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IF55 ROT CANopen®

WARNING

When you set a new value next to the  

6001-00 Programmable pulse per

revolution

 object, please always check also the 

6002-00 Programmable total

measuring   range

  object   value   and   be   sure   that   the   resulting   number   of

revolutions complies with the physical number of revolutions of the device (see
the  

6502-00 Number of distinguishable revolutions

  object, it can be 1 or

16,384, see the order code).

Let's suppose that the HM58 16/16384 encoder is programmed as follows:

6001-00 Programmable pulse per revolution

 = 8,192

6002-00 Programmable total measuring range

 = 33,554,432 = 8,192 cpr *

4,096 revolutions
Let's set a new singleturn resolution, for instance:  

6001-00 Programmable

pulse per revolution

 = 360 cpr

If we do not change the  

6002-00 Programmable total measuring range

value at the same time, we will get the following result:

Number of revolutions

 =

33,554,432 (

6002-00 Programmable total

measuring range

)

 = 93,206.755...

360 (

6001-00 Programmable pulse per

revolution

)

As   you   can   see,   the   encoder   is   required   to   carry   out   more   than   93,000
revolutions, this cannot be as the hardware number of revolutions is, as stated,
16,384  (see  the  

6502-00 Number of distinguishable revolutions

  object).

When this happens, the encoder falls into an error.

WARNING

Every time you enable the scaling function (bit 2 

Scaling function control

 in

the  

6000-00 Operating parameters

  object) and/or change the value in the

scaled values (

6001-00 Programmable pulse per revolution

  and  

6002-00

Programmable total measuring range

 objects), then you are required to set a

new preset value (see the 

6003-00 Preset value

  object) and finally save the

new parameters (see the 

1010-01 Store parameters

 object).

WARNING

Every time you change the value in this object then you are required to set a
new preset value (see the 

6003-00 Preset value

  object) and finally save the

new parameters (see the 

1010-01 Store parameters

 object).

NOTE

Please refer to the “7 - Setting-up” section on page 81 for an example of how
the 

6001-00 Programmable pulse per revolution

 is to be set.

MAN IF55 ROT CB E 1.2.odt

6 - CANopen® interface (DS 406)

64 of 88

Summary of Contents for IF55 ROT CB

Page 1: ...compliance with DS 301 and DS 406 profiles Suitable for the following models IF55 ROT CB IF55 ROT CB C General Contents 1 Safety summary 19 2 Identification 21 3 Mounting instructions 22 4 Electrical connections 25 5 Getting started 34 6 CANopen interface DS 406 40 7 Setting up 81 8 Default parameters list 85 Lika Electronic Tel 39 0445 806600 info lika biz www lika biz Smart encoders actuators ...

Page 2: ...ion herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and without forewarning This manual is periodically reviewed and revised As required we suggest checking if a new or updated edition of this document is available at Lika Electronic s r l s website Lika...

Page 3: ... Figure 4 and Figure 7 28 4 5 Ground connection Figure 4 28 4 6 Shield connection 29 4 7 POWER SUPPLY DIP switch Figure 8 29 4 8 Baud rate DIP A Figure 6 and Figure 7 30 4 9 Node number DIP B Figure 6 and Figure 7 31 4 10 RT Bus termination Figure 6 and Figure 7 32 4 11 Diagnostic LEDs Figure 4 33 5 Getting started 34 5 1 Quick reference 38 6 CANopen interface DS 406 40 6 1 EDS file 40 6 2 State m...

Page 4: ... mapping parameter 55 6 8 2 Manufacturer Specific Profile Area objects 56 2104 00 Limit switch min 56 2105 00 Limit switch max 56 2200 01 Code Type BIN GRAY 56 2200 02 SSI Protocol 57 2200 03 Number of SSI clocks 57 2200 04 Physical Singleturn Resolution bits 58 2200 05 Physical Multiturn Resolution bits 59 2200 06 Bypass 60 3000 00 Baud rate 60 3001 00 Node ID 60 6 8 3 Device Profile Area objects...

