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BUDE_Manual-CANopen_EN.doc

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Baumer Hübner GmbH

23.10.2012/bja

Berlin, Germany

5.3

Operation

NMT statuses

Once the encoder has been initialized, it is then in the

Pre-operational mode

. In this mode, SDO can be

read and written.

In order to start PDO communication, you must transmit an

NMT start

. The encoder is then in the

Operational mode

. Any required PDOs are then transmitted. SDOs can also be read and written.

If the encoder/converter is stopped with an

NMT stop

, the encoder/converter is then in the

stopped mode

In this mode, only NMT communication is the possible, i.e. also heartbeat.

By means of an

NMT reset

the encoder/converter is re-initialized and is then once again in the

pre-

operational mode

Reading the position

Request from the master:

COB ID

DLC Command

Object L

Object H Subindex Data 0

Data 1 Data 2 Data 3

600h+node ID

40h

04h

60h

Response (dcba) of the encoder/converter to the request:

COB ID

DLC Command

Object L

Object H Subindex Data 0

Data 1 Data 2 Data 3

580h+node ID

43h

04h

60h

Configuring PDOs

The PDOs can be configured in accordance with the following table:

1800h

2800h

Summarized description

Sub2

Sub5

FEh

3ms

Cyclical transmission every 3 ms

FEh

5ms

Every 5ms the PDO is sent double if a change has occurred.

FEh

0ms

Transmit PDO switched off

FEh

0ms

xxx

Transmit PDO switched off

xxx

Transmit with each third sync telegram

xxx

2Bh

With each sync telegram but in total only 43 times (=2Bh).

Содержание CiA DS-301

Страница 1: ...Baumer H bner GmbH Max Dohrn Str 2 4 D 10589 Berlin Phone 49 0 30 690 03 0 Fax 49 0 30 690 03 104 info baumerhuebner com www baumer com Manual Absolute Encoder with Firmware version from 1 00...

Страница 2: ...15 3 3 7 Layer Setting Services 19 3 4 Encoder converter profile 23 3 4 1 Overview of encoder converter objects 23 3 4 2 Detailed object list DS 301 27 4 Diagnosis and useful information 44 4 1 Error...

Страница 3: ...served For this reason Baumer Huebner GmbH rejects any liability for the information compiled in the present manual Baumer Huebner GmbH nor the author will accept any liability for direct or indirect...

Страница 4: ...code eds file Product family AMG 11 C 13 0x0B CO13 eds AMG 11 Singleturn 13 Bit AMG 11 C 29 0x0A CO29 eds AMG 11 Multiturn 29 bit AMG 81 C 13 0x0B CO13 eds AMG 81 Singleturn 13 bit AMG 81 C 29 0x0A C...

Страница 5: ...ied experts Observe the operating instructions of the machine manufacturer Safety remarks Prior to commissioning the equipment check all electrical connections If installation electrical connection or...

Страница 6: ...emissions frequency converters contactors etc Where working with consumers which have high interference emissions make available a separate power supply for the encoder converter Completely shield the...

Страница 7: ...le to independently transmit and receive data without being dependent upon the priority of the master Each user is able to start its message when the bus is not occupied When messages are sent simulta...

Страница 8: ...relevant profiles CANopen permits Simplified access to all device and communication parameters Synchronization of several devices Automatic configuration of the network Cyclical and event controlled p...

Страница 9: ...s revision numbers etc in the middle of an existing network 3 3 2 CANopen message structure The first part of a message is the COB ID Identifier Structure of the 11 bit COB ID Function code Node ID 4...

Страница 10: ...C data length code describes the length of the telegram This is composed as follows 1 byte command 2 bytes object 1 byte subindex no of data bytes 0 4 The command byte defines whether data is read or...

Страница 11: ...e ID 8 80h Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3 Byte 8 5 results in the SDO abort message byte 8 MSB The following messages are supported 05040001h Command byte is not su...

Страница 12: ...exchange for process data for example position or operating status PDOs can be transmitted synchronously or cyclically asynchronously The encoder converter supports the PDO1 and the PDO2 Both PDOs sup...

Страница 13: ...transmission takes place If the value is 4 the PDO is transmitted four times with each cycle if there is a change Overview In the following table the different transmission modes for PDOs are summariz...

Страница 14: ...ric error 5530h EEPROM error from V1 04 6010h Software reset Watchdog from V1 04 7320h Position error from V1 04 7510h Internal communication error from V1 04 8130h Life Guard error or Heartbeat error...

Страница 15: ...ands is always zero The node ID is transmitted in byte 2 of the NMT command Command byte Command byte Description In state event drawing 01h Start remote node 1 02h Stop remote node 2 80h Enter pre op...

