8 rw write 00...

Page 31: ...rd time Unsigned16 rw It contains the Guard time expressed in msec milliseconds Object 100C 00 Guard time is used in the Node guarding protocol controlled by the master For more details see section 6 11 Node guarding protocol Default 0000h 100D 00 Life time factor Unsigned8 rw Object 100D 00 Life time factor is used in the Node guarding protocol controlled by the master For more details see sectio...

Page 32: ...ult values are set at the factory by Datalogic Automation engineers to allow the operator to run the device for standard operation in a safe mode Write load ASCII code in hexadecimal form in the data bytes and then issue a Reset node command Master Encoder COB ID Cmd Index Sub Data bytes 600 ID 23 11 10 01 6C 6F 61 64 Encoder Master confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 11 10 01 0...

Page 33: ...led Default 0000h 1018 Identification object 01 Vendor number Unsigned32 ro 02 Product number Unsigned32 ro 03 Revision number Unsigned32 ro 1800 PDO1 parameters PDO1 message is used by default for cyclic transmission of the position value See object 6200 00 Cyclic time to set the cyclic timer 01 COB ID of PDO1 Unsigned32 rw If the node address is set using the internal dip switches i e at least o...

Page 34: ...nterval in SYNC commands must be set in object 1801 PDO2 parameters sub 2 1802 PDO3 parameters PDO3 message is used by default for synchronous transmission of the position value 01 COB ID of the PDO3 Unsigned32 rw If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always force...

Page 35: ...ansmission of PDO1 PDO2 PDO3 and PDO4 messages can be enabled or disabled by setting to 0 or 1 the most significant bit MSB used by PDO object 180xh sub1 Cyclic transmission or synchronous transmission can be modified by setting the object 180xh sub 2 01h synchronous transmission at each SYNC command 02h synchronous transmission after two SYNC commands FEh cyclic transmission 1A00 01 PDO1 mapping ...

Page 36: ... set bit 13 of object 6000 00 Operating parameters to 1 Default 003F FFF0h 3000 00 Baud rate Unsigned8 rw This object is meant to set the baud rate transmission rate according to the following table Data byte Baud rate 00h 20 Kbit s 01h 50 Kbit s 02h 100 Kbit s 03h 125 Kbit s 04h 250 Kbit s 05h 500 Kbit s default 06h 800 Kbit s 07h 1000 Kbit s The bit rate is set through object 3000 00 Baud rate o...

Page 37: ...eset node COB ID Cmd Slave ID 000 81 ID Set the master device to the new baud rate Encoder Master Boot up with new baud rate COB ID Cmd 700 ID 00 NOTE To save the new Baud rate value execute the store parameters function see object 1010 01 Store parameters When the power is turned off parameters not saved will be lost Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 38: ...ta byte 580 ID 60 01 30 00 00 Master Encoder Reset node COB ID Cmd Slave ID 000 81 old ID Encoder Master Boot up with new Node ID COB ID Cmd 700 ID 00 NOTE To save the new Node ID value execute the store parameters function see object 1010 01 Store parameters When the power is turned off parameters not saved will be lost 3005 00 Velocity format Unsigned8 rw This attribute defines the engineering u...

Page 39: ...bled the device uses its own physical resolution see objects 6501 00 Hardware counts per revolution and 6502 00 Hardware number of turns if enabled it uses the resolution set in objects 6001 00 Counts per revolution and 6002 00 Total resolution with the following relation Transmitted position 6001 00 Counts per revolution real position 6002 00 Total resolution 6501 00 Hardware counts per revolutio...

Page 40: ...alue and finally save the new parameters see object 1010 01 Store parameters 6002 00 Total resolution Unsigned32 rw This object sets a custom number of distinguishable steps over the total measuring range Enabled if bit 2 Scaling function in the object 6000 00 Operating parameters 1 Allowed values are equal to or lower than Total hardware resolution 6501 00 Hardware counts per revolution 6502 00 H...

Page 41: ...ts per revolution and or 6002 00 Total resolution values change then the 6003 00 Preset value must be updated to the new resolution A new 6003 00 Preset value value is also required 6003 00 Preset value Unsigned32 rw This object allows to set the encoder position to a Preset value Preset function is meant to assign a certain value to a desired physical position of the encoder shaft Default 0000 00...

