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Manual 

 
 
 
 
Draw wire encoder  
DW60/DW120 

 

 

 

 

Summary of Contents for CANopen DW120

Page 1: ...Manual Draw wire encoder DW60 DW120...

Page 2: ......

Page 3: ...List of Abbreviations Symbols used Warnings and Safety instructions 1 General information Features 6 2 CANopen connections 7 3 Data transmission 9 4 NMT Network Management 10 5 The process data object...

Page 4: ...eviations List of Abbreviations Abbreviation Meaning NMT Network Management SDO Service Data Object PDO Process Data Object TPDO Transmit Process Data Object RPDO Receive Process Data Object DLC Data...

Page 5: ...ogether with the signal word Warning indicates a potential danger to life and health of persons Ignoring this warning may result in serious damage to health with the possibility of life threatening in...

Page 6: ...s to all device parameters Configuration of the network and of the devices Device synchronization within the network Cyclic and event driven process data traffic Simultaneous input or output of data C...

Page 7: ...adjustable via SDO Bus connection 5 pin M12 connector Integrated bus termination resistor 120 ohm ready to activate via SDO Bus galvanic isolation No Yes in preparation Voltage supply 8 30 VDC Current...

Page 8: ...nection Type Common 0V V CAN GND CAN High CAN Low Standard Wiring CANopen Output Signal Type Cable Color WH BN GY GN YE CANopen Connection Type Common 0V V CAN GND CAN High CAN Low Wiring Diagram CANo...

Page 9: ...eously to all desired recipients The Service Data Objects SDO are the communication channel for the transmission of device parameters e g programming of the encoder resolution As these parameters are...

Page 10: ...h Enter_Pre Operational_State switch to Pre Operational 81h Reset_Node reset the node 82h Reset_Communication reset the communication Table 3 The module addressed in byte 1 reacts to the command of by...

Page 11: ...to an object The following table shows when an access is possible Object Operating Mode Initialization Pre Operational Operational Stopped PDO X SDO X X SYNC X X Emergency X X X NMT X X X Node Guard...

Page 12: ...lows placing the required information at a specific location in the data area of a PDO The sensor CANopen interface CC1 only supports the TPDO1 and has a data length of 2 bytes Depending on the select...

Page 13: ...high COB identifier Structure of the SDO telegram COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 SDO identifier Data length Command Index L Index H Sub index Data 0 Data 1 Data 2 D...

Page 14: ...ke over to the client 40h SDO rx Upload Request Request parameters from the sensor 42h SDO tx Upload Response undefined Send parameters to the client 43h 4 bytes 4Bh 2 bytes 4Fh 1 byte 80h SDO tx Abor...

Page 15: ...mit PDO Parameters rw 1A00h 1st Transmit PDO Mapping ro 2100h Manufacturer specific profile area baud rate rw 2101h Manufacturer specific profile area node address rw 2102h Manufacturer specific profi...

Page 16: ...subindex Subindex 0 indicates now many subindexes are supported here 1 Subindex 1 shows that only the option restore all parameters is supported In the case of a write command data area D0 to D3 of t...

Page 17: ...and so on up to 240 For value 255 Sync operation is disabled In this case TPDO1 process data is sent cyclically in Operational mode without having been initiated by a Sync telegram The cycle time rep...

Page 18: ...his object allows switching the bus termination on or off Accordingly an internal 120 ohm terminating resistor is interposed between the CAN High and CAN Low lines Changes are only taken over after a...

Page 19: ...following table shows the possible error messages Code Meaning 0504 0001h Client server command specifier not valid or unknown 0601 0002h Attempt to write a read only object 0602 0000h Object does no...

Page 20: ...m emergency messages An error message is sent at the first occurrence of an error If the cause of the error is corrected and is no longer present another error message is sent with error code 0000h Th...

Page 21: ...Turck Inc 3000 Campus Dr Minneapolis MN 55441 Phone 1 800 544 7769 Fax 763 553 0708 info turck com http www turck com...

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