Страница 16: ...de In the stopped mode only NMT communication is possible No SDO parameters can be read or set LSS is only possible in the stopped mode Status change Start remote node 1 With the start command the enc...

Страница 17: ...r the Node Guarding is taking place in the defined time interval Life Guarding The Node Guarding is initiated by the NMT Master in Pre Operational state of the slave by transmitting a Remote Frame The...

Страница 18: ...roducer and consumer is configurable via Object Dictionary entries The heartbeat consumer guards the reception of the heartbeat within the heartbeat consumer time If the Heartbeat is not received with...

Страница 19: ...d then initialized via LSS Both the node ID and also the baud rate can be reset LSS can only be executed in the Stopped Mode Message structure COB ID Master Slave 2021 7E5h Master Slave 2020 7E4h Afte...

Страница 20: ...127 Reserved for CiA 128 255 Manufacturer specific tables TableInd Bit timing entry in selected table see table below Error code 0 OK 1 Bit timing outside range 2 254 reserved 255 Specific error Speci...

Страница 21: ...coder 7E5h 5Ah reserved 7E4h 5Ah 32 bit vendor ID reserved Vendor ID ECh Request product code Request product code of a selected encoder 7E5h 5Bh reserved 7E4h 5Bh Product code reserved Product code M...

Страница 22: ...his purpose the following objects are sent in sequence 7E5h 46h Vendor ID reserved 7E5h 47h Product code reserved 7E5h 48h Revision number LOW reserved 7E5h 49h Revision number HIGH reserved 7E5h 4Ah...

Страница 23: ...ultiturn absolute Singleturn encoder Byte 0 1 Profile no 196h 406 Byte 2 3 Encoder type 1 Singleturn absolute 1001h Error register U8 ro 0h Bit0 Generic Error Bit4 Communication error overrun Bit7 man...

Страница 24: ...r Heartbeat time in ms 1018h Identity object U32 ro 00h Biggest subindex U8 ro 4h 01h Vendor ID U32 ro ECh yes Vendor no issued by CiA 02h Product code U32 ro 0Ah 0Bh 0Fh yes Product Code 0Ah 29 bit e...

Страница 25: ...t6 0 normal SYNC response 1 fast SYNC response see Bit 7 Bit7 0 all PDO Modes enabled 1 only SYNC Mode enabled lowest Jitter only together with set Bit 6 Bit8 PDO1 Delay 2ms 0 1800h 5h 6200h 1 1800h 5...

Страница 26: ...on 6501h Max resolution U32 ro 2000h 40000h 2000h Max resolution in steps revolution 13 bit encoder converter 18 bit encoder converter 29 bit encoder converter 6502h Overall measuring range in increme...

Страница 27: ...h DSP 406 Device profile for encoder Data 2 3 01h 00h singleturn absolute Data0 Profile LOW Data1 Profile HIGH Data2 Type Data3 96 01 02 00 Object 1001 Error Register Subindex 0 Data type Unsigned 8 A...

Страница 28: ...tes SYNC messages 0 generates no SYNC message Bit 29 1 29 bit SYNC COB ID CAN 2 0B 0 28 bit SYNC COB ID CAN 2 0A Bit 28 11Bit 28 11 of the 29 bit SYNC COB ID Bit 10 0 Bit 10 0 of the SYNC COB ID Objec...

Страница 29: ...Description Software version in ASCII Values Data 0 3 31h 2Eh 30h 30h 1 00 Objekt 100C Guard Time SubIndex 0 DatenTyp Unsigned 16 Zugriff ReadWrite Default 0h EEPROM Yes Beschreibung Timer f r Nodegu...

Страница 30: ...1h 1h PDO2 ID 280h node ID 1801h 2h PDO2 type 2h synchronous 1801h 5h PDO2 refresh time for cyclical transmission 100h ms 2100h 0h Baud rate 2h 50 kBaud 2101h 0h Node ID 1h 2110h 0h Version 0x00000008...

Страница 31: ...01 6Ch l 6Fh o 61h a 64h d Object 1014 COB ID emergency message Subindex 0 Data type Unsigned 32 Access Read write Default 80h node ID EEPROM Yes Description Defines COB ID of the emergency object Va...

Страница 32: ...Yes Description Product code Values 0Bh 13 bit encoder converter 0Fh 18 bit encoder converter 0Ah 29 bit encoder converter Subindex 3 Data type Unsigned 32 Access Read only Default EEPROM No Descripti...

Страница 33: ...2h change to Stop Mode 3h reset node Object 1800 PDO1 parameters Subindex 0 Data type Unsigned 32 Access Read only Default 5 EEPROM No Description Biggest supported subindex Values 5 Subindex 1 Data t...