Page 42: ...t used 2 Scaling function Disabled Enabled 3 11 not used 12 Limit switch min posit 2104 00 Limit switch min posit 2104 00 Limit switch min 13 Limit switch max posit 2105 00 Limit switch max posit 2105 00 Limit switch max 14 not used 15 Current operating state Stopped Pre operational Operational Code sequence It shows whether the code sequence is set to clockwise CW or counterclockwise CCW To set t...

Page 43: ...nit For further information on the available states see 6 2 Operation states bit 15 0 Stopped or Pre operational state bit 15 1 Operational state 6501 00 Hardware counts per revolution Unsigned32 ro This object defines the physical number of distinguishable steps each turn given by the hardware To set a custom resolution see object 6001 00 Counts per revolution 6502 00 Hardware number of turns Uns...

Page 44: ...acturer offset value Integer32 ro This object contains the manufacturer offset value This is the difference between the physical zero position of the encoder zero set mechanically and the zero position set by the manufacturer zero set via software Default 0000 0000h 650B 00 Serial number Unsigned32 ro Default FFFF FFFFh not used NOTE To save new parameters execute the store parameters function see...

Page 45: ...g 6 10 Emergency objects Emergency EMCY objects are issued by the device when an internal error occurs EMCY structure IDENTIFIER CAN Data Byte COB ID hex 0 1 2 3 7 see object 1014 00 COBID EMCY Error code Error Sub register Specific code LSB MSB 01 00 00 Available error codes 1000h Node guarding error 5530h Flash memory error Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin c...

Page 46: ...e time factor Node guarding is enabled if Node life time 0 If the slave does not receive a RTR message before the Node life time has expired it warns activating a Life Guarding Event Furthermore the red LED starts flashing so indicating the Node guarding error objects 1001 00 Error register and 1003 Pre defined error field are updated and an error message is sent To reset the error send a Reset no...

Page 47: ...0 00 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 Set total resolution 6002 00 Total resolution 224 0100 0000h Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 02 60 00 00 00 00 01 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 02 60 00 00 00 00 00 Set operating parameters 6000 00 Operating param...

Page 48: ...data 580 ID 60 01 18 02 00 Disable Sync mode 1801 PDO2 parameters sub 1 Read COB ID used by PDO2 Master Encoder Req request COB ID Cmd Index Sub Process data 600 ID 40 01 18 01 Encoder Master Req reply COB ID Cmd Index Sub Process data 580 ID 43 01 18 01 B0 B1 B2 B3 COB ID used by PDO2 B3 24 B2 16 B1 8 B0 set the most significant bit to 1 B3 0x80 Set new COB ID used by PDO2 1801 PDO2 parameters su...

Page 49: ...0 B1 B2 B3 COB ID used by PDO1 B3 24 B2 16 B1 8 B0 set the most significant bit to 0 B3 0x7F Set new COB ID used by PDO1 1800 PDO1 parameters sub 1 Master Encoder Set request COB ID Cm d Index Sub Process data 600 ID 23 00 18 01 B0 B1 B2 B3 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 18 01 00 00 00 00 NOTE To save new parameters execute the store parameters funct...

Page 50: ...O3 parameters sub 2 0x01 1803 PDO4 parameters sub 1 NODEID 0xC0000480 1803 PDO4 parameters sub 2 0xFE 1A00 01 PDO1 mapping parameter 0x60040020 1A01 01 PDO2 mapping parameter 0x60040020 1A02 01 PDO3 mapping parameter 0x60040020 1A03 01 PDO4 mapping parameter 0x36000020 2104 00 Limit switch min 0x00000010 2105 00 Limit switch max 0x003FFFF0 3000 00 Baud rate 0x05 3001 00 Node ID 0x01 3005 00 Veloci...

Page 51: ...Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 52: ...tomation S r l Datalogic and the Datalogic logo are registered trademarks di Datalogic S p A in many countries including the U S A and the E U Tutti i marchi e i nomi di prodotti qui citati servono al solo scopo di identificazione e possono essere marchi o marchi registrati dei propri rispettivi proprietari Datalogic non risponde di eventuali errori tecnici o tipografici o di omissioni qui contenu...