Page 5: ...des 76 6 10 Emergency EMCY objects 77 6 11 Node guarding protocol 78 7 Setting up 81 7 1 Setting the Operational Pre operational state 81 7 2 Reading the value of the physical resolution per revolution 81 7 3 Reading the number of physical revolutions 81 7 4 Setting the resolution per revolution 82 7 5 Setting the total resolution 82 7 6 Setting the Operating parameters 82 7 7 Setting the Preset v...

Page 6: ...60 3001 00 Node ID 60 6 6000 00 Operating parameters 61 6001 00 Programmable pulse per revolution 63 6002 00 Programmable total measuring range 65 6003 00 Preset value 67 6004 00 Position value 69 6008 00 High precision position value 69 6200 00 Cyclic timer 70 6500 00 Operating status 70 6501 00 Singleturn resolution 72 6502 00 Number of distinguishable revolutions 72 6504 00 Supported alarms 73 ...

Page 7: ...ant to highlight the parts of the text 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 ...

Page 8: ...ntation Please note that the present manual does not prescind from the user s guide of the SSI encoder it has to be connected to Please read carefully the encoder s documentation before installing connecting and operating the measuring system For detailed technical specifications please refer also to the product datasheet CANopen connection cap as follows CB CANopen interface with PGs CB C CANopen...

Page 9: ...ssage CANopen communication service transmitted whenever a node enters the Pre operational state after initialization Bus Topology of a communication network where all nodes are reached by passive links which allows transmission in both directions Bus analyser Tool which monitors the bus and displays the transmitted bits There are bus analysers available on the physical layer the data link layer a...

Page 10: ...ication profile is standardized by EN 50325 4 It defines communication services and objects In addition it specifies the Object Dictionary and the network management NMT CANopen Manager The CANopen manager is responsible for the management of the network The CANopen manager device shall include the NMT network management Master the SDO service data object manager and the Configuration manager CANo...

Page 11: ...face to frequency inverters servo controllers as well as stepper motors CiA DSP 405 The CANopen device and interface profile for IEC 61131 3 compatible controllers is based on the CiA DSP 302 specification using network variables to be mapped into PDOs and function blocks for SDO services etc CiA DSP 407 The CANopen application profile for passenger information systems developed in cooperation wit...

Page 12: ...rollers etc CiA DSP 422 The CANopen application profile for municipal vehicles defines the communication of sub systems used in garbage trucks CiA TR 308 This technical report specifies some timings for CANopen performance testing tools Client Server communication In a Client Server communication the Client initiates the communication with the Server It is always a point to point communication Cli...

Page 13: ...ft Recommendation DR This kind of recommendation is not fixed but it is published CiA s draft recommendations are not changed within one year Draft Standard DS This kind of standard is not fixed but it is published CiA s draft standards are not changed within one year Draft Standard Proposal DSP This kind of standard is a proposal but it is published CiA s draft standard proposals may be changed a...

Page 14: ...uption of one of the pre defined recessive bits CRC delimiter ACK delimiter and EOF is regarded as a form error condition that will cause the transmission of an error frame in the very next bit time Function code First four bits of the CAN identifier in the CANopen pre defined identifier set indicating the function of the communication object e g TPDO_1 or Error Control message Galvanic isolation ...

Page 15: ...mmunication or application entity that is allowed to control a specific function In networks this is for example the initialization of a communication service Multiplexed PDO MPDO The MPDO is made of 8 byte including one control byte three multiplexer bytes containing the 24 bit Index and Subindex and four bytes of object data Network length Bus length The network cable length between both termina...

Page 16: ...N message identifiers to CANopen communication objects Some CANopen communication objects are distributed in broadcast NMT message Sync message Time message and others are transmitted between NMT Master device and dedicated NMT Slave devices PDO SDO Emergency and Error Control This default assignment guarantees that the CAN message identifiers are uniquely assigned in the network if the node ID ha...

Page 17: ...ation is sent after the reception of a number of SDO segments SDO Manager The SDO Manager handles the dynamic establishment of SDO connections It resides on the very same node as the NMT Master Segmented SDO If objects longer than 4 bytes are transmitted by means of SDO services a segmented transfer is used The number of segments is theoretically not limited Server SDO The Server SDO receives the ...

