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Engineering

© Fritz Kübler GmbH, Zähl-und Sensortechnik

Page 3

Engineering

The chapter Engineering contains information required for the development
of control systems using 9080 Absolute Encoders.
This information reaches from indications about the available encoder
versions up to the maximum system extension of a

CAN

Bus Line.

Summary of Contents for 9080 Series

Page 1: ...english deutsch fran ais Manual R 600 065 Absolute Multiturndrehgeber CANopen Feldbusanschluss Hohlwellen und Wellenausf hrung Typenreihe 9080...

Page 2: ...NOSEFUNKTION 14 4 CANOPEN PROTOKOLL 16 4 1 ALLGEMEINES 16 4 2 CANOPEN IMPLEMENTIERUNG 16 4 3 CANOPEN VOREINSTELLUNGEN 17 4 4 CANOPEN BOOT UP SEQUENZ 19 5 CANOPEN IDENTIFIER ERMITTLUNG COB ID COMMUNICA...

Page 3: ...ierung Das Kapitel Projektierung enth lt Informationen die vorab f r die Planung von Steuerungssystemen mit Absoluten Drehgebern 9080 notwendig sind Diese Informationen reichen von Angaben ber lieferb...

Page 4: ...Installation und Adressierung Seite 4 Fritz K bler GmbH Z hl und Sensortechnik 2 Installation und Adressierung 2 1 Mechanischer Aufbau...

Page 5: ...che Eigenschaften aufweisen Parameter Einheit Wert Bemerkung Min nom Max Impedanz Z 108 120 132 Gemessen zwischen zwei Signalleitungen Spez Widerstand R m m 70 F r den Empf ngerbaustein ist die Differ...

Page 6: ...rate und eventuell ist der Busabschlu zu aktivieren falls der Geber das letzte Ger t in der Buskette darstellt Abschlie end mu das Anschlu teil mit dem Geberteil wieder verschraubt werden Der Geber is...

Page 7: ...versorgung GND PIN 3 Input CAN GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Spannungsversorgung GND PIN 10...

Page 8: ...GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Spannungsversorgung GND PIN 10 Spannungsversorgung 10 30 VDC...

Page 9: ...nzuschliessen 2 4 1 2 Busterminierung ein aus Schalter S2 6 Schalter S2 Wert Zustand Busterminierung 6 25 On ein 6 25 Off aus 2 5 Schalter S2 bertragungsrate Einstellung Es werden 8 verschiedene bertr...

Page 10: ...0 Off 20 Kb 2 21 Off 3 22 On 2 5 1 3 bertragungsrate 50 KB Schalter S2 Wert Zustand Baudrate 1 20 Off 50 Kb 2 21 On 3 22 Off 2 5 1 4 bertragungsrate 125 KB Defaulteinstellung ab Werk Schalter S2 Wert...

Page 11: ...Installation und Adressierung Fritz K bler GmbH Z hl und Sensortechnik Seite 11...

Page 12: ...n und gespeichert Die Knoten ID kann im Bereich zwischen 0 63 eingestellt werden Sie wird als Bin rwert angegeben Den Teilnehmern am CAN Bus k nnen maximal 255 Knoten ID s zugeordnet werden Wenn das s...

Page 13: ...1 Wert Zustand 1 25 On 2 24 Off 3 23 Off 4 22 Off 5 21 On 6 20 On Beispiel Adresse 63 Defaulteinstellung Schalter S1 Wert Zustand 1 25 On 2 24 On 3 23 On 4 22 On 5 21 On 6 20 On Hinweis Jede Knoten ID...

Page 14: ...osefunktion Wird der Schalter S2 4 auf on gestellt das Ger t von der Spannungsversorgung getrennt und wieder eingeschaltet so geht der Geber in den Diagnose Modus Innerhalb dieser Betriebsart sind ver...

Page 15: ...ein Diagnose Object mit folgender Bedeutung jede Sekunde auf den Bus gegeben Diagnose Message OBJECT 2016 Byte Statusbyte Wert Beschreibung unsigned8 Subinde x Description 0 00 FF 0 Byte LSB Position...