Page 53: ...operational state 15 6 2 3 Operational state 15 6 2 4 Stopped state 15 6 3 Communication objects 16 6 3 1 Pre defined connection set 16 6 4 NMT objects 17 6 5 Boot up objects 17 6 6 PDO objects 17 PDO1 Cyclic mode cyclic transmission 18 PDO2 and PDO3 SYNC mode synchronous transmission 18 PDO4 Cyclic mode cyclic transmission 18 6 7 SDO objects 19 6 7 1 Command 19 6 8 Object dictionary 20 6 8 1 Stan...

Page 54: ... 30 Limit switch max 30 6001 00 Counts per revolution 30 6002 00 Total resolution 30 6003 00 Preset value 31 6004 00 Position value 32 6200 00 Cyclic time 32 6500 00 Operating state 32 Code sequence 32 Scaling function 32 Limit switch min 32 Limit switch max 33 Current operating state 33 6501 00 Hardware counts per revolution 33 6502 00 Hardware number of turns 33 6504 00 Supported alarms 33 6506 ...

Page 55: ...g parameters 29 6001 00 Counts per revolution 30 6002 00 Total resolution 30 6003 00 Preset value 31 6004 00 Position value 32 6200 00 Cyclic time 32 6500 00 Operating state 32 6501 00 Hardware counts per revolution 33 6502 00 Hardware number of turns 33 6504 00 Supported alarms 33 6506 00 Supported warnings 34 6507 00 Profile and software version 34 6508 00 Operating time 34 6509 00 Offset value ...

Page 56: ...t where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to guarantee the safety of the user and a correct use of the device Failure to heed a warning or comply with instructions could lead to personal injury and or damage to the unit or other equipment This icon followed by the word NOTE is mea...

Page 57: ... the first section general information concerning the safety the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided In the second section entitled CANopen Interface both general and specific information is given on the CANopen interface In this section the interface features and the objects implemented in ...

Page 58: ...g the device connect according to explanation in section 4 Electrical connections in compliance with the 2004 108 EC norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized without noise install EMC filters on device power sup...

Page 59: ...characteristics declared by manufacturer unit with solid shaft in order to guarantee maximum reliability over time of mechanical parts we recommend a flexible coupling to be installed to connect the encoder and user s shaft make sure the misalignment tolerances of the flexible coupling are respected unit with hollow shaft the encoder can be mounted directly on a shaft whose diameter has to respect...

Page 60: ...is listed in the delivery document too Please always quote the ordering code and the serial number when reaching Datalogic Automation s r l for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 61: ...er to the flange 2 or to the mounting bell by means of screws 3 secure the flange 2 to the support or the mounting bell to the motor mount the flexible coupling 1 on the motor shaft make sure the misalignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary installation a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 Fissaggio con graffe codice ST 58 KIT a mm b mm c mm d mm AMT58 36 H7...

Page 62: ...AMT58x CB CANopen 5 3 1 3 Installation using a flange code ST 58 FLNG Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 63: ...ing the reducing sleeve 8 if supplied Avoid forcing the encoder shaft fasten the fixing plate 4 to the rear of the motor using two M3 cylindrical head screws 5 fix the collar 3 to the encoder shaft apply threadlocker to screw 3 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 64: ...tance are located inside the encoder connection cap Thus you must remove the connection cap to access any of them NOTE Be careful not to damage the internal components when you perform this operation To remove the connection cap loosen the two screws 1 Please be careful with the internal connector Always replace the connection cap at the end of the operation Take care in re connecting the internal...

Page 65: ...3 x 6 cylindrical head screw with 2 tooth lock washers 4 3 Connection cap with PGs The connection cap is fitted with two PG9 cable glands for bus IN bus OUT and supply voltage connections The bus cables can be connected directly to the terminal connectors in front of each cable gland It is recommended to use CANbus certificated cables Core diameter should not exceed Ø 1 5 mm 0 06 inches Terminal c...

