IFM Efector 400 RM7 Series Device Manual Download | Manualshive

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Device manual

Encoder with CANopen

interface

RM7xxx

RN7xxx

704434/01

08 / 2010

UK

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Summary of Contents for Efector 400 RM7 Series

Page 1: ...Device manual Encoder with CANopen interface RM7xxx RN7xxx 704434 01 08 2010 UK ...

Page 2: ... encoder 8 4 6 BUS lines 9 4 7 Shield 10 4 8 EDS file 10 4 9 Parameter setting 10 4 10 LED display 11 4 10 1 Module LED 11 4 10 2 Status LED 12 5 Profile overview 12 6 Functionality of the encoder 13 6 1 Basic functionality of the encoder 13 6 2 Default identifiers 13 6 3 Boot message 14 6 4 Operating parameters 15 6 5 Scaling function 15 6 5 1 Overview 15 6 5 2 Scaling formulas 16 6 6 Preset valu...

Page 3: ...3 speed type 23 7 2 Object 0x5A03 serial number 2 24 8 Example encoder configuration 24 Licences and trademarks Microsoft Windows Windows XP and Windows Vista are registered trademarks of Microsoft Corporation Adobe and Acrobat are registered trademarks of Adobe Systems Inc All trademarks and company names are subject to the copyright of the respective companies ...

Page 4: ...ion and illustrations about the correct handling of the device and must be read before installation or use Observe the operating instructions Non observance of the instructions operation which is not in accordance with use as prescribed below wrong installation or handling can affect the safety of people and machinery The installation and connection must comply with the applicable national and int...

Page 5: ...on CANopen is considered as a robust fieldbus with highly flexible configuration options It is used in many various applications which are based on different application profiles CANopen comprises a concept to configure and communicate real time data using synchronous and asynchronous messages Four message types objects are distinguished Administration messages layer management network management ...

Page 6: ...mit PDO COB ID Communication Object Identifier NMT Network Management IRT Isochronous Real Time Installation of the encoder 4 Settings of the encoder 4 1 The node address of the encoder the baud rate and the bus termination must be configured during the set up of the device This is done by removing the cover of the housing on the back switches node address 1 bus termination on off 2 baud rate swit...

Page 7: ... settings Bus termination 4 3 In a CANopen network all devices are connected in a bus structure Up to 32 devices masters and or slaves can be connected in one segment If more devices are needed repeaters must be used to amplify the signals between the segments An active termination must be added at the beginning and end of each bus segment to ensure an error free operation These terminations are i...

Page 8: ...ied electrician Disconnect power before connecting the unit Voltage supply U 1 B Function Terminal UB 9 36 V DC 0 V The cable glands of the encoder must always be equipped with a shielded power supply cable with a wire cross section between 0 34 mm2 and 1 5 mm2 The permissible outer cable diameter is ø 8 ø 10 mm Two screw terminals with the required power supply terminals marked and are located in...

Page 9: ...with a twisted pair cable according to EN50170 The guidelines recommend a wire cross section 0 34 mm2 The permissible outer cable diameter is ø 6 to ø 8 mm Six screw terminals with the required bus line terminals marked H L and G are in the terminal chamber Connect the H terminal to the CAN_H cable Connect the L terminal to the CAN_L cable Connect the G terminal to the CAN_G cable The G H and L te...

Page 10: ...profile DS 406 manufacturer specific objects The EDS file serves as a template for different configurations of a device type A DCF file is generated by the EDS file and describes a specific configuration of the device including object values selected baud rate and module ID CANopen configuration tools are available to support the CANopen network configuration and the device configuration via the C...

Page 11: ...the module itself The status LED indicates the module status on the bus The LEDs can be permanently on or out blink or flash Blinking LED 200 ms on 200 ms out Flashing LED 200 ms on 1000 ms out single flashing LED 200 ms on 200 ms out 200 ms on 1000 ms out double flashing Module LED 4 10 1 The module LED is a two colour LED with the following functionality LED Display out no voltage supply green v...

Page 12: ...e status LED flashes green Profile overview 5 The encoder profile defines the functions of the encoders connected to CANopen The operating functions are divided in two device classes Class 1 The mandatory class with basic functions which all encoders must support As an option class 1 encoders can support selected functions of class 2 However these functions must be implemented according to the pro...

