.docx
MULTI-TURN ABSOLUTE
ENCODERS
MEM40 Bus
MEM41 Bus
With CANopen Fieldbus
Instruction Manual
CERTIFICATE NO. E510647
Page 1: ... docx MULTI TURN ABSOLUTE ENCODERS MEM40 Bus MEM41 Bus With CANopen Fieldbus Instruction Manual CERTIFICATE NO E510647 ...
Page 2: ... only with net voltage off and standstill shaft Always observe the operating instructions of the machine manufacturer It is recommended to keep the present manual for reference Always observe prevention and safety norms during the installation and operation of the device Use the encoder exclusively for its intended purpose High voltage current and rotating parts may cause serious or fatal injuries...
Page 3: ...ighest priority prevails Prioritization of messages The identifier defines the priority of the message This ensures that important messages are transmitted quickly via the bus Residual error probability Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to below 10 11 In practical terms it is possible to ensure a 100 reliable transmission Function m...
Page 4: ...nication between the network users and the Master PC Control takes place by means of object directories and objects The objects are addressed via a 16 bit index The CANopen communication profile DS 301 standardizes the various communication objects They are accordingly divided into several groups Process data objects PDO for real time transmission of process data Service data objects SDO for read ...
Page 5: ... and up to 8 bytes of data COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Xxx x xx xx xx xx xx xx xx xx The message details are described at a later point 1 6 Service Data Communication The service data objects correspond to the standards of the CiA It is possible to access an object via index and subindex The data can be requested or where applicable written into the object St...
Page 6: ...ode is contained in bytes 5 8 COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 580H Node 08H 80H Object L Object H Subindex Err 0 Err 1 Err 2 Err 3 Byte 8 5 results in the SDO abort message byte 5 LSB byte 8 MSB The following messages are supported 05040001H Command byte is not supported 06010000H Incorrect access to an object 06010001H Read access to write only 06010002H Write a...
Page 7: ...hronous PDO In order to transmit the process data synchronously a value between 1 and F0h 240 must be written into the object 1800h 1801h Subindex 2 If the value is 3 the PDO is transmitted on every third sync telegram if the value 1 is entered transmission takes place on every SYNC telegram In synchronous operation the PDO is requested by the master via the Sync telegram COB ID DLC 80H 00H Cyclic...
Page 8: ...T services for device monitoring bus users can be initialized started and stopped In addition NMT services exist for connection monitoring Description of the NMT command The commands are transmitted as unconfirmed objects and are structured as follows COB ID DLC Byte 1 Byte 2 00H 02H Command Node Command byte Command byte Description State 01H Start remote node Operational 02H Stop remote node Sto...
Page 9: ...In addition SDOs can be read and written Stopped mode In the stopped mode only NMT and LSS communication is possible No SDO parameters can be read or written Status change Start command With the start command the encoder is switched to the operational mode status COB ID DLC Command Node 00H 02H 01H 00H 7FH Stop command With the stop command the encoder is switched to the stopped mode status COB ID...
Page 10: ...rvices LSS The encoder is provided with default values for node number 1 and baud rate 50 kBaud Since several encoders can be connected to the same CAN network with the same node number the LSS protocol allows to address each individual encoder In other words different encoders with the same node number can be connected to the system to be initialized via LSS protocol Both the node number and the ...
Page 11: ...oder in the configuration mode it is possible to modify the node ID Accepted node numbers 1 to 127 The response telegram by the slave with result in byte 1 follows 0 ok 1 Node ID outside range COB ID DLC Command Node Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E5H 08H 11H 01H 7FH Reserved COB ID DLC Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E4H 08H 11H Result Reserved Setting the ba...
Page 12: ...te 4 Byte 5 Byte 6 Byte 7 7E4H 08H 17H Result Reserved Activating the new baud rate The new baud rate set with the relevant LSS command is activated by this command Bytes 1 and 2 contain a delay in ms No response follows by the slave COB ID DLC Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E5H 08H 15H Delay time ms Reserved The encoder waits the set time before re initializing the baud...
Page 13: ... in the configuration state the vendor ID code The slave response with the requested data in bytes 1 to 4 follows COB ID DLC Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E5H 08H 5CH Reserved COB ID DLC Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E4H 08H 5CH 32 bit revision number Reserved Searching for a device The encoder can be searched for in the network The master se...
Page 14: ...te single turn 1001H Error register U8 ro 00HBit0 generic error Bit4 communication error Bit7 battery voltage low 1003H 00H 01H 04H Predefined error field Biggest Subindex Latest error Oldest error ARR U8 U32 U32 rw ro ro Contains the last 4 errors warnings Number of stored errors 0 4 Error or warning 1000H Generic error 6010H Watchdog 7320H Position Error 8110H CAN Error overrun 8120H CAN Error t...