Page 66: ...e CAN Shield 1 1 2 10VDC 30VDC Supply voltage 3 0 VDC Supply voltage 4 CAN High 5 CAN Low 1 CAN Shield is also connected to pin 1 to allow the connection of the shield even if the plug connector has a plastic case 4 5 Connection of the shield Disentangle and shorten the shielding 1 and then bend it over the part 2 finally place the ring nut 3 of the connector Be sure that the shielding 1 is in tig...

Page 67: ...ansmission line 4 7 Diagnostic LEDs Two diagnostic LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the CANopen interface GREEN LED Description ON Encoder is in Operational state Single flash Encoder is in Stopped state Blinking Encoder is in Pre Operational state RED LED Description ON The CAN controller is switched off Double flash Node gu...

Page 68: ...Set binary value of transmission rate considering that ON 1 OFF 0 bit 1 LSB 2 3 MSB 4 20 21 22 ON OFF Available baud rate values Decimal value Binary value Baud rate 0 000 20 Kbit s 1 001 50 Kbit s 2 010 100 Kbit s 3 011 125 Kbit s 4 100 250 Kbit s 5 101 500 Kbit s default 6 110 800 Kbit s 7 111 1000 Kbit s Example Set 250Kbit s 410 1002 binary value see table above bit 1 2 3 4 20 21 22 23 OFF OFF...

Page 69: ...1 10012 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON OFF OFF ON ON OFF OFF OFF Set node number 55 5510 0011 01112 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON ON ON OFF ON ON OFF OFF WARNING If baud rate and node number are set via software master device has to detect the baud rate of the slave scanning of baud rate when the encoder is being installed Once communication has...

Page 70: ...x Sub Process data 581 43 01 65 01 A0 A1 A2 A3 steps rev A3 24 A2 16 A1 8 A0 Read number of revolutions 6502 00 Hardware number of turns Master Encoder COB ID Cmd Index Sub Process data 601 40 02 65 00 Encoder Master COB ID Cmd Index Sub Process data 581 43 02 65 01 B0 B1 B2 B3 N rev B3 24 B2 16 B1 8 B0 Set cyclic time 6200 00 Cyclic time 100 ms 64h Master Encoder COB ID Cmd Index Sub Process data...

Page 71: ...site EDS file has to be installed on CANopen master device 6 2 Operation states CANopen devices are designed to operate using different states Transition from one state to another is made by sending specific NMT messages see Figure below 1 Power on 2 Initialization carried out boot up message is sent automatically 3 NMT message Start remote node 4 NMT message Enter pre operational 5 NMT message St...

Page 72: ...essage 6 2 3 Operational state In this state slave device is active and all communication objects are available Slave device can use the parameters available in the Object dictionary and is allowed to send process data using PDO messages Object dictionary can be accessed using SDO messages To switch slave device to Pre operational state master must send an Enter pre operational command using a NMT...

Page 73: ...ces to transmit process data encoder position and velocity Emergency error messages are triggered by each error event Nodeguard used to request the state of the slave Relation between device states and communication objects Initial Pre oper Operat Stopped NMT X X X PDO X SDO X X SYNC X EMCY X X Boot up X Node guard X X X 6 3 1 Pre defined connection set Master Slave broadcast Type of COB Object Fu...

Page 74: ...nal 81 hex Reset node Pre operational 82 hex Reset communication Pre operational 6 5 Boot up objects Boot up message structure COB ID hex 1 CAN Data Bytes 700 Node ID 00 6 6 PDO objects PDO tx messages are always made up of 4 CAN Data Bytes and are used by the encoder to transmit the position value and or the velocity value PDO structure IDENTIFIER 4 CAN Data Bytes COB ID hex Byte 0 Byte 1 Byte 2 ...

Page 75: ... programmed to send a reply after a set number of SYNC messages by setting a counter The PDO message will be transmitted after having received the set number of SYNC messages For PDO2 the value of the counter must be set in object 1801 PDO2 parameters sub 2 For PDO3 refer to object 1802 PDO3 parameters sub 2 SYNC transmission mode can be enabled or disabled by setting to 0 or 1 the most significan...

Page 76: ... MSB 1byte LSB MSB Com command Index parameter index Sub parameter sub index Data parameter value 6 7 1 Command The command byte contains the type of telegram transmitted to the CAN network Three types of telegram are available Set to send configuration parameters to a device Req used by master to read data from a device Warnings used by slave to send error messages to master e g Index does not ex...