Page 13: ...aling function steps per revolution total measuring range in steps scaling function control status Preset function preset value offset value Output position value Default identifiers 6 2 In order to facilitate configuration a default identifier allocation scheme is defined for CANopen devices This ID allocation scheme consists of a functional part which determines the object priority and a module ...

Page 14: ...inary Resulting identifier COB ID Priority group EMERGENCY 0001 129 255 0 1 PDO1 tx 0011 385 511 1 2 PDO2 tx 0101 641 767 2 3 SDO tx 1011 1409 1535 6 SDO rx 1100 1537 1663 6 7 Node guard 1110 1793 1919 Boot message 6 3 The encoder transmits a boot message after power on and initialisation This message uses the default emergency identifier and has no data bytes With this message the user can retrie...

Page 15: ...he scaling function bit is set to 0 the scaling function is disabled Scaling function 6 5 Overview 6 5 1 With the scaling function the internal numerical value of the encoder is converted in the software to change the physical resolution of the encoder The parameters steps per revolution object 0x6001h and total measuring range in steps object 0x6002h are the scaling parameters which operate with ...

Page 16: ...oder Only change the scaling function parameters if the shaft is stationary In the following formula a 25 bit multiturn encoder with a singleturn resolution of 13 bits is used as an example Formula for the multiturn scaling function A singleturn_position x steps_per_revolution 8192 output_position revolution_number x steps_per_revolution A Where singleturn_position absolute singleturn position val...

Page 17: ... 216 215 28 27 20 object 6003h preset value Calculation of the preset value 6 6 2 An offset value is calculated when the encoder receives the preset value see the set up calculation below The offset value is then used during runtime to shift the current position to the required output position see the runtime calculation below In the formulas below the current position is the absolute position of ...

Page 18: ...It is necessary to optimise the assumed rotational speed of the shaft with regard to the selected resolution to avoid an overflow of data The object 0x5003 speed type is a manufacturer specific object which sets the update time and resolution steps second or rpm of the speed object 0x6030 and the acceleration object 0x6040 The speed type object is described in chapter 7 1 PDO mapping 6 9 Dynamic P...

Page 19: ... the data of the corresponding object the subindex and length of the first object to transmit PDO mapping parameter in subindex 1 Then proceed in the same way for the optional second and third objects and transmit to transmit PDO mapping parameter in subindices 2 and 3 The transmit PDO mapping parameter subindex 0 must be set to the number of the objects mapped in the PDO 1 3 The reconfigured PDO ...

Page 20: ...eter mapping deactiva ted 4 60F 23 00 1A 01 20 00 04 60 Map position object 0x6004 to the first position in the PDO 5 60F 23 00 1A 02 10 01 30 60 Map speed object 0x6030 to the second position in the PDO 6 60F 2F 00 1A 00 02 00 00 00 Set the subindex 0 transmit PDO mapping parameter to 2 number of objects mapped in the PDO 7 60F 23 00 18 01 8F 01 00 00 Set PDO1 to valid and COB ID to 0x18F 8 0 01 ...

Page 21: ...sition of the encoder This adds a non real time characteristics to the output position value In the IRT mode read position at SYNC is set The position value is only sampled if the SYNC message is received If the bit read position at SYNC is set in the operating parameter object 0x6000 the following changes are made The speed object 0x6030 and the acceleration object 0x6040 are disabled because the...

Page 22: ... In the operating status the scaling function control bit 2 is set depending on the setting in the operating parameters In addition the actual scaling values used in the encoder can be read as diagnosis object 6501h singleturn resolution and object 6502h multiturn resolution Alarms and warnings 6 12 If an internal alarm is detected by the encoder it automatically passes into the pre operational st...

Page 23: ...ulate the optimum setting of the speed type Also transfer the scaling to the encoder The amount of data is limited and overflow is avoided as the calculation of the speed value is based on the scaled singleturn value If the rotation of the shaft is faster than 1000 rpm and the speed type is 0 steps s a data overflow occurs In this case a higher resolution is required i e steps 100 ms The accuracy ...

Page 24: ...ytes The next step is to configure the encoder via the SDO message To set a cyclic 5 transmission of the position value with a repetition rate of 10 ms it is necessary to transmit an SDO request message ID 1536 encoder address to the cyclic timer object object 6200h with the data below The encoder confirms with the SDO response message ID 1408 encoder address Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byt...

Page 25: ...UK CANopen encoder 25 ...

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