Page 15: ...nsm PDO2 parameters Biggest Subindex COB ID PDO Type Event timer REC U8 U32 U8 U16 ro rw rw rw 05H 280H node 01H 01F4H PDO ID 280H node Synchronous PDO Cycle time in ms 1A00H 00H 01H PDO1 Mapping Biggest Subindex Content of PDO1 ARR U8 U32 ro ro 01H 60040020Hro although for CiA it is rw Byte 0 1 0020H 32 bit Byte 2 3 6004H object index position 1A01H 00H 01H PDO2 Mapping Biggest Subindex Content o...
Page 16: ...6 ro 0000HBit0 rotation direction Bit2 scaling function 6501H Max Single turn resolution U32 ro 2000H13 bit resolution 6502H Revolutions number U16 ro Absolute number of performed rotations 6503H Alarms U16 ro 0000HThe following alarms are evaluated Bit0 Position error 6504H Supported alarms U16 ro 0001HThe following alarms are supported Bit0 Position error 6505H Warnings U16 ro 0000HThe following...
Page 17: ...00H 00H PDO1 cycle time 0064H 100 ms 6509H 00h Offset value 0000H The default values of the save parameters can be restored via object 1011H In order to prevent unintentional restoring the message load must be written in subindex 1 Default values will be used by the slave after resetting COB ID DLC Command ObjectL ObjectH Sub ind Data0 Data1 Data2 Data3 600H node 08H 23H 10H 10H 01H 6CH l 6FH o 61...
Page 18: ...buffer 3 On next initialization the sensor logs on with the new node ID Modifying the baud rate 1 The baud rate can be set in Elap specific object 2100H 2 The new baud rate is saved into RAM buffer 3 On next initialization the encoder logs on with the new baud rate 4 PAY ATTENTION the MASTER must also be set with the same baud rate 3 4 Signaling LEDs The encoder is provided with a green LED DATA i...
Page 19: ...H 60H 17H 10H 00H xx xx xx xx Example reading an object Reading the encoder position object 6004H Master command message Command 40H request for reading Object address node low byte first then high byte Object sub index 0 COB ID DLC Command ObjectL ObjectH Sub ind Data0 Data1 Data2 Data3 600H node 08H 40H 04H 60H 00H xx xx xx xx The slave response telegram follows COB ID DLC Command ObjectL Object...
Page 20: ...lization the encoder logs on to the new baud rate The baud rate of the master must also be changed accordingly Baud rate Index Baud rate 0 10 kBaud 1 20 kBaud 2 50 kBaud 3 125 kBaud 4 250 kBaud 5 500 kBaud 6 800 kBaud 7 1000 kBaud Example baud rate modification from 02H 50 kBaud to 03H 125 kBaud writing 1 byte value 03H COB ID DLC Command ObjectL ObjectH Sub ind Data0 Data1 Data2 Data3 601H 08H 2F...
Page 21: ...rn resolution In object 6001H the singleturn resolution can be configured For example 1024 10bit steps per revolution 1024 400h Command message writing 4 byte value 0400H COB ID DLC Command ObjectL ObjectH Sub ind Data0 Data1 Data2 Data3 600H node 08H 23H 01H 60H 00H 00H 04H 00H 00H The encoder confirmation telegram follows COB ID DLC Command ObjectL ObjectH Sub ind Data0 Data1 Data2 Data3 580H no...
Page 22: ...he PDOs can be configured in accordance with the following table 1800H Description Sub ind 2 Sub ind 5 FEH 500 ms Cyclical transmission every 500 ms FEH 10 ms Cyclical transmission every 10 ms FEH 0 ms PDO transmission switched off 01H xx PDO transmission for each SYNC message received 03H xx PDO transmission for each third SYNC message received Defining Heartbeat time In order to monitor communic...
Page 23: ... In addition it is possible to set the user address using two rotary switches of the encoder see TABLE 5 1 The max set is 99 If the switches are set at 0 at power on the encoder keeps as node number the one stored in object 2101H otherwise it keeps the one set with the rotating switches The default set of the two switches is 00 Setting the baud rate As mentioned previously the baud rate is defined...
Page 24: ...s be connected with shielded conductors The cable shield should be in placed at both ends of the cable Connectors must be selected to permit a 360 degree contact of the shield Ensure that no equalizing currents are discharged via the shield As the encoder is not always connected to a defined earth potential depending on its mounting position the encoder flange should always be additionally linked ...
Page 25: ...C Ambient temperature UL Listed 80 max Stocking temperature 20 80 C Electrical Operating Specifications Operating principle Magnetic Resolution revoltution 8192 steps rev 13 bit Revolutions no 65536 16 bit Initializing time 1 s Data memory 30 years power off Fieldbus CANopen Supply 10 30 Vdc Protection against polarity reversal Power consumption 2 W Accuracy 0 2 Connection M12 5 5 pin radial conne...
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Page 28: ...MEM Bus con protocollo CANopen Manuale di istruzioni 25 MEM40B_CAN_Inglese_ul docx CATALOGUES MANUALS DIMENSIONAL DRAWING SOFTWARE can be downloaded at https www elap it absolute encoders encoder mem40 canopen ...
