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Manual_GXP5_417_Lift_EN.doc

7/41

Baumer IVO GmbH & Co. KG

04.05.11

Villingen-Schwenningen,

Germany

3.4. CANopen

communication

3.4.1. Communication profile

The communication between the network nodes and the master (PC/controller) is carried out via object
directories and objects. The objects are addressed via a 16-bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. Accordingly, they are divided into several groups:
• Process data objects (PDO) for the real-time transmission of process data
• Service data objects (SDO) for the write and read access to the object directory
• Objects for the synchronization and error display of CAN nodes:

SYNC object (synchronization object) for the synchronization of network nodes

EMCY object (emergency object) for the error display of a device or its periphery

• Network management (NMT) for the initialization and network control
• Layer setting services (LSS) for the configuration by means of a serial number, revision number etc. within
an
existing network

3.4.2. 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-bit Function Code

7-bit Node-ID

The function code provides information on the type of message and the priority
The lower the COB-ID, the higher the priority of the message.

Broadcast messages:

Function Code

COB-ID

NMT 0
SYNC 80h

Peer to peer messages:

Function Code

COB-ID

Emergency

80h + Node-ID

PDO1 (tx)

1)

17Bh+ Lift number * 10 + PosUnit

SDO (tx)

1)

580h + Node-ID

SDO (rx)

1)

600h + Node-ID

Heartbeat

700h + Node-ID

LSS (tx)

1)

7E4h

LSS (rx)

1)

7E5h

1): (tx) and (rx) from the
standpoint of the encoder

The node ID can be freely selected via the CANopen bus between 1 and 127 (if rotary switch = 0). The
encoders are shipped with a node ID = 1.
A change is made with the service data object 2101h or via LSS.

A CAN telegram consists of the COB-ID and up to 8 bytes of data:

COB-ID DLC

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

Xxx x xx xx xx xx xx xx xx xx

The exact telegrams will be listed in detail later.

«
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5
6
7
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9
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Содержание GXP5W

Страница 1: ...Schwenningen Phone 49 0 7720 942 0 Fax 49 0 7720 942 900 05 11 174 02 035 4 info de baumerivo com Subject to technical and design modifications www baumer com Errors and omissions excepted Manual Absolute Encoder with CANopen Lift Protocol Firmaware version from 1 00 ...

Страница 2: ...ncy service 10 3 4 6 Network management services 11 3 4 7 Layer setting services 13 3 5 CANopen Lift encoder according to Appl Profile DSP417 17 3 5 1 Object overview 17 3 5 2 Detailed object description 20 4 Diagnosis and Important Information 34 4 1 Error diagnosis field bus communication 34 4 2 Troubleshooting with field bus 34 4 3 Important information on sensor 35 5 Applications 36 5 1 Settin...

Страница 3: ...your comments and proposals for further improvement of the present document 1 Introduction 1 1 Scope of delivery Please check the delivery upon completeness prior to commissioning Depending on encoder configuration and part number delivery is including Encoder CD with describing file and manual also available as download in the Internet 1 2 Product assignment Shaft encoder Product Product Code Dev...

Страница 4: ...nd storage The encoder may only be transported and stored in the original packaging Do not drop the encoder or subject it to major jolts or impacts Assembly Avoid impacts or shocks to the housing and shaft Do not torque the housing Do not produce a rigid connection between the encoder and drive shafts Do not open the encoder or modify it mechanically The shaft ball bearings glass plate or electron...

Страница 5: ...us can send and receive data independently without being dependent on a priority of the master Each can begin its message if the bus is not busy In the case of simultaneous transmission of messages the node with the highest priority prevails Assignment of priorities to messages The identifier specifies the priority of the message As a result important messages can be transmitted quickly via the bu...

Страница 6: ...ment NMT Heartbeat Predefined objects for synchronization emergency message All device and communication parameters are structured in an object directory An object comprises the name of the object data type number of sub indices structure of the parameters and the address According to the CiA this object directory is divided into three different parts communication profile device profile and a man...