Page 18: ...tions TIME message Standardized message in CANopen containing the time as a 6 byte value given as ms after midnight and days after 1st January 1984 TPDO The Transmit Process Data Object TPDO is a communication object that is transmitted by a CANopen device Transmission type CANopen object defining the scheduling of a PDO Value definition Detailed description of the value range in CANopen profiles ...

Page 19: ...tion on page 25 in compliance with the 2014 30 EU 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 supply if needed always use shielded cables twisted pair cables whenev...

Page 20: ...tallation has to be carried out with stationary mechanical parts do not disassemble the encoder do not tool the encoder or its shaft delicate electronic equipment handle with care do not subject the device and the shaft to knocks or shocks respect the environmental characteristics declared by manufacturer MAN IF55 ROT CB E 1 2 odt 1 Safety summary 20 of 88 ...

Page 21: ...ial number when reaching Lika Electronic for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue Warning devices having order code ending with Sxxx may have mechanical and electrical characteristics different from standard and be supplied with additional documentation for special connections Technical inf...

Page 22: ...d maintenance operations have to be carried out by qualified personnel only with power supply disconnected and mechanical parts compulsorily in stop 3 1 Overall dimensions values are expressed in mm Figure 1 MAN IF55 ROT CB E 1 2 odt 3 Mounting instructions 22 of 88 ...

Page 23: ...N rail clip Figure 3 The unit can be installed on DIN profiles inside a rack A clip 3 for direct fitting on DIN TS35 rails is supplied for free It has to be fixed on the back of the flange 2 by means of the provided screw 4 WARNING To mount the clip 3 you need to remove the cap 5 and drill a hole A in the back flange 2 Delicate electronic circuits and wirings are located inside the cap 5 Thus this...

Page 24: ...hole A in the flange 2 use the notch in the inside of the flange 2 to guide the drill bit WARNING Carefully remove the scrap material after drilling mount the clip 3 on the back of the flange 2 and fix it by means of the provided M4 x 8 screw 4 it has to be screwed on the inner side of the flange 2 replace the cap 5 and fix it by means of the screws 6 MAN IF55 ROT CB E 1 2 odt 3 Mounting instructi...

Page 25: ... IN and BUS OUT cables CB connection cap as well as the DIP switches meant to set the encoder power supply the node ID and the baud rate and activate the termination resistance CB and CB C connection caps are located inside the converter 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...

Page 26: ...nection Figure 4 The converter is fitted with one M12 8 pin female connector to network the IF55 gateway and the SSI encoder M12 8 pin SSI connection frontal side A coding female Pin Description 1 0Vdc power supply voltage 2 Vdc power supply voltage 3 Clock IN 4 Clock IN 5 Data OUT 6 Data OUT 7 and 8 not connected The power supply voltage level must be set through the POWER SUPPLY DIP switch locat...

Page 27: ...y to the terminal connectors in front of each cable gland We recommend CANbus certificated cables to be used Core diameter should not exceed Ø 1 5 mm 0 06 Terminal connector Description 0Vdc power supply voltage 10Vdc 30Vdc power supply voltage G CAN GND 1 L CAN Low H CAN High PG CAN Shield 2 1 CAN GND is the 0V reference of CAN signals it is not connected to 0Vdc supply voltage 2 Connect the cabl...

Page 28: ...e connection of the shield even if the plug connector has a plastic case 4 5 Ground connection Figure 4 Minimize noise by connecting the shield and or the connector housing and or the enclosure to ground Make sure that ground is not affected by noise The connection point to ground can be situated both on the device side and on user s side The best solution to minimize the interference must be carr...

Page 29: ...encoder must be set through the POWER SUPPLY DIP switch located inside the enclosure of the converter It must be according to the power supply voltage level required by the connected SSI encoder To access the POWER SUPPLY DIP switch refer to the 4 1 Converter s connection cap Figure 5 section on page 25 Set the POWER SUPPLY DIP switch to UP position to provide 10Vdc 30Vdc power supply voltage leve...