Page 16: ...steil und mehreren spezifischen Ger teteilen CANopen nutzt ein Subset von CAL verschiedene Dienste werden daraus benutzt Das Kommunikationsprofil ist als CAL based Communication Profile DS 301 genormt...

Page 17: ...ler spezifische Voreinstellungen Im folgenden Abschnitt finden Sie Features die von CAL CANopen ISO 11898 nicht oder nur unvollst ndig beschrieben sind 4 3 1 1 Einstellung der bertragungsrate Die Defa...

Page 18: ...kann die Knotenadresse Node ID des Encoders ge ndert werden Diese Node ID kann Werte zwischen 1 255 einnehmen wobei auch hier zu beachten ist da im Predefined Master Slave Connection Set nach CiA DS...

Page 19: ...LED rot Zustand Prepared Zustand Operational LED gr n F r das Wechseln innerhalb der verschiedenen Zust nde werden folgende Dienste des CANopen Profiles ben tigt 1 Start Remote Node Starten des Can Kn...

Page 20: ...erden Object Basisiden tifier Bereich Dezimal Hex Verwendung EMERGENCY 128 129 255 81 FFh Emergency Telegramm PDO rx asynch 385 385 511 181 1FFh Positionswert Asynchron PDO rx Synch 641 641 767 281 2F...

Page 21: ...ync message O Unsigned32 1006 VAR rw communication cycle period O Unsigned32 1007 VAR rw synchr window length O Unsigned32 1008 VAR cons t Manufacturer Device Name O visible string 1009 VAR cons t Man...

Page 22: ...rag M O Die Spalte M O zeigt an ob ein Eintrag Mandatory Pflicht ist oder Optional 5 3 CANopen Object Directory DS 406 Die folgende Tabelle gibt einen berblick ber die unterst tzten Object Directory E...

Page 23: ...jekt zeigt einen vordefinierten Objekt Namen f r den Eintrag Attribut Die Spalte Attribut zeigt die Zugriffsm glichkeiten auf den Eintrag rw read write schreiben und lesen ro read only nur lesen const...

Page 24: ...bject Class C2 Mandatory Access rw PDO Mapping No Value Range Unsigned16 Mandatory Range NO Default Value NO Parameterstruktur Bit Function Bit 0 Bit 1 C1 C2 0 Code Sequence CW CCW m 1 Commissioning D...

Page 25: ...scription Subindex 0 Description Meas Units p revolution Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access rw Default Value NO Measuri...

Page 26: ...216 231 to 224 Objekt 6003H Preset Value Dieser Parameter unterst tzt die Adaption vom Nullpunkt des Encoders zum mechanischen Nullpunkt des Systems Die Differenz vom aktuellen Wert der Position und...

Page 27: ...CANopen Identifier Ermittlung COB ID Communication Object Fritz K bler GmbH Z hl und Sensortechnik Seite 27 Byte 0 Byte 1 Byte 2 Byte 3 27 to 20 215 to 28 223 to 216 231 to 224...

Page 28: ...e NO Object Function Object Class C2 Mandatory PDO mapping not possible Access ro Default Value NO Position value Byte 0 Byte 1 Byte 2 Byte 3 27 to 20 215 to 28 223 to 216 231 to 224 Objekt 6200H Cycl...

Page 29: ...ct wird auch im Diagnosemodus f r die bertragungsgeschwindigkeit der Diagnosemessage verwendet 5 5 CANopen Object Directory DS 406 5 5 1 1 Encoder Diagnostics Objekt 6500H Operating Status Dieser Para...

Page 30: ...her use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Manufacturer spe...

Page 31: ...maximale Wert betr gt 65535 Object 6502H Object Description Value Main INDEX 6502H Name Number of revolutions Object Code 7 VAR Data Type Index 6 Unsigned16 Length 1 Value Description Object Class C2...

Page 32: ...ittlung COB ID Communication Object Seite 32 Fritz K bler GmbH Z hl und Sensortechnik Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned16 Mandatory Ran...

Page 33: ...d for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer s...

Page 34: ...rved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Interface Problem No Yes o Objekt...

Page 35: ...CANopen Identifier Ermittlung COB ID Communication Object Fritz K bler GmbH Z hl und Sensortechnik Seite 35 Default Value NO...

Page 36: ...further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 1...