Страница 7: ... for the configuration by means of a serial number revision number etc within an existing network 3 4 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 bit Function Code 7 bit Node ID The function code provides information on the type of message and the priority The lower the COB ID the higher the priority of the...

Страница 8: ...h Download Request 1 byte 60h Download Response Confirmation of adoption to Master 40h Upload Request Request parameters from encoder 42h Upload Response Max 4 bytes Parameters to Master with max 4 bytes 43h Upload Response 4 bytes 4Bh Upload Response 2 bytes 4Fh Upload Response 1 byte 80h Abort Message Encoder signals error code to Master An abort message indicates an error in the CAN communicati...

Страница 9: ...and 1B06hh Synchronous To transmit the process data synchronously a value between 1 and F0h 240 must be entered in the object 1906h Subindex 2 If the value is now 3 the PDO is transmitted to every third Sync telegram with a value of 1 it is transmitted to every Sync telegram until 0 is entered in the object 2800h 0 If for example a 5 is entered there the PDO is still written to every third Sync te...

Страница 10: ...te 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 18Ch 4 Xx Xx Xx Xx Xx Xx ID 17Bh Lift number 10 PosUnit Length 6 data bytes Byte1 4 Current position in increments Byte 5 6 Speed 3 4 5 Emergency service Internal device error or bus problems trigger an emergency message COB ID DLC Byte0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Error Code 80h Node ID 8 00h 01h Error Register 1001h Alarms 63C7h Warnin...

Страница 11: ...COB ID for NMT commands 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 Operational Mode 3 81h 82h Reset Remote Node 4 5 The node number corresponds to the Node ID of the desired node With none number 0 all nodes are addressed NMT State Event Following in...

Страница 12: ... Mode In the Stopped mode only NMT communication is possible No SDO parameters can be read or written LSS is only possible in the Stopped mode State change Start Remote Node 1 With the Start command the encoder is switched into the Operational mode COB ID Command Byte Node Number 0 1h 0 127 Stop Remote Node 2 With the Stop command the encoder is switched into the Stopped or Prepared mode COB ID Co...

Страница 13: ... LSS In the standard configuration we ship the encoder with the Node ID 1 and the baud rate 50 kBaud Several encoders with the same Node ID can be connected to the bus system To now be able to address the individual encoders LSS is used Each encoder has a unique serial number and is addressed via this number This means any desired number of encoders with the same Node ID can be connected to a bus ...

Страница 14: ...l tableIn d Reserved 7E4h Å 13h ErrCod e SpecErro r Reserved TableSel Selects the BitTiming table 0 Standard CiA bit timing table 1 127 Reserved for CiA 128 255 Manufacturer specific tables TableInd BitTiming entry in selected table see table below ErrorCode 0 OK 1 BitTiming outside range 2 254 reserved 255ÆSpecificError SpecificError Falls ErrorCode 255 Æ Application specific error code Standard ...

Страница 15: ...der 7E5h Æ 5Ah Reserved 7E4h Å 5Ah 32 Bit Vendor ID Reserved VendorID ECh Request ProductCode Request the ProductCode of a selected encoder 7E5h Æ 5Bh Reserved 7E4h Å 5Bh ProductCode Reserved ProductCode Manufacturer dependent product code Request Revision Number Request the RevisionNumber of a selected encoder 7E5h Æ 5Ch Reserved 7E4h Å 5Ch 32 Bit Revision Number Reserved RevisionNumber Current r...

Страница 16: ...ose the following objects are sent consecutively 7E5h Æ 46h VendorID Reserved 7E5h Æ 47h ProductCode Reserved 7E5h Æ 48h RevisionNumber LOW Reserved 7E5h Æ 49h RevisionNumber HIGH Reserved 7E5h Æ 4Ah SerialNumber LOW Reserved 7E5h Æ 4Bh SerialNumber HIGH reserved Each encoder with the corresponding parameters responds by transmitting the following message 7E4h Å 4Fh Reserved ...