Page 30: ...s operation The transmission rate must be set via hardware by using the DIP A DIP switch The bit 4 of DIP A must be always set to ON DIP A Switch off the device and set the binary value of the transmission rate considering that ON 1 OFF 0 bit 1 LSB 2 3 MSB 4 20 21 22 ON MAN IF55 ROT CB E 1 2 odt 4 Electrical connections 30 of 88 ...

Page 31: ...e the table above bit 1 2 3 4 20 21 22 23 OFF OFF ON ON Set the baud rate to 500Kbit s 510 1012 binary value see the table above bit 1 2 3 4 20 21 22 23 ON OFF ON ON 4 9 Node number DIP B Figure 6 and Figure 7 WARNING Power supply must be turned off before performing this operation The node number must be set via hardware by using the DIP B dip switch Allowed node addresses range between 1 and 127...

Page 32: ...6 and Figure 7 WARNING Power supply must be turned off before performing this operation A bus termination resistance is provided inside the connection cap and must be activated as line termination if the device is at the ends of the transmission line i e it is either the first or the last device in the transmission line Use RT Switch to activate or deactivate the bus termination RT Description 1 2...

Page 33: ...topped state Blinking The encoder is in Pre Operational state RED LED Description ON Bus off the CAN controller is switched off Double flash Node guarding error see on page 77 ff Single flash Max number of warning errors reached Blinking Generic error or Flash memory error see on page 77 ff OFF No error During initialization the device carries out a hardware test to check LEDs operation Both LEDs ...

Page 34: ... the number of SSI clocks next to the 2200 03 Number of SSI clocks object set the physical singleturn resolution of the SSI encoder next to the 2200 04 Physical Singleturn Resolution bits object the 6501 00 Singleturn resolution object is automatically set accordingly set the physical multiturn resolution of the SSI encoder next to the 2200 05 Physical Multiturn Resolution bits object the 6502 00 ...

Page 35: ...on functions if set and enabled become active and the 6004 00 Position value will be accordingly EXAMPLE 1 We need to connect the MM36 12 8192 BB rotary encoder The main features of the rotary encoder are Singleturn Resolution 12 bits 4 096 cpr 12 see the order code in the product datasheet Multiturn Resolution 13 bits 8 192 rev 8192 see the order code in the product datasheet Total resolution 25 ...

Page 36: ... product datasheet see the User s manual 2200 01 Code Type BIN GRAY 00h Binary code 2200 02 SSI Protocol 00h 13 bit LSB Right Aligned protocol 2200 03 Number of SSI clocks 0Dh 13 dec 2200 04 Physical Singleturn Resolution bits 0Dh 13 bits 8 192 cpr 2200 05 Physical Multiturn Resolution bits 0h 20 bits 1 rev 6501 00 Singleturn resolution and 6502 00 Number of distinguishable revolutions objects are...

Page 37: ...ordingly and used to arrange the position information Total Physical Resolution 6501 00 Singleturn resolution 6502 00 Number of distinguishable revolutions If you want to use the physical resolution Bit 2 Scaling function control in the 6000 00 Operating parameters object 0 If you need a custom resolution Bit 2 Scaling function control in the 6000 00 Operating parameters object 1 Now set the resol...

Page 38: ...resolution Bit 2 Scaling function control in the 6000 00 Operating parameters object 1 Now set the resolution you need for your application next to the 6001 00 Programmable pulse per revolution and 6002 00 Programmable total measuring range objects 5 1 Quick reference After setting the SSI encoder parameters and then using the default settings provided by the manufacturer you can read immediately ...

Page 39: ...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 the cyclic time 6200 00 Cyclic timer 100 ms 64h Master Encoder COB ID Cmd Index Sub Process data 600 ID 2B 00 62 00 64 00 Encoder Master COB ID Cmd Index Sub Process data 580 ID 60 00 62 00 00 00 Set the Operational mode Master Encoder COB ID Cmd Node 000 01 0...

Page 40: ...n eds and Italian Lika_IF55_ROT_DS406_Vx_it eds versions Vx is intended to indicate the file version EDS file has to be installed in the CANopen Master device Please note that the rotary encoder converters and the linear encoder converters have different EDS files Files for rotary encoders are marked with ROT in the file name while files for linear encoders are marked with LIN in the file name 6 2...