Page 37: ...oint Not supported Supporte d o o 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for furt...

Page 38: ...ion Object Code 7 VAR Data Type Index 7 Unsigned32 Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO Default Value NO Objekt 6508H...

Page 39: ...ittlung COB ID Communication Object Fritz K bler GmbH Z hl und Sensortechnik Seite 39 Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Ran...

Page 40: ...Mandatory Range NO Default Value NO Objekt 650AH Modul Indentification Object 650Ah beinhaltet die Parameter Module identification manufacturer offset value manufacturer minimum position value manufa...

Page 41: ..._position_value Object Class optional Access ro PDO Mapping no Value Range Signed32 Mandatory Range no Default Value no Objekt 650BH Serial Number Dieses Objekt beinhaltet die Seriennummer des Encoder...

Page 42: ...CANopen Identifier Ermittlung COB ID Communication Object Seite 42 Fritz K bler GmbH Z hl und Sensortechnik Mandatory Range NO Default Value NO...

Page 43: ...abe die aktuelle Position wird zeitgesteuert Bereich 1ms 65535ms ber den CAN Bus ausgegeben Die eingstellte Zeit Object 6200h bestimmt die H ufigkeit der Ausgabe Die Ausgabe erfolgt ber ein PDO Asynch...

Page 44: ...ionswert synchron Node ID eingestellt auf 63h 641 1 63 447 2BFh ermittelter Identifier Beispiel 0 0129 1 SDO63Server Rx 100D 00 01 Initiate Upload Rsp exp 0 0 0 0 0129 1 SDO63Server Rx d 8 4F 0D 10 00...

Page 45: ...bei IP 65 Schutzart nach EN60529 IP65 Arbeitstemberaturbereich min 20 C bis 70 C Schockfestigkeit nach DIN IEC 68 2 27 1000 m s2 6 ms Vibrationsfestigkeit nach DIN IEC 68 2 6 100 m s2 10 2000Hz Anschl...

Page 46: ...CAN Message Eine Transport Objekt innerhalb des CAN Netzwerkes Daten m ssen innerhalb dieses Objektes versendet werden COB ID COB Indentifier Bezeichnet ein Objekt eindeutig innerhalb des Netzwerkes...

Page 47: ...Fritz K bler GmbH Z hl und Sensortechnik Schubertstra e 47 78054 VS Schwenningen GERMANY Tel 49 77 20 39 03 0...

Page 48: ...Abk rzungen Seite 48 Fritz K bler GmbH Z hl und Sensortechnik Fax 49 77 20 2 15 64 info kuebler gmbh de www kuebler gmbh de...

Page 49: ...Manual Absolute Multiturn Encoders CANopen Field Bus Hollow Shaft or Shaft Versions Type Series 9080...

Page 50: ...CTION 13 4 CANOPEN PROTOCOL 15 4 1 GENERAL 15 4 2 CANOPEN IMPLEMENTING 15 4 3 CANOPEN PRESETTINGS 16 4 4 CANOPEN BOOT UP SEQUENCE 17 5 CANOPEN IDENTIFIER DETERMINATION COB ID COMMUNICATION OBJECT 18 5...

Page 51: ...ngineering The chapter Engineering contains information required for the development of control systems using 9080 Absolute Encoders This information reaches from indications about the available encod...

Page 52: ...re Kabelverschraubung PG7 PG7 screwed cable bushing Klemmleiste 10 polig 10 terminals block Anschlu kasten abnehmbar Connection box removable DIL Schalter DIL switch Blechfederelement f r Drehmomentst...

Page 53: ...llowing electrical characteristics Parameter Unit Value Remark Min rated Max Impedance Z 108 120 132 Measured between two signal lines Specific resistance R m m 70 For the receiving element the differ...

Page 54: ...rate and possibly if the encoder is the last device in the bus chain enable the bus termination Finally screw back the connecting section on the encoder section The encoder is now ready for use 2 3 1...

Page 55: ...Supply voltage GND PIN 3 Input CAN GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Supply voltage GND PIN 10...

Page 56: ...put CAN GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Supply voltage GND PIN 10 Supply voltage 10 30 VDC PI...