Страница 17: ...est Entry U32 ro Error or warning 1005h Sync COB ID U32 rw 80h 1 COB ID of Sync object 1008h Device Name U32 ro GXP5 1 GXP5 1009h Hardware Version U32 ro 1 00 Hardware version in ASCII V 1 00 100Ah Software Version U32 ro 1 00 Software version in ASCII V 1 00 1010h Store Parameters ARR 00h Largest Subindex U8 ro 04h Number of memory possibilities 4 01h Save All Parameters U32 rw save 0x73617665 to...

Страница 18: ... ro 08h in this object 01h Data0 U16 rw 00h 1 02h Data1 U16 rw 00h 1 03h Data2 U16 rw 00h 1 04h Data3 U16 rw 00h 1 05h Data4 U16 rw 00h 1 06h Data5 U16 rw 00h 1 07h Data6 U16 rw 00h 1 08h Data7 U16 rw 00h 1 2800h PDO1 Addition Event Trigger U8 rw 00h 1 Repetition counter for PDO1 6001h Lift Number U8 rw 01h 1 Lift number 1 8 currently only 1 possible 6380h Operating Parameters ARR 00h Largest Subi...

Страница 19: ...o 10000h 02h Position Unit 2 U16 ro 10000h 03h Position Unit 3 U16 ro 10000h 04h Position Unit 4 U16 ro 10000h Max number of rotations 63C4h Supported Warnings ARR 00h Largest Subindex U8 ro 04h 01h Position Unit 1 U16 ro 14h 02h Position Unit 2 U16 ro 14h 03h Position Unit 3 U16 ro 14h 04h Position Unit 4 U16 ro 14h Following warnings are supported Bit2 CPU watchdog status Bit4 Battery charge 63C...

Страница 20: ...Only Default 0h EEPROM No Description Current Error Code Values Bit 0 1 Generic Error Object 1003 Predefined Error Field Here CiA CAN in Automation defines approximately 200 different Error Codes This document only describes the Error Codes relevant for the sensor This object saves the last 8 errors or warnings which have occurred Subindex 0 Data Type Unsigned 8 Access ReadWrite Default 0 EEPROM N...

Страница 21: ...28 11 of 29 bit SYNC COB ID Bit 10 0 Bit 10 0 of SYNC COB ID Object 1008 Manufacturer Device Name Subindex 0 Data Type Unsigned 32 Access ReadOnly Default GXP5 EEPROM No Description Device designation in ASCII Values Data 0 3 GXP5 47h 58h 50h 35h Æ GXP5W Multiturn Object 1009 Manufacturer Hardware Version Subindex 0 Data Type Unsigned 32 Access ReadOnly Default EEPROM No Description Hardware versi...

Страница 22: ...ation 0h disabled 2100h 0h Baud Rate 2h 50 kBaud 2101h 0h Node ID 1h 2110h 0h Manufacturer_Options 8h 2201h 1h Number of Position Errors 0h 2201h 2h Total Operating Time in Seconds 0h 2201h 3h Number of Timer Resets from Watchdog 0h 2300h 1h Customer Specific EEPROM Range Data0 0h 2300h 2h Customer Specific EEPROM Range Data1 0h 2300h 3h Customer Specific EEPROM Range Data2 0h 2300h 4h Customer Sp...

Страница 23: ...1 6Ch l 6Fh o 61h a 64h d Object 1014 COB ID Emergency Message Subindex 0 Data Type Unsigned 32 Access ReadWrite Default 80h Node ID EEPROM Yes Description Defines COB ID of Emergency object Values 80h Node ID Object 1017 Producer Heartbeat Time Subindex 0 Data Type Unsigned 16 Access ReadWrite Default 0h EEPROM Yes Description Defines repetition time of Heartbeat monitoring service Values 0 Disab...