Page 41: ...tart remote node command using an NMT message see on page 81 6 2 3 Operational state In this state the Slave device is active and all communication objects are available The Slave device can use the parameters available in the Object dictionary see on page 46 and is allowed to send process data using PDO messages The Object dictionary can be accessed by using SDO messages To switch the Slave devic...

Page 42: ...es from the Object dictionary of a remote device Special function Objects SYNC synchronization message used by the Master to enable the Slave devices to transmit process data encoder position information Emergency error messages are triggered by each error event Node Guarding used to request the state of the Slave the NMT Master checks the NMT Slaves at regular intervals Relation between the devic...

Page 43: ...ommand Slave ID 0000 0 NMT Func Slave ID If the Slave ID 00h the NMT message is sent to all the nodes in the network NMT Function Command NMT Function State of the 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 Structure of the Boo...

Page 44: ...n The transmission of the position value is managed by the Master by sending a SYNC message SYNC message is a high priority COB transmitted by the Master to request the position value of the Slave through a PDO If several nodes Slave devices are connected to the network the Master receives the position values from the Slaves according to the order of the Node addresses The unit can be programmed t...

Page 45: ...eter 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 it is used to send the configuration parameters to a device Req it is used by the Master to read data from a Slave device Warnings they are used by the Slave to send error messages to the Master e g following a wrong SDO message O...

Page 46: ... section on page 47 The Manufacturer Specific Profile Area at indexes from 2000h to 5FFFh is free to add manufacturer specific functionality Refer to the 6 8 2 Manufacturer Specific Profile Area objects section on page 56 The Standardised Device Profile Area at indexes from 6000h to 9FFFh contains all data objects common to a class of devices that can be read or written via the network The device ...

Page 47: ...scribes the type of device and its functionality Default 0002 0196h absolute rotary encoder DS 406 1001 00 Error register Unsigned8 ro Should an error occur the bit 0 of this object will be set to 1 Default 00h 1003 Pre defined error field This object is intended to show the last four errors which caused an emergency message to be triggered For any information refer to the 6 10 Emergency EMCY obje...

Page 48: ...ndent 100A 00 Manufacturer software version String ro It shows the software version of the device Default device dependent 100C 00 Guard time Unsigned16 rw It allows to set the Guard time expressed in milliseconds msec The 100C 00 Guard time object is used in the Node guarding protocol controlled by the Master For more details see the 6 11 Node guarding protocol section on page 78 Default 0000h 10...

Page 49: ...ult values are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode Write load ASCII code in hexadecimal format in the data bytes and then issue a Reset node command Master Slave COB ID Cmd Index Sub Data bytes 600 ID 23 11 10 01 6C 6F 61 64 l o a d Slave Master confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 11 10 01 ...

Page 50: ...h 03 Revision number Unsigned32 ro Default 0001 0001h 1800 PDO1 parameters PDO1 message is used by default for cyclic transmission of the position value For more information refer to the 6 6 PDO objects section on page 44 See the 6200 00 Cyclic timer object to set the cyclic timer 01 COB ID of PDO1 Unsigned32 rw Bit number Value Meaning 31 MSB 0 PDO exists is valid 1 PDO does not exist is not vali...

Page 51: ...ransmission see hereafter and the 6200 00 Cyclic timer object WARNING Following an attempt to set the Transmission Type to 0 the value is accepted but the PDO message is not sent following an attempt to change the Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Invalid value for parameter is generated If the value next to the 6200 00 ...

Page 52: ...NING It is mandatory to set the bit 30 of COB ID to 1 value 0 is not allowed This means that No RTR is allowed on the PDO At power on this object is forced to the default value 02 Transmission type Unsigned8 rw Transmission type PDO transmission 00h 0 Acyclic synchronous not implemented 01h F0h 1 240 Cyclic synchronous implemented F1h FBh 241 251 not implemented reserved FCh 252 Synchronous RTR on...