Page 57: ...externally 2 4 1 2 Bus termination enabled disabled Switch S2 6 Switch S2 Value Status Bus termination 6 25 On on 6 25 Off off 2 5 Switch S2 Transmission rate setting The device supports 8 various tra...

Page 58: ...Off 20 Kb 2 21 Off 3 22 On 2 5 1 3 Transmission rate 50 KB Switch S2 Value Status Baud rate 1 20 Off 50 Kb 2 21 On 3 22 Off 2 5 1 4 Transmission rate 125 KB Factory default setting Switch S2 Value St...

Page 59: ...initialisation of the CAN encoder The node ID may be set in the range between 0 63 It is defined as a binary value A maximum of 255 node ID s may be assigned to the CAN bus members If the Predefined...

Page 60: ...s 35 Switch S1 Value Status 1 25 On 2 24 Off 3 23 Off 4 22 Off 5 21 On 6 20 On Example Address 63 Default setting Switch S1 Value Status 1 25 On 2 24 On 3 23 On 4 22 On 5 21 On 6 20 On Hint Each node...

Page 61: ...gnostics function If switch S2 4 is set to on and the power supply of the device is switched off and on again the encoder switches to the diagnostics mode This operating mode allows carrying out vario...

Page 62: ...iagnostics object having the following meaning is sent every second on the bus Diagnostics Message OBJECT 2016 Byte Status byte Value Description unsigned8 Subinde x Description 0 00 FF 0 Byte LSB Pos...

Page 63: ...and various specific device sections CANopen uses a subset of CAL several of its utilities are used The communication profile is standardised as the CAL based Communication Profile DS 301 and the devi...

Page 64: ...Nopen Presettings K bler specific presettings The following section contains features which are not or incompletely described by CAL CANopen ISO 11898 4 3 1 1 Setting the transmission rate The default...

Page 65: ...operated according to the definition as a Minimum Capability Device in accordance with CANopen compare with CiA DS 302 The device behaves according to the following status diagram Power on Status Init...

Page 66: ...er The Base Identifier can be found in the following table Object Base Identifier Range Decimal Hex Use EMERGENCY 128 129 255 81 FFh Emergency Telegram PDO rx asynch 385 385 511 181 1FFh Position valu...

Page 67: ...communication cycle period O Unsigned32 1007 VAR rw synchr window length O Unsigned32 1008 VAR cons t Manufacturer Device Name O visible string 1009 VAR cons t Manufacturer Hardware Version O visible...

Page 68: ...s an overview of the supported Object Directory inputs defined by the Device Profile for Encoder CiA DS 406 INDEX hex Object Symb Attr Name M O C2 TYPE Parameters 6000 VAR rw Operating parameters M un...

Page 69: ...nly Type The Type column shows a pre defined Object Name for the input M O The M O column indicates if an input is Mandatory or Optional C2 Object in Class2 Mandatory or Optional 5 4 CANopen Object Di...

Page 70: ...e parameters Bit Function Bit 0 Bit 1 C1 C2 0 Code Sequence CW CCW m 1 Commissioning Diagnostic Control Disa Enab o 2 Scaling function control Disa Enab m 3 Reserved for further use m 4 Reserved for f...

Page 71: ...n Subindex 0 Description Meas Units p revolution Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access rw Default Value NO Measuring units...

Page 72: ...ct 6003H Preset Value This parameter supports the matching of the encoder zero point with the mechanical zero point of the system The difference between the current position value and the preset value...

Page 73: ...sition Value Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access ro Default Value NO Position value Byte 0 Byte 1 Byte 2 Byte 3 27 to 20...

Page 74: ...Important This object is also used in Diagnostic Mode for the transmission rate of the diagnostic messages 5 5 CANopen Object Directory DS 406 5 5 1 1 Encoder Diagnostics Object 6500H Operating Statu...

Page 75: ...rved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Man...

Page 76: ...uring range of the system The maximum value is 65535 Object 6502H Object Description Value Main INDEX 6502H Name Number of revolutions Object Code 7 VAR Data Type Index 6 Unsigned16 Length 1 Value Des...

Page 77: ...ved for further use m 4 Reserved for further use m 5 Reserved for further use m 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 R...

Page 78: ...rved for further use m 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 1...