Страница 24: ...x Version yy Serial number See rating plate Data 0 Build number LOW Data 1 Build number HIGH Data 2 Version LOW Data 3 Version HIGH Subindex 4 Data Type Unsigned 32 Access ReadOnly Default 0 EEPROM Yes Description Consecutive unique sensor serial number Values Defined at factory during final test Object 1906 PDO1 Parameter Subindex 0 Data Type Unsigned 32 Access ReadOnly Default 5 EEPROM No Descri...

Страница 25: ...ault 203h EEPROM Yes Description Event Timer for Process Data Object Values 0 Cyclical transmission deactivated 1 n 65535 Repetition time of cyclical transmission is n ms Object 1B06 PDO1 Mapping Subindex 0 Data Type Unsigned 8 Access ReadOnly Default 0 EEPROM No Description Largest supported Subindex Values 1 Subindex 1 Data Type Unsigned 32 Access ReadOnly Default 63830120h EEPROM No Description...

Страница 26: ...0 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 2101 Node ID Subindex 0 Data Type Unsigned 8 Access ReadWrite Default 1 EEPROM Yes Description Read or set new sensor Node ID Æ After setting parameters must be saved in EEPROM with Object 1010h and then sensor must be reinitialized Values 1 127 Object 2110 Manufacturer_Options Subindex 0 ...

Страница 27: ...cess ReadOnly 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 ReadOnly Default 0h EEPROM Yes Description Watchdog Timer Reset counter Values 0 4294967295 Object 2300 Customer EEPROM Area Subindex 0 Data Type Unsigned 8 Access ReadOnly Default 8h EEPROM No Description Any desired data ca...

Страница 28: ...nt Trigger Subindex 0 Data Type Unsigned 8 Access ReadWrite Default 0h EEPROM Yes Description Event Trigger value determines how often same PDO value is transmitted Values 0 PDO counter is deactivated Æ constant transmission time basis from Event Timer 1 n 255 Same PDO value is transmitted n times time basis from Event Timer ...

Страница 29: ...0 Æ Max resolution 1 Æ Saved resolution Object 6381 Resolution Subindex 1 Data Type Unsigned 32 Access ReadWrite Default 2000h 8192 13Bit EEPROM Yes Description Number of steps per rotation is freely selectable Offset value is reset when resolution is changed Values 1 8192 Object 6382 Preset Value Subindex 1 Data Type Unsigned 32 Access ReadWrite Default 0h EEPROM Yes Description Freely selectable...

Страница 30: ...x 1 Data Type Unsigned 16 Access ReadOnly Default 64h EEPROM Yes Description Encoder measuring step setting Values Unit for measuring step multiple of 10 µm Subindex 2 Data Type Unsigned 16 Access ReadOnly Default 0Ah EEPROM Yes Description Speed measuring step Values Unit for speed multiple of 0 1 mm s Subindex 3 Data Type Unsigned 16 Access ReadOnly Default 0Ah EEPROM Yes Description Acceleratio...

Страница 31: ...data written in Object 6380h Values Bit 0 Rotating direction 0 Æ Clockwise 1 Æ Counter clockwise Bit 2 Scaling function 0 Æ Max resolution 1 Æ Saved resolution Object 63C1 Max Resolution in Steps Subindex 1 Data Type Unsigned 32 Access ReadOnly Default 2000h 8192 13 bit EEPROM No Description Maximal single turn resolution in steps Values 2000h 8192 13 bit Object 63C2 Max Rotations Subindex 1 Data ...

Страница 32: ...dex 1 Data Type Unsigned 16 Access ReadOnly Default 0h EEPROM No Description Warnings as per Object 63C4 Values Multiturn Bit 2 1 Æ CPU Watchdog reset Bit 4 1 Æ Battery charge is insufficient Object 63C6 Supported Alarms Subindex 1 Data Type Unsigned 16 Access ReadOnly Default 1h EEPROM No Description Alarm messages supported by Object 63C7 Values Bit 0 Position error Object 63C7 Alarms Subindex 1...