Page 53: ...Refer to the 7 Setting up section on page 81 for an example of how the 1801 PDO2 parameters object is to be set 1802 PDO3 parameters PDO3 message is used by default for synchronous transmission of the position value For more information refer to the 6 6 PDO objects section on page 44 01 COB ID of the PDO3 Unsigned32 rw Bit number Value Meaning 31 MSB 0 PDO exists is valid 1 PDO does not exist is n...

Page 54: ...he Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Invalid value for parameter is generated If the value next to the 6200 00 Cyclic timer object 0 the PDO message is sent cyclically and the interval between two messages is the time set next to the 6200 00 Cyclic timer object otherwise if the value next to the 6200 00 Cyclic timer obje...

Page 55: ...ications This object describes the content of the PDO by its index sub index and length The length contains the length of the application object expressed in bits 31 24 23 16 15 8 7 0 Index Sub Index Length MSB LSB Default 6004 0020h 6004 00 Position value object the length is 32 bits 1A01 01 TPDO2 mapping parameter Unsigned32 rw See the 1A00 01 TPDO1 mapping parameter object Default 6004 0020h 60...

Page 56: ... 13 of the 6500 00 Operating status object is set to 1 To enable this function set the bit 13 Limit switch max of the 6000 00 Operating parameters object to 1 Default 001F FFF0h 2200 01 Code Type BIN GRAY Unsigned8 rw It sets the output code used by the SSI encoder to output the absolute position information The output code can be Binary 00h or Gray 01h For any information on the output code pleas...

Page 57: ...s is forced to the default value For any information on the SSI clocks required please refer to the User s manual of the connected encoder Default 20h NOTE If the 2200 02 SSI Protocol object is set to 01h MSB Left Aligned protocol the 2200 03 Number of SSI clocks must be equal to the number of bits of the total physical resolution EXAMPLE We need to connect the following rotary encoder AS58 13 BB ...

Page 58: ...he 6000 00 Operating parameters object is set to 0 otherwise it is ignored and the system uses the custom values 6001 00 Programmable pulse per revolution and 6002 00 Programmable total measuring range to calculate the position information Furthermore if the 2200 06 Bypass parameter see on page 60 is set to 1 enabled the scaling function even if enabled is ignored and the position information is o...

Page 59: ... it is It sets the physical multiturn resolution the number of physical revolutions of the SSI encoder expressed in bits The value has to be comprised between 1 and 14 If you enter an out of range value the physical multiturn resolution value is forced to the default value As soon as you confirm the value the system automatically sets the value in the 6502 00 Number of distinguishable revolutions ...

Page 60: ...abled the Bypass mode is enabled that is the information from the encoder is transmitted as it is and not processed in any way The preset scaling and counting direction functions even if set and enabled are ignored If for example the user sets a preset while the Bypass mode is enabled the value is accepted but not activated As soon as the Bypass mode is disabled the preset scaling and counting dir...

Page 61: ...se CW or counter clockwise CCW When Code sequence 0 the position value increases when the encoder shaft rotates clockwise on the contrary when Code sequence 1 the position value increases when the encoder shaft rotates counter clockwise CW and CCW rotations are viewed from shaft end To know whether the Code sequence is currently enabled you can read the bit 0 Code sequence of the 6500 00 Operating...

Page 62: ...ws Transmitted position 6001 00 Programmable pulse per revolution real position 6002 00 Programmable total measuring range 6501 00 Singleturn resolution To know whether the Scaling function control is currently enabled you can read the bit 2 Scaling of the 6500 00 Operating status object see on page 71 WARNING When you enable the scaling function bit 2 Scaling function control 1 please enter scale...

Page 63: ... information Furthermore if the 2200 06 Bypass object see on page 60 is set to 1 enabled the scaling function even if enabled is ignored and the position information is outputted as it is This object sets a custom number of distinguishable steps per revolution custom singleturn resolution The value has to be comprised between 1 and 6501 00 Singleturn resolution If you enter an out of range value t...

Page 64: ...rogrammable pulse per revolution As you can see the encoder is required to carry out more than 93 000 revolutions this cannot be as the hardware number of revolutions is as stated 16 384 see the 6502 00 Number of distinguishable revolutions object When this happens the encoder falls into an error WARNING Every time you enable the scaling function bit 2 Scaling function control in the 6000 00 Opera...