Page 79: ...s OK Reset generated o o 3 Operating time limit warning No Yes o o 4 Battery charge OK Too low o o 5 Reference point Reached Not reached o o 6 Reserved for further use m 7 Reserved for further use m 8...

Page 80: ...Not supported Supporte d o o 1 Ligh control reserve Not supported Supporte d o o 2 CPU watchdog status Not supported Supporte d o o 3 Operating time limit warning Not supported Supporte d o o 4 Batte...

Page 81: ...encoder Example Profile version 1 40 Binary code 00000001 01000000 Hexadecimal 1h 40h Example Software version 1 20 Binary code 00000001 00100000 Hexadecimal 1h 20h Structure of the parameters Profile...

Page 82: ...n INDEX 6508H Name Operating time Object Code 7 VAR Data Type Index 7 Unsigned32 Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO...

Page 83: ...cal zero point of the encoder disk The minimum and maximum positions are saved in Sub index 01h and 02h INDEX 650Ah Name Module_identification Object Code RECORD Sub Index 00h Description manufacturer...

Page 84: ...of the encoder This is an unsigned 32 bits value When the object is not in use the manufacturer sets it to FFFFFFFFh Object 650BH Object Description Value Main INDEX 650BH Name Serial Number Object C...

Page 85: ...447 1BFh determined Identifier Cyclic Mode time driven transmission the transmission of the current position via the CAN bus is time driven range 1ms 65535ms The time set Object 6200h defines the freq...

Page 86: ...sion window Object 1007h via a PDO Synchronous Object Position value synchronous Node ID set to 63h 641 1 63 447 2BFh determined Identifier Example 0 0129 1 SDO63Server Rx 100D 00 01 Initiate Upload R...

Page 87: ...IP 65 Protection according to EN60529 IP65 Operating temperature range min 20 C up to 70 C Shock resistance according to DIN IEC 68 2 27 1000 m s2 6 ms Vibration resistance according to DIN IEC 68 2 6...

Page 88: ...ence Model COB Communication object CAN Message A Transport Object within the CAN Network Data must be sent within this object COB ID COB Identifier Defines univocally an Object within the network The...

Page 89: ...Fritz K bler GmbH Z hl und Sensortechnik Schubertstra e 47 78054 VS Schwenningen GERMANY Phone 49 77 20 39 03 0 Fax 49 77 20 2 15 64 info kuebler gmbh de www kuebler gmbh de...

Page 90: ...Manuel Codeurs multitours absolus Connexion par bus de terrain CANopen Ex cution arbre creux et sortant Type 9080...

Page 91: ...ROTOCOLE CANOPEN 15 4 1 GENERALITES 15 4 2 IMPLEMENTATION DE CANOPEN 15 4 3 PREREGLAGES CANOPEN 16 4 4 SEQUENCE DE LANCEMENT DE CANOPEN 17 5 DETERMINATION DE L IDENTIFIANT CANOPEN COB ID OBJET DE COMM...

Page 92: ...pitre Etude contient les informations n cessaires pour le d veloppement de syst mes de commande utilisant les codeurs absolus 9080 Ces informations vont des indications sur les ex cutions disponibles...

Page 93: ...erschraubung PG7 Passe c ble vis PG7 Klemmleiste 10 polig Bornier 10 bornes Anschlu kasten abnehmbar Bo tier de connexion amovible DIL Schalter Commutateur DIL Blechfederelement f r Drehmomentstift 6...

Page 94: ...es doivent pr senter les caract ristiques suivantes Param tre Unit Valeur Remarques Min nom Max Imp dance Z 108 120 132 Mesur e entre deux lignes de signal R sistivit R m m 70 Pour l tage de r ception...

Page 95: ...sse de transmission et le cas ch ant activer la terminaison de bus si le codeur est le dernier appareil de la cha ne bus Finalement revisser la partie raccordement sur la partie codeur Le codeur est a...

Page 96: ...ion GND BROCHE 3 Entr e CAN GND BROCHE 4 Entr e CAN LOW CAN_L BROCHE 5 Entr e CAN HIGH CAN_H BROCHE 6 Sortie CAN HIGH CAN_H BROCHE 7 Sortie CAN LOW CAN_L BROCHE 8 Sortie CAN GND BROCHE 9 Tension d ali...