Страница 33: ...ned 32 Access ReadOnly Default 0h EEPROM No Description Operating time in 1 10 hour since last sensor reset Values 0 n 4294967295 n 6 minutes operating time without reset Object 63C9 Offset Subindex 1 Data Type Unsigned 32 Access ReadOnly Default 0h EEPROM Yes Description Calculated from preset Æ Object 6382h Values 0 current total measuring range 1 ...

Страница 34: ... with a unique Node ID This means the same Node ID may never be assigned multiple times The Node ID and baud rate can also be conveniently set via the LSS service 4 2 Troubleshooting with field bus The encoder has several objects and messages which describe the status or error states of the encoder Object 1001h This object is an error register for the error state of the device Object 1003h The las...

Страница 35: ... is set with the IVO specific Object 2100h 2 After the Node ID is set it must be saved in the EEPROM with Object 1010h 3 During the next initialization the sensor will report with the new Node ID Set new baud rate 1 A new baud rate is set with the IVO specific Object 2101h 2 After the baud rate is set it must be saved in the EEPROM with Object 1010h 3 During the next initialization the sensor will...

Страница 36: ...Master COB ID DLC Command Object L Object H Subinde x Data 0 Data 1 Data 2 Data 3 600h Node ID 8 40h 81h 63h 01h x x x x Response dcba of encoder to the request COB ID DLC Command Object L Object H Subinde x Data 0 Data 1 Data 2 Data 3 580h Node ID 8 43h 81h 63h 01h a b c d Commissioning When the encoder is connected to the bus it reports with a BootUp message Now the encoder must be adapted to it...

Страница 37: ...8 23h 82h 63h 01h a b c d Confirmation COB ID DLC Command Object L Object H Subinde x Data 0 Data 1 Data 2 Data 3 580h Node ID 8 60h 82h 63h 01h 0 0 0 0 Change rotating direction and scaling The rotating direction can be set to CW clockwise or CCW counter clockwise In addition the scaling can be activated or deactivated in the same object 6380 With the scaling activated the set resolution is used ...

Страница 38: ... a 76 v 65 e COB ID DLC Command Object L Object H Subinde x Data 0 Data 1 Data 2 Data 3 580h Node ID 8 60h 10h 10h 01h 0 0 0 0 5 3 Operation NMT states After the encoder has been initialized it is in the Pre Operational Mode In this state SDOs can be read and written To also start PDO communication an NMT Start must be sent Then the encoder is in the Operational Mode Now desired PDOs are sent In a...

Страница 39: ...nitor the communication capability the time of the heartbeat must be defined in Object 1017h Producer Heartbeat Time As soon as the value has been confirmed the service begins to transmit For example the encoder is to send a heartbeat every 100 ms 100 64h COB ID DLC Command Object L Object H Subinde x Data 0 Data 1 600h Node ID 8 2Bh 17h 10h 0h 64h 0h Confirmation COB ID DLC Command Object L Objec...

Страница 40: ...e shaft and encoder shaft via a suitable coupling The shaft ends may not touch each other The coupling must compensate shifting caused by temperature and mechanical play Observe the permissible axial or radial axis load For suitable connections see Accessories Firmly tighten the mounting screws 6 2 Electrical connection 6 2 1 Description of connections Pin Assignment CAN_L CAN Bus Signal dominant ...

Страница 41: ...nment 1 2 CAN_L 3 CAN_GND 4 5 6 GND B 7 CAN_H 8 9 UB 6 3 Display elements status display Depending on the design a DUO LED may be integrated on the back of the encoder LED green LED red Status off off Supply Voltage Not Connected flashing off Preoperational Mode on off Operational Mode on on Stopped Prepared Mode off flashing Warning off on Error ...

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