Page 77: ...01 1000 00 Device type Unsigned32 ro Default 0001 0196h singleturn encoder DS 406 0002 0196h multiturn encoder DS 406 1001 00 Error register Unsigned8 ro Should an error occur bit 0 of this object will be set to 1 Default 00h 1003 Pre defined error field This object contains the last four errors which generated an emergency message 00 Number of current errors Unsigned8 rw write 00h to delete the e...

Page 78: ...rw It contains the Guard time expressed in msec milliseconds Object is used in the Node guarding protocol controlled by the master For more details see section 6 11 Node guarding protocol Default 0000h 100D 00 Life time factor Unsigned8 rw Object 100D 00 Life time factor is used in the Node guarding protocol controlled by the master For more details see section 6 11 Node guarding protocol Default ...

Page 79: ...lt values are set at the factory by Datalogic Automation engineers to allow the operator to run the device for standard operation in a safe mode Write load ASCII code in hexadecimal form in the data bytes and then issue a Reset node command Master Encoder COB ID Cmd Index Sub Data bytes 600 ID 23 11 10 01 6C 6F 61 64 Encoder Master confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 11 10 01 00...

Page 80: ...d Default 0000h 1018 Identification object 01 Vendor number Unsigned32 ro 02 Product number Unsigned32 ro 03 Revision number Unsigned32 ro 1800 PDO1 parameters PDO1 message is used by default for cyclic transmission of the position value See object 6200 00 Cyclic time for setting the cyclic timer 01 COB ID of PDO1 Unsigned32 rw If the node address is set using the internal dip switches i e at leas...

Page 81: ...f the PDO3 Unsigned32 rw If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the set value unless a software procedur...

Page 82: ...s transmission can be modified setting the object 180xh sub 2 01h synchronous transmission at each SYNC command 02h synchronous transmission after two SYNC commands FEh cyclic transmission 1A00 01 PDO1 mapping parameter Unsig32 rw This object contains the mapped position value of the encoder according to DS406 device profile Default 6004 0020h 1A01 01 PDO2 mapping parameter Unsig32 rw See object 1...

Page 83: ...object 6000 00 Operating parameters to 1 Default 003F FFF0h 3000 00 Baud rate Unsigned8 rw This object is meant to set the baud rate transmission rate according to the following table Data byte Baud rate 00h 20 Kbit s 01h 50 Kbit s 02h 100 Kbit s 03h 125 Kbit s 04h 250 Kbit s 05h 500 Kbit s default 06h 800 Kbit s 07h 1000 Kbit s The bit rate is set through object 3000 00 Baud rate only if bit 4 in...

Page 84: ...igned8 rw This object defines the node identifier of the device The node number is set through the object 3001 00 Node ID only if all bits of DIP B are set to OFF If one bit at least of DIP B is set to ON the node number is set through DIP B For any further information refer to section 4 9 Node number DIP B To change the Node ID value you have to set the object 3001 00 Node ID send a Reset node co...

Page 85: ...city format Unsigned8 rw This attribute defines the engineering units for the velocity value 00h steps s number of steps per second default 01h rpm revolutions per minute 3006 00 Velocity value Unsigned32 ro This attribute shows the current speed detected by the position sensor and calculated every 100 ms Value is transmitted according to the settings in the object 1803 PDO4 parameters Buy www Val...

Page 86: ...otates counterclockwise CW and CCW rotations are viewed from shaft end Scaling function If disabled the device uses its own physical resolution see objects 6501 00 Hardware counts per revolution and 6502 00 Hardware number of turns if enabled it uses the resolution set in objects 6001 00 Counts per revolution and 6002 00 Total resolution with the following relation Transmitted position 6001 00 Cou...

Page 87: ...ery time you change the value in this object then you are required to set a new preset value see object 6003 00 Preset value and finally save the new parameters see object 1010 01 Store parameters 6002 00 Total resolution Unsigned32 rw This object sets a custom number of distinguishable steps over the total measuring range Enabled if bit 2 in the object 6000 00 Operating parameters 1 Allowed value...

