Item No. 2 542 052; Release 3140799hu
1 of 32
Technical Manual
RA 58-Pwith CAN-Bus (Layer 2)
Item no. 2 542 052Release 3140799hu
Page 1: ...Item No 2 542 052 Release 3140799hu 1 of 32 Technical Manual RA 58 P with CAN Bus Layer 2 Item no 2 542 052 Release 3140799hu ...
Page 2: ...tation shall not be modified amended copied or given to third parties without prior written approval by HENGSTLER HENGSTLER GmbH Postfach 11 51 78 550 Aldingen Germany Telephone 49 74 24 8 93 17 Telefax 49 74 24 8 93 70 Issue date 14 07 99 We reserve the right to make technical modifications and improvements which serve the further development of our products ...
Page 3: ...de ____________________________________________ 13 4 4 Counting Direction __________________________________________________ 13 4 5 Position Value Identifier ______________________________________________ 14 4 6 Transmission Identifier for Warning Position Message ______________________ 14 4 7 Transmission Identifier for Encoder Status ______________________________ 15 4 8 Reception Identifier for...
Page 4: ...w voltage SELV and must be in an area of equipotential bonding Please use an external fuse for protection see Electrical Data Fields of application industrial processes and controls Overvoltage at the connecting terminals must be limited to overvoltage class II values Please avoid shocks to the housing especially to the encoder shaft and axial or radial overload to the encoder shaft Maximum accura...
Page 5: ...ally standardised according to ISO DIS 11898 CAN High Speed and allows data transfer rates of up to 1 Mbit s The most salient feature of the CAN protocol is its high transmission security Hamming distance 6 Communication occurs via the CAN bus by means of layer 2 protocol The encoder can therefore be employed both in CAN systems in which the layer 2 protocol is used as well as in those in which th...
Page 6: ...parameters the working memory must be copied into the EEPROM with the help of an appropriate command see below After a reset as a result of start up watchdog or reset command the encoder copies the data stored in the EEPROM into its working memory Copying of the EEPROM into the working memory can also be accomplished with the help of a separate command via the CAN bus e g after the setting of corr...
Page 7: ...efined by means of five DIP switches base identifiers After that any number of new identifiers can be defined and programmed for the encoder via the CAN bus The encoder uses the newly programmed identifiers as long as the DIP switches are not changed 3 6 1 Required Identifiers A total of four identifiers are required position value transfer base identifier see DIP switches warning position message...
Page 8: ... switches have changed since the previous reset Otherwise the identifiers stored in the EEPROM possibly set via the bus remain in force By means of the DIP switches five bits of the 11 place identifier can be set see Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden werden Description 1 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 Value 2 0 DIP 5 DIP 4 DIP 3 DIP 2 D...
Page 9: ...rred to the encoder as parameters These telegrams contain besides the warning positions the information as to whether the warning position message should be sent upon exceeding and or falling short of the transferred position see section Parameters and Commands As soon as one of the conditions for the transmission of an warning position message is met exceeding or falling short of the correspondin...
Page 10: ...Byte 2 Byte 3 Byte 4 Byte 5 29D ERR MODE TYP VER_NK VER_VK Byte 0 Subindex 29 contains the status transfer Byte 1 Current operating status 0 no error 0 is the error number Error numbers 128D Alarm from multiturn hardware error 64D Alarm from single turn hardware error 3D Memory error 2D Cycle duration too short 10 KBaud 10 ms 20 KBaud 5 ms 50 KBaud 1 ms 1D Inadmissible parameter protocol error Byt...
Page 11: ...ram The transfer of a parameter is acknowledged by the encoder with the transmission of its current status List of parameters to the encoder Prefixed identifier Identifier for Reception of Parameters Commands Telegram Subindex decimal Default value Meaning Set warning pos 20 0 disabled define warning position and direction Set mode 21 auto mode switch into polling or auto mode Set cycle 22 1s set ...
Page 12: ...it is set an warning position message is sent out from the encoder if the position value falls short of the warning position MUE If this bit is set an warning position message is sent out from the encoder if the position value exceeds the warning position If both MUN and MUE are set the encoder transmits the appropriate warning position message in case the position is exceeded and fallen short of ...
Page 13: ...e new cycle duration ms 4 4 Counting Direction The counting direction of the encoder can be set The counting direction is defined as cw or ccw cw upwards counting for clockwise rotation of the shaft cw clockwise with view of the shaft ccw upwards counting for counter clockwise rotation of the shaft ccw counter clockwise with view of the shaft This setting is made by means of the following telegram...
Page 14: ...idity even after switch off of the encoder up until a change in the DIP switches for the setting of the base identifiers is detected during a reset In this case the position value identifier is set to the pre set base identifier 4 6 Transmission Identifier for Warning Position Message The identifier for the warning position message can also be changed via the bus Prefixed identifier Identifier for...
Page 15: ...DIP switches for the base identifier is detected during reset In this case the parameter identifier is set to the pre set base identifier 2 4 8 Reception Identifier for Commands and Parameters The reception identifier for commands and parameters can also be changed via the bus Prefixed identifier Identifier for Reception of Parameters Commands Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 27D 2 7 2 0 ...