Page 97: ...AN LOW CAN_L BROCHE 5 Entr e CAN HIGH CAN_H BROCHE 6 Sortie CAN HIGH CAN_H BROCHE 7 Sortie CAN LOW CAN_L BROCHE 8 Sortie CAN GND BROCHE 9 Tension d alimentation GND BROCHE 10 Tension d alimentation 10...

Page 98: ...bus activ e d sactiv e Commutateur S2 6 Commutateur S2 Valeur Etat Terminaison de bus 6 25 On activ e 6 25 Off d sactiv e 2 5 Commutateur S2 R glage de la vitesse de transmission Le syst me supporte 8...

Page 99: ...Kb 2 21 Off 3 22 On 2 5 1 3 Vitesse de transmission 50 KB Commutateur S2 Valeur Etat Bauds 1 20 Off 50 Kb 2 21 On 3 22 Off 2 5 1 4 Vitesse de transmission 125 KB r glage d usine par d faut Commutateur...

Page 100: ...N L ID nodal peut se r gler dans la plage 0 63 sous la forme d une valeur binaire Il est possible d affecter un maximum de 255 ID nodaux aux participants au bus CAN Dans le cas de l utilisation du Pre...

Page 101: ...ur S1 Valeur Etat 1 25 On 2 24 Off 3 23 Off 4 22 Off 5 21 On 6 20 On Exemple Adresse 63 R glage par d faut Commutateur S1 Valeur Etat 1 25 On 2 24 On 3 23 On 4 22 On 5 21 On 6 20 On Remarque Chaque ID...

Page 102: ...S2 4 Fonction diagnostic Si le commutateur S2 4 est plac sur on si ensuite la tension d alimentation de l appareil est coup e puis r tablie le codeur passe dans le Mode Diagnostic Ce mode op ratoire p...

Page 103: ...un objet diagnostic ayant la signification suivante est mis chaque seconde sur le bus Message Diagnostic OBJET 2016 Octet Octet d tat Valeur Description unsigned8 Subinde x Description 0 00 FF 0 Byte...

Page 104: ...nication et plusieurs parties appareil sp cifiques CANopen utilise un sous ensemble de CAL dont diff rents utilitaires sont utilis s Le profil de communication est normalis en tant que CAL based Commu...

Page 105: ...n Diagnostic X LED int gr e pour l tat du bus CAN rouge X LED int gr e pour les modes CAN verte X 4 3 Pr r glages CANopen Pr r glages sp cifiques K bler La chapitre suivant contient les caract ristiqu...

Page 106: ...ed Master Slave Connection Set selon CiA DS 301 L ID nodal de l appareil est r gl 63 par d faut 4 4 S quence de lancement de CANopen 4 4 1 1 Lancement Minimum Capability Device Le codeur 9080 fonction...

Page 107: ...s Dans le cas de l utilisation du Predefined Master Slave Connection les identifiants des informations se calculent de la mani re suivante Les 6 derniers bits de l ID nodal 01h 3Fh 01 63 sont utilis s...

Page 108: ...ce Type M Unsigned32 1001 VAR ro Error Register M Unsigned8 1002 VAR ro Manufacturer Status O Unsigned32 1003 RECORD ro Predefined Error Field O Unsigned32 1004 ARRAY ro Number of PDO supported O Unsi...

Page 109: ...t pr d fini pour l enregistrement Attribut La colonne Attribut donne les possibilit s d acc s l enregistrement rw read write crire et lire ro read only lire uniquement const constante lire uniquement...

Page 110: ...alue calculated m signed32 650A VAR ro Manufacturer Offset value m signed32 650B VAR ro Serial Number m unsigned32 Objets constructeur 3000 DOMAIN rw manufacturer modul memory o Domain 3001 VAR rw man...

Page 111: ...test complet de l unit de lecture est r alis lors de la mise en route suivante Si une erreur est d tect e elle est signal e par un bit d alarme correspondant Scaling Function Fonction chelle Si ce bi...

Page 112: ...ling function control Disa Enab m 3 Reserved for further use m 4 Reserved for further use m 5 Reserved for further use m 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for furthe...