Page 88: ...errors If 6001 00 Counts per revolution and or 6002 00 Total resolution values change the 6003 00 Preset value must be updated to the new resolution A new 6003 00 Preset value is also required 6003 00 Preset value Unsigned32 rw This object allows to set the encoder position to a Preset value Preset function is meant to assign a certain value to a desired physical position of the encoder shaft Defa...

Page 89: ... used 12 Limit switch min posit posit 13 Limit switch max posit posit 14 not used 15 Current operating state Stopped Pre operational Operational Code sequence It shows whether the code sequence is set to clockwise CW or counterclockwise CCW To set the code sequence to either CW or CCW you must set the bit 0 Code sequence of the object 6000 00 Operating parameters to 0 1 Scaling function It shows w...

Page 90: ...e states see section on page 14 bit 15 0 Stopped or Pre operational state bit 15 1 Operational state 6501 00 Hardware counts per revolution Unsigned32 ro This object defines the physical number of distinguishable steps each turn given by the hardware To set a custom resolution see object 6001 00 Counts per revolution 6502 00 Hardware number of turns Unsig16 ro This object defines the physical numb...

Page 91: ...tion relating to 6003 00 Preset value Default 0000 0000h 650A 01 Manufacturer offset value Integer32 ro This object contains the manufacturer offset value This is the difference between the physical zero position of the encoder zero set mechanically and the zero position set by the manufacturer zero set via software Default 0000 0000h 650B 00 Serial number Unsigned32 ro Default FFFF FFFFh not used...

Page 92: ...a org 6 10 Emergency objects Emergency EMCY objects are issued by the device when an internal error occurs EMCY structure IDENTIFIER CAN Data Byte COB ID hex 0 1 2 3 7 see object 1014 00 COB ID EMCY Error code Error Sub register Specific code LSB MSB 01 00 00 Available error codes 1000h Node guarding error 5530h Flash memory error Buy www ValinOnline com Phone 844 385 3099 Email CustomerService va...

Page 93: ...e time factor Node guarding is enabled if Node life time 0 If the slave does not receive a RTR message before the Node life time has expired it warns activating a Life Guarding Event Furthermore the red LED starts flashing so indicating the Node guarding error objects 1001 00 Error register and 1003 Pre defined error field are updated and an error message is sent To reset the error send a Reset no...

Page 94: ...irmation COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 Set total resolution 6002 00 Total resolution 228 1000 0000h Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 02 60 00 00 00 01 00 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 02 60 00 00 00 00 00 Set Operating parameter 6000 00 Operating parameters Code sequence CW Scalin...

Page 95: ...able Sync mode 1801 PDO2 parameters sub 1 Read COB ID used by PDO2 Master Encoder Req request COB ID Cmd Index Sub Process data 600 ID 40 01 18 01 Encoder Master Req reply COB ID Cmd Index Sub Process data 580 ID 43 01 18 01 B0 B1 B2 B3 COB ID used by PDO2 B3 24 B2 16 B1 8 B0 set the most significant bit to 1 B3 0x80 Set new COB ID used by PDO2 1801 PDO2 parameters sub 1 Master Encoder Set request...

Page 96: ...s data 580 ID 43 00 18 01 B0 B1 B2 B3 COB ID used by PDO1 B3 24 B2 16 B1 8 B0 set the most significant bit to 0 B3 0x7F Set new COB ID used by PDO1 1800 PDO1 parameters sub 1 Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 00 18 01 B0 B1 B2 B3 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 18 01 00 00 00 00 NOTE To save new parameters execute ...

Page 97: ... 0x01 1803 PDO4 parameters sub 1 NODEID 0xC0000480 1803 PDO4 parameters sub 2 0xFE 1A00 01 PDO1 mapping parameter sub 1 0x60040020 1A01 01 PDO2 mapping parameter sub 1 0x60040020 1A02 01 PDO3 mapping parameter sub 1 0x60040020 1A03 01 PDO4 mapping parameter sub 1 0x36000020 2104 00 Limit switch min 0x00000010 2105 00 Limit switch max 0x003FFFF0 3000 00 Baud rate 0x05 3001 00 Node ID 0x01 3005 00 V...

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