Страница 34: ...mapping Subindex 0 Data type Unsigned 8 Access Read only Default 0 EEPROM No Description Biggest supported subindex Values 1 Subindex 1 Data type Unsigned 32 Access Read only defined by CiA as read w...

Страница 35: ...be stored in the EEPROM with the object 1010h and then the sensor re initialized Values 0 10 kBaud 1 20 kBaud 2 50 kBaud 3 100 kBaud 4 125 kBaud 5 250 kBaud 6 500 kBaud 7 800 kBaud 8 1000 kBaud Object...

Страница 36: ...Code sequence Object 6000h Bit0 V1 04 0 Not inverted 1 Inverted Bit2 scaling function Object 6000h Bit2 V1 04 0 enabled 1 disabled Bit3 0 BusOFF not removed 1 reinitate bus after BusOFF Bit5 0 Heartbe...

Страница 37: ...Default 0h EEPROM Yes Description Total operating time in seconds Object 6508h time since last reset Values 0 4294967295 Subindex 3 Data type Unsigned 32 Access Read only Default 0h EEPROM Yes Descri...

Страница 38: ...event timer Object 2801 PDO2 addition event trigger Subindex 0 Data type Unsigned 8 Access Read write Default 0h EEPROM Yes Description The event trigger value determines how often the same PDO value...

Страница 39: ...object 6501h Object 6002 Overall measurement range Subindex 0 Data type Unsigned 32 Access Read write Default 2000h 8192 13 bit encoder converter 40000h 262144 18 bit encoder converter 20000000h 5368...

Страница 40: ...eat time cyclical transmission amounts to n ms Object 6500 Operating Status Subindex 0 Data type Unsigned 16 Access Read only Default 4h EEPROM No Description Operating data which is written with obje...

Страница 41: ...2144 18 bit encoder converter 20000000h 536870912 29 bit encoder converter Object 6503 Alarms Subindex 0 Data type Unsigned 16 Access Read only Default 0h EEPROM No Description Alarm messages as per o...

Страница 42: ...ndex 0 Data type Unsigned 32 Access Read Only Default EEPROM No Description Version of the profile and the current software Values Version of the current software xxyy xx Software version yy Profile v...

Страница 43: ...Default 0h EEPROM Yes Description Calculated from preset Object 6003h Values 0 current overall measurement range 1 Object 650B Serial number Subindex 0 Data type Unsigned 32 Access Read only Default...

Страница 44: ...unambiguously assigned a node ID i e it is strictly prohibited to assign the same node ID more than once The node ID and baud rate can also be set conveniently using the LSS service 4 2 Error diagnos...

Страница 45: ...umer specific object 2100h 2 After setting the node ID this must be saved in the EEPROM with object 1010h 3 On next initialization the sensor logs on with the new node ID Resetting the baud rate 1 The...

Страница 46: ...er COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h node ID 8 40h 04h 60h 0h x x x x Response dcba of the encoder converter to the request COB ID DLC Command Object L Obj...

Страница 47: ...8 23h 03h 60h 0h a b c d Conformation COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h node ID 8 60h 03h 60h 0h 0h 0h 0h 0h Changing the sense of rotation and scaling The...

Страница 48: ...10 bit 1024 steps and the overall resolution at 22 bit 4194304 resulting in 4096 12bit revolutions of 1024 10bit steps each Setting the overall resolution to 4194304 4194304 400000h COB ID DLC Comman...

Страница 49: ...erter is re initialized and is then once again in the pre operational mode Reading the position Request from the master COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 600h n...

Страница 50: ...he encoder converter should transmit a heartbeat 100 64h COB ID DLC Command Object L Object H Subindex Data 0 Data 1 600h node ID 8 2Bh 17h 10h 0h 64h 0h Confirmation COB ID DLC Command Object L Objec...

Страница 51: ...as CAN device via CAN Layer 2 Example Encoder Node ID 1 Used Tool CANAnalyser32 by Fa IXXAT COB ID 0x600 Node ID SDO Command Object Index 6002 Object Subindex 00 Data 0x10000000 For more detailed desc...

Страница 52: ...t up after Power on SDO request to encoder converter COB ID 0x600 Node ID SDO response from encoder converter COB ID 0x580 Node ID Encoder converter in state Operational Run transmitting cyclic Positi...

Страница 53: ...he user address decimally using the two rotary switches 1 and 2 default setting 00 Example 23 6 1 2 Setting the baud rate The baud rate is defined in the object 2100h In addition it is possible here t...

Страница 54: ...ert with contact sleeve and cable flush into the cable gland and tighten the cap nut Terminals with the same designation are internally interconnected For the power supply use only cable gland 3 For t...

Страница 55: ...bus cover onto the D SUB plug of the basic encoder converter then press only via the sealing rubber taking care not to tilt it The bus cover must rest fully against the basic encoder converter Tighte...

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