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CANopen encoder

6 Configuration

This chapter describes the configuration of the parameters of an absolute encoder

with CANopen interface�

6.1 Operating modes
6.1.1 General information

In the preoperational mode the encoder replies to the CAN bus after sending its

boot up message�
Boot up message: 700 hex + node number (further details in the Communication

Profile chapter 7�3�)

►

Change parameters only in the preoperational mode�

This mode decreases the bus load and simplifies the control of the messages sent

and received� It is not possible to send or receive PDO messages in this mode�

6.1.2 Preoperational mode

To set the encoder to the preoperational mode, the master must send the following

message:

Identifier

Byte 0

Byte 1

Description

0 h

80 h

NMT PreOp, all nodes

0 h

80 h

NMT PreOp, NN

NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the

preoperational mode�

6.1.3 Start-operational mode

To set the encoder to the operational mode, the master must send the following

message:

Identifier

Byte 0

Byte 1

Description

0 h

01 h

NMT start, all nodes

0 h

01 h

NMT start, NN

NN: node number
It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the

operational mode�

Содержание RM8 Series

Страница 1: ...Device manual Absolute magnetic encoder with CANopen interface RM8xxx RM9xxx 704820 02 04 2017 UK ...

Страница 2: ...rating modes 8 6 1 1 General information 8 6 1 2 Preoperational mode 8 6 1 3 Start operational mode 8 6 1 4 Start stop mode 9 6 1 5 Reinitialisation of the encoder 9 6 2 Standard operation CAN transmission modes 9 6 3 Storing parameters 9 6 3 1 Object directory 9 6 3 2 Saving process 10 6 3 3 Storing without reset 10 6 3 4 Storing with reset 10 6 3 5 Restoring the parameters 11 6 3 6 Layer Setting...

Страница 3: ... trademarks Microsoft Windows Windows XP and Windows Vista are registered trademarks of Microsoft Corporation Adobe and Acrobat are registered trademarks of Adobe Systems Inc All trademarks and company names are subject to the copyright of the respective companies ...

Страница 4: ...nd illustrations about the correct handling of the device and must be read before installation or use Observe the operating instructions Non observance of the instructions operation which is not in accordance with use as prescribed below wrong installation or incorrect handling can affect the safety of operators and machinery The installation and connection must comply with the applicable national...

Страница 5: ... further information please refer to the CiA CAN specification CiA 406 encoders CiA 301 CANopen 3 1 1 Supported operating modes Encoders with CANopen interface support the following operating modes RTR request The position value is only given to the bus on request EVENT time The position value is given to the bus cyclically interval can be set Cyclical synchronous When the sync telegram has been r...

Страница 6: ...t can be configured The module stores the last error The error code of the corresponding emergency object is stored The module supports the load command reset function to restore the factory settings Alarms and warnings are not displayed 5 Installation of the encoder Attention This product corresponds to the standard EN 61000 6 4 The unit may cause radio interference in domestic areas Where applic...

Страница 7: ...e for encoders is Layer Setting Services Further information chapter 6 3 6 5 3 4 Bus termination If the encoder is the last participant an external terminating resistor or a terminating T connector has to be used 5 4 LED indications LED Status Description red flashes 1 Hz operating voltage OK faulty bus connection red lights BUS OFF caused e g by short circuit wire break faulty connector green fla...

Страница 8: ...eceived It is not possible to send or receive PDO messages in this mode 6 1 2 Preoperational mode To set the encoder to the preoperational mode the master must send the following message Identifier Byte 0 Byte 1 Description 0 h 80 h 00 NMT PreOp all nodes 0 h 80 h NN NMT PreOp NN NN node number It is possible to set all nodes byte 1 0 or individual nodes byte 1 NN to the preoperational mode 6 1 3 ...

Страница 9: ...urrent position value via a remote transmission request telegram The encoder reads the current position sets off set parameters if applicable and returns the position value via the same CAN identifier EVENT time The absolute encoder cyclically sends the current position value without any request by the host The cycle time can be programmed in milliseconds for values between 1 ms and 65536 ms Sync ...

Страница 10: ...h preset value 6200h EVENT 6 3 2 Saving process The parameters are stored in a non volatile EEPROM The changes made are stored in the working memory of the encoder Once all parameters have been checked they can be transferred to the EEPROM in a write cycle The stored parameters are activated after a reset power on NMT reset 6 3 3 Storing without reset Once the saving process is completed by using ...

Страница 11: ...n vendor ID product code revision number serial number of the slave In this case the slave is unambiguously recognised and the settings node number and baud rate can be set 7 Programmable parameters The objects are based on the device profile CiA 406 DS V3 2 CANopen profile for encoders www can cia org Detailed description of the command byte Command Data length Data type 43h 4 bytes unsigned 32 4...

Страница 12: ...p message 7 2 1 Set preset value master to encoder with node number 1 Set preset value value 1000 Identifier DLC Command Index Sub index Service data NN 1 download 6003h byte 4 byte 5 byte 6 byte 7 601 8 23h 03h 60h 00h 00h 10h 00h 00h Response from the encoder Identifier DLC Command Index Sub index Service data NN 1 download 6003h byte 4 byte 5 byte 6 byte 7 581 8 60h 03h 60h 00h 00h 00h 00h 00h ...