Page 16: ...ter cannot be recommended the value is not even influenced by a Reset Parameter command The telegram has the following format Prefixed identifier Identifier for Reception of Parameters Commands Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 28D no of bits single turn SM 0 0 0 Byte no 0 contains the subindex 28 for the transfer of the encoder type Byte 1 contains the number of bits in the single turn ra...
Page 17: ...urrent status of the encoder is sent out s 3 9 Current Encoder Status 5 2 Reset Encoder The encoder executes a warm start after this command That means the hardware components of the encoder are newly initialised the parameters are copied from the EEPROM into the working memory the DIP switches are read in and evaluated The base identifier is set via five DIP switches which are evaluated during a ...
Page 18: ...programmed via the CAN bus are set to their default values by the Reset Parameters command only after being stored into the EEPROM by means of the Store command followed up by the Reset Encoder command 5 4 Store The parameters stored in the working memory RAM are saved into the EEPROM and are preserved there even without operating voltage After a reset reconnection of the operating voltage the par...
Page 19: ...tor 2 fold 9 pole internal t manifold 4 Bus terminal box internal t manifold 6 1 1 Cable or Connector with Connection Type CAN Transceiver The screen must be connected with ground on both ends Also the voltage supply lines should be screened completely If this is not possible the corresponding filter measures are to be taken In case of 1 MBaud the standard cable has to be shortened to 30 cm Accord...
Page 20: ... signal cables with screen place screen on both sides 6 1 2 Cable or Connector with Connection Type Double Bus Lines This connection type can be used for encoders with the connection type cable Code A B or connector Code C D G H For the connection types connector 2 fold Code I and bus terminal box Code Z the incoming and the outgoing bus line is directly connected to the encoder anyway In these ca...
Page 21: ...n connected to encoder housing Note Use paired signal cables with screen place screen on both sides 6 1 3 Connector 2 fold 9 pole internal t manifold For the connection type connector 2 fold Code I the incoming and the outgoing bus line is directly connected to the encoder plugs A drop line is avoided since the continuous bus line is led directly through the encoder Connect the incoming bus to the...
Page 22: ...g and the outgoing bus line is directly connected to the bus terminal box A drop line is avoided since the continuous bus line is led directly through the encoder Loosen the screws and draw off the bus terminal box from the encoder Lead the incoming bus cable through the middle screw connection and connect it to the terminals 1 3 according to the inscription In case there are no other devices foll...
Page 23: ...the encoder after Reset or Power on A modification of the switch position has no effect until the next Reset Power on The modification will only be accepted if the position of the DIP switches has been modified since the previous Reset Otherwise the identifiers which have been stored in the EEPROM and which have been possibly programmed via the bus will be preserved 1 5 Base identifier 6 8 Baud ra...
Page 24: ...60529 1 Housing IP 65 Bearing IP 64 2 Operating temperature 25 85 C Storage temperature 25 85 C Vibration performance IEC 68 2 6 100 m s 2 10 500 Hz Shock resistance IEC 68 2 27 1000 m s 2 6 ms Connections Cable connector connector 2 fold bus terminal box Housing Aluminium Flange S synchro flange K clamping flange Weight Multi turn 350 g approx single turn 300 g approx Bearing life 1 x 10 10 revol...
Page 25: ...esolution 360 increments 9 Bit single turn 512 increments 9 Bit single turn 720 increments 10 Bit single turn 1024 increments 10 Bit single turn 4096 increments 12 Bit single turn 8192 increments 13 Bit single turn 16384 increments 14 Bit single turn 4096 increments 4096 revolutions 24 Bit multiturn 8192 increments 4096 revolutions 25 Bit multiturn 16384 increments 4096 revolutions 26 Bit multitur...
Page 26: ...RA 58 P with CAN Bus Layer 2 26 of 32 Item No 2 542 052 Release 3140799hu 8 Dimensioned Drawing Cable ...
Page 27: ...RA 58 P with CAN Bus Layer 2 Item No 2 542 052 Release 3140799hu 27 of 32 Connector ...
Page 28: ...RA 58 P with CAN Bus Layer 2 28 of 32 Item No 2 542 052 Release 3140799hu Connector 2 fold Input pins Output socket Input pins Output socket ...
Page 29: ...RA 58 P with CAN Bus Layer 2 Item No 2 542 052 Release 3140799hu 29 of 32 Bus terminal box ST Single turn MT Multi turn Required diameter of connecting cables 7 0 7 4 mm ...
Page 30: ...RA 58 P with CAN Bus Layer 2 30 of 32 Item No 2 542 052 Release 3140799hu Notes ...
Page 31: ...RA 58 P with CAN Bus Layer 2 Item No 2 542 052 Release 3140799hu 31 of 32 Notes ...
Page 32: ...2 Bit S 0013 13 Bit S 0014 14 Bit S 1212 24 Bit M 1213 25 Bit M 1214 26 Bit M Output C CAN standard L CAN double Connection A cable axial B cable radial C Connector 12pol axial clockwise D Connector 12pol radial clockwise G Connector 12pol axial counter clockwise H Connector 12pol radial counter clockwise I Connector 2 fold 9 pol radial clockwise through going bus line Z Bus terminal box with 3 fo...