Page 113: ...Description Subindex 0 Description Meas Units p revolution Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access rw Default Value NO Unit...

Page 114: ...bjet 6003H Preset Value Valeur de pr s lection Ce param tre supporte la d termination du point z ro du codeur par rapport au point z ro m canique du syst me La diff rence entra la valeur courante de l...

Page 115: ...sition Ce param tre indique la valeur de la position courante Objet 6004H Description Valeur Main INDEX 6004H Name Position Value Object Code 7 VAR Data Type Index 7 Unsigned32 Length 1 Value Descript...

Page 116: ...valeurs entre 1 ms et 65535 ms Exemple 1 ms 1h 256 ms 100h Objet 6200H Description Valeur Main INDEX 6200H Name Cyclic timer Object Code 7 VAR Data Type Index 6 Unsigned16 Length 1 Value Description O...

Page 117: ...Fonction Bit 0 Bit 1 C1 C2 0 Code Sequence CW CCW m 1 Commissioning Diagnostic Control Not Supp Supp o 2 Scaling function control Disa Enab m 3 Reserved for further use m 4 Reserved for further use m...

Page 118: ...n Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO Default Value NO Structure des param tres R solution Monotour Byte 0 Byte 1 Byte 2 Byte 3 27 20 215 28 22...

Page 119: ...NO Objet 6503H Alarms Alarmes En plus des t l grammes d urgence cet objet signale d autres tats d alarme Un bit d alarme est activ en cas d un dysfonctionnement affectant la position Ce bit reste acti...

Page 120: ...8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manu...

Page 121: ...r use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Interface Problem...

Page 122: ...point Reached Not reached o o 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further...

Page 123: ...reserve Not supported Supporte d o o 2 CPU watchdog status Not supported Supporte d o o 3 Operating time limit warning Not supported Supporte d o o 4 Battery charge Not supported Supporte d o o 5 Ref...

Page 124: ...el et l indice impl ment s dans le codeur Exemple Version de profil 1 40 Code binaire 00000001 01000000 Hexad cimal 1h 40h Exemple Version de profil 1 20 Code binaire 00000001 00100000 Hexad cimal 1h...

Page 125: ...eur est enregistr e dans une m moire non volatile du codeur elle indique le temps r el de fonctionnement en 1 10 d heures Si cette fonction n est pas utilis e la valeur est mise FFFFFFFFh Objet 6508H...

Page 126: ...odul Identification Identification du module L objet 650Ah contient les param tres Module identification identification du module manufacturer offset value valeur de d calage constructeur manufacturer...

Page 127: ...ult Value no Sub Index 02h Description manufacturer_max_position_value Object Class optional Access ro PDO Mapping no Value Range Signed32 Mandatory Range no Default Value no Objet 650BH Serial Number...

Page 128: ...termination de l identifiant CANopen COB ID Objet de communication Fritz K bler GmbH Z hl und Sensortechnik Page 39 Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO Default Value NO...

Page 129: ...termin Cyclic Modus mission command e par le temps L mission de la position courante sur le bus CAN est command e par le temps Plage 1ms 65535ms Le temps r gl objet 6200h d termine la fr quence de l m...

Page 130: ...objet 1007h sous la forme d un objet synchrone PDO Valeur de position synchrone ID nodal r gl 63h 641 1 63 447 2BFh identifiant d termin Exemple 0 0129 1 SDO63Server Rx 100D 00 01 Initiate Upload Rsp...

Page 131: ...min pour IP 65 Indice de protection selon EN60529 IP65 Plage de temp rature de travail 20 C min jusqu 70 C R sistance aux chocs selon DIN IEC 68 2 27 1000 m s2 6 ms R sistance aux vibrations selon DIN...

Page 132: ...N Un utilitaire dans le mod le de r f rence CAN COB Objet de communication Message CAN Un objet de transport au sein du r seau CAN Les donn es doivent tre envoy es l int rieur de cet objet COB ID Iden...

Page 133: ...Fritz K bler GmbH Z hl und Sensortechnik Schubertstra e 47 78054 VS Schwenningen GERMANY T l 49 77 20 39 03 0 Fax 49 77 20 2 15 64 info kuebler gmbh de www kuebler gmbh de...

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