Page 65: ... Default 4000 0000h Setting the total resolution 6002 00 Programmable total measuring range 230 4000 0000h Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 02 60 00 00 00 00 40 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 02 60 00 00 00 00 00 WARNING When you set a new value next to the 6002 00 Programmable total measuring range object please al...

Page 66: ...r revolution 2200 04 Physical Singleturn Resolution bits 16 bits thus 6501 00 Singleturn resolution 65 536 216 Hardware number of turns 2200 05 Physical Multiturn Resolution bits 14 bits thus 6502 00 Number of distinguishable revolutions 16 384 214 Total hardware resolution 6501 00 Singleturn resolution 6502 00 Number of distinguishable revolutions 1 073 741 824 230 In the specific installation 2 ...

Page 67: ...tion on page 81 for an example of setting the 6002 00 Programmable total measuring range object 6003 00 Preset value Unsigned32 rw This object allows to set the encoder position to a Preset value The Preset function is meant to assign a desired value to a physical position of the encoder shaft The chosen position will get the value set next to this object and all the previous and the following pos...

Page 68: ...reset value object and you execute the preset setting when the encoder position is 1000 In other words you want to receive the value 50 when the encoder reaches the position 1000 We will obtain the following information sequence Transmitted value read position 1000 6003 00 Preset value 50 6509 00 Offset value 1000 50 The following transmitted value will be Transmitted value read position 1001 6003...

Page 69: ...n page 81 for an example of how the 6003 00 Preset value is to be set 6004 00 Position value Unsigned32 ro This object contains the current position value of the encoder If the scaling function is enabled the output value is scaled according to the scaling parameters see the bit 2 Scaling function control in the 6000 00 Operating parameters object The position value is transmitted cyclically or sy...

Page 70: ...00 00 Cyclic timer 100 ms 64h Master Encoder COB ID Cmd Index Sub Process data 600 ID 2B 00 62 00 64 00 Encoder Master COB ID Cmd Index Sub Process data 580 ID 60 00 62 00 00 00 NOTE Refer to the 7 Setting up section on page 81 for an example of setting the 6200 00 Cyclic timer object 6500 00 Operating status Unsigned16 ro Bit Function bit 0 bit 1 0 Code sequence CW clockwise CCW counter clockwise...

Page 71: ...information on setting and using the scaling function refer to the 6000 00 Operating parameters object on page 61 Limit switch min If the encoder position is greater than the value set in the 2104 00 Limit switch min object the bit 12 of this object is set to 0 If the encoder position is less than the value set in the 2104 00 Limit switch min object the bit 12 of this object is set to 1 To enable ...

Page 72: ...value in the 2200 04 Physical Singleturn Resolution bits object the system automatically sets the value in this object accordingly If the bit 2 Scaling function control in the 6000 00 Operating parameters object is set to 0 the system uses the value in this object and the value in the 6502 00 Number of distinguishable revolutions object to calculate the position information If the bit 2 Scaling fu...

Page 73: ...ters object is set to 0 the system uses the value in this object and the value in the 6501 00 Singleturn resolution object to calculate the position information If the bit 2 Scaling function control in the 6000 00 Operating parameters object is set to 1 the system uses the custom values 6001 00 Programmable pulse per revolution and 6002 00 Programmable total measuring range to calculate the positi...

Page 74: ... in the preset function in order to calculate the encoder position value to be transmitted To zero set the value in this object you must upload the factory default values see the 1011 01 Restore default parameters object on page 49 For any further information on the preset function and the meaning and use of the related objects and commands 6003 00 Preset value and 6509 00 Offset value refer to pa...

Page 75: ...ng the store parameters function see the 1010 01 Store parameters object If the power is turned off or in case of Reset node and Restore node commands the parameters not saved are lost MAN IF55 ROT CB E 1 2 odt 6 CANopen interface DS 406 75 of 88 ...

Page 76: ...eral parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to an hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not ...

Page 77: ...000h Generic error Node guarding error 2000h Current generic error 2100h Current CANopen device input side generic 2200h Current inside the CANopen device generic 2300h Current CANopen device output side generic 3000h Voltage generic error 3100h Mains voltage generic 3200h Voltage inside the CANopen device generic 3300h Output voltage generic 4000h Temperature generic error 4100h Ambient temperatu...

Page 78: ...ength exceeded 8230h DAM MPDO not processed destination object not available 8240h Unexpected SYNC data length 8250h RPDO timeout 9000h External error generic error F000h Additional functions generic error FF00h Device specific generic error 6 11 Node guarding protocol This protocol is used to detect remote error in the network Each NMT Slave uses one remote COB for the Node Guarding protocol This...

Page 79: ...100D 00 Life time factor object value The node life time can be different for each NMT Slave If the NMT Slave has not been polled during its life time a remote node error is indicated through the Life Guarding Event service A remote node error is indicated through the Node guarding event service if the remote transmit request is not confirmed within the node life time the reported NMT Slave state ...

Page 80: ... Slave does not receive an 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 1001 00 Error register and 1003 Pre defined error field objects are updated and an error message is sent To reset the error send a Reset node command MAN IF55 ROT CB E 1 2 odt 6 CANopen interface DS 406 ...

Page 81: ... 000 80 ID 7 2 Reading the value of the physical resolution per revolution 6501 00 Singleturn resolution Master Encoder COB ID Cmd Index Sub Process data 601 40 01 65 00 Encoder Master COB ID Cmd Index Sub Process data 581 43 01 65 01 A0 A1 A2 A3 steps rev A3 24 A2 16 A1 8 A0 7 3 Reading the number of physical revolutions 6502 00 Number of distinguishable revolutions Master Encoder COB ID Cmd Inde...

Page 82: ...on COB ID Cmd Index Sub Process data 580 ID 60 02 60 00 00 00 00 00 7 6 Setting the Operating parameters 6000 00 Operating parameters Code sequence 0 CW Scaling function control 1 enabled Limit switch min Limit switch max 0 disabled Master Slave Set request COB ID Cmd Index Sub Process data 600 ID 2B 00 60 00 04 00 Slave Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 60 00 ...

Page 83: ...s 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 Slave Set request COB ID Cmd Index Sub Process data 600 ID 23 01 18 01 B0 B1 B2 B3 Slave Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 18 01 00 00 00 00 7 10 Enabling the Cyclic mode Set cyclic...

Page 84: ... B3 0x7F Set new COB ID used by PDO1 1800 PDO1 parameters sub 1 Master Slave Set request COB ID Cmd Index Sub Process data 600 ID 23 00 18 01 B0 B1 B2 B3 Slave Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 18 01 00 00 00 00 NOTE Save the new values using the store parameters function see the 1010 01 Store parameters object If the power is turned off or in case of Reset nod...

Page 85: ...ers sub 1 4000 0280 NODE ID 1801 PDO2 parameters sub 2 01 1802 PDO3 parameters sub 1 C000 0380 NODE ID 1802 PDO3 parameters sub 2 01 1A00 01 TPDO1 mapping parameter sub 1 6004 0020 1A01 01 TPDO2 mapping parameter sub 1 6004 0020 1A02 01 TPDO3 mapping parameter sub 1 6008 0040 2104 00 Limit switch min 0000 0010 2105 00 Limit switch max 001F FFF0 2200 01 Code Type BIN GRAY 00 2200 02 SSI Protocol 00...

Page 86: ...rms 0000 6506 00 Supported warnings 0000 6507 00 Profile and software version 0301 0101 6508 00 Operating time FFFF FFFF 6509 00 Offset value 0000 0000 650A 01 Module identification 0000 0000 650B 00 Serial number FFFF FFFF Text string MAN IF55 ROT CB E 1 2 odt 8 Default parameters list 86 of 88 ...

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Page 88: ...eneral review 1 0 1 0 V1 1 2 01 10 2019 New firmware new EDS files bypass function added and related parameters updated setting range updated in some parameters new POWER SUPPLY DIP switch 1 0 1 1 V2 Lika Electronic Via S Lorenzo 25 36010 Carrè VI Italy Tel 39 0445 806600 Fax 39 0445 806699 info lika biz www lika biz ...

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