Страница 13: ... internal device error 0b 0000 0000 generic error 1003 0 Pre defined error field u8 ro 0 An error list with 10 entries is supported 1 10 Error history u32 ro S Idx 1 last error S Idx 2 second but last error Deleting the error memory The error memory is deleted by writing a zero to the sub index 0 1005 0 COB ID sync object u32 rw 80h The object contains the identifier for the SYNC object 1006 0 Com...

Страница 14: ...rw save To write the parameters to the non volatile memory the word save has to be sent to the corresponding node Most significant word Least significant word ASCII e v a s Hex value 65h 76h 61h 73h 1011 Restore parameters The object is used to restore the factory settings 0 Number of sub indices u8 ro 1 1 Restore all parameters u32 rw load To restore the factory settings the word load has to be s...

Страница 15: ...en the time is set to zero this service is not activated The set time must be higher than the corresponding time object 1017 of the device to be monitored 0 Number of sub indices u8 ro 1 1 Consumer heartbeat time u32 rw 0 The contents of the sub index 1 is composed as follows Bit 31 to 24 23 to 16 15 to 0 value 0h reserved address of the device to be monitored monitoring time ms 1017 0 Producer he...

Страница 16: ...uration time u32 rw 0x0 1029 Error behaviour The object shows the error behaviour 0h Number of entries u8 ro 1h 1h Communication error u8 rw 0x0 1800 1st transmit PDO communication parameter This object contains the communication parameters of the first transmit PDO 0 Number of sub indices u8 ro 5 1 COB ID u32 rw 180h node number 2 Transmission mode u8 rw FE 3 Inhibit time u32 rw 0 4 not available...

Страница 17: ... 240 x x Transmit PDO every xth sync message 241 251 reserved 252 x x Receive SYNC message and transmit PDO on remote request 253 x Data update and transmit PDO on remote request 254 255 x Transmit PDO with event Inhibit time For transmit PDOs The inhibit time for PDO transmissions can be set as a 16 bit value If data changes the PDO checks if the inhibit time has elapsed since its last data trans...

Страница 18: ...mber of sub indices u8 ro 2 1 2nd mapped object u32 rw 1F50 Download program area This is a special object for the boot loader functionality Use this entry to read the Intel hex file with the program data For detailed information about the domain download and the block transfer see CiA Draft Standard 301 application layer and communication profile 0h Number of sub indices u8 ro 2h 1h Domain wo 1F5...

Страница 19: ...the two limit switches can be switched on or off Bit 1 and bit 2 are used for this purpose Note The counting direction is always seen looking at the shaft With clockwise direction of the shaft CW the counting direction is increasing Calculation example Goal encoder with counting direction decreasing CCW and both limit switches off Bit matrix bit 0 1 direction decreasing CCW bit 1 0 limit switch mi...

Страница 20: ...ion is lower than the total physical resolution the total resolution parameter must be a multiple of the physical resolution per revolution 2103 0 Preset value u32 rw 0 The preset value is a position value which is to be indicated at a certain physical position of the axis The preset value must not exceed the total physical resolution to avoid runtime errors 2104 0 Limit switch min u32 rw 0 Two po...

Страница 21: ...0 Customer storage u8 rw 4h The object enables the user to store any value 0h Number of sub indices u32 rw 0x0 1h Customer storage 1 u32 rw 0x0 2h Customer storage 2 u32 rw 0x0 3h Customer storage 3 u32 rw 0x0 4h Customer storage 4 u32 rw 0x0 2200 0 Cyclic timer PDO u16 ro 0 The object contains the value of the event timer in ms 2300 0 Save parameter with reset u32 wo 55AAAA55h With this object th...

Страница 22: ...0 0x05 800 0x06 1000 0x07 3010 Speed control Speed measurement the measurement is switched off in the factory setting 0h Number of sub indices u8 ro 2h 1h Enable speed u8 rw 0h 2h Speed mode u8 rw 0h Via this sub index the filter interval and thus the latency time of the speed measurement can be set There are three setting options Setting Speed mode Delay time ms 0 5 1 50 2 500 3011 0h Speed value...

Страница 23: ...equest 7 5 Device profile specific objects from 6000h to 9FFFF Index S Idx Name Type access default value Description 6000 Operating parameters u16 rw 1h The object sets the counting direction the diagnostic function and the scaling function Note The counting direction is always seen looking at the shaft With clockwise direction of the shaft CW the counting direction is increasing Scaling function...

Страница 24: ...ject 3010 32 bits 0h Number of sub indices u8 ro 1h 1h Speed value channel 1 integer 16 romap 6200 0 Event time u16 rw 0x64 This object contains the value of the event timer of the corresponding PDOs The value can be set between 1 and 65538 ms 6300 Cam state register The object describes the cam state register The object contains the current position of the cam from 1 to 8 0h Number of sub indices...

Страница 25: ...ow limit 0h VAR Highest sub index supported u8 ro 0x1 1h VAR Cam 6 low limit channel 1 u32 rw 0x0 6316h Cam 7 low limit 0h VAR Highest sub index supported u8 ro 0x1 1h VAR Cam 7 low limit channel 1 u32 rw 0x0 6317h Cam 8 low limit 0h VAR Highest sub index supported u8 ro 0x1 1h VAR Cam 8 low limit channel 1 u32 rw 0x0 6320h Cam 1 high limit 0h VAR Highest sub index supported u8 ro 0x1 1h VAR Cam 1...

Страница 26: ...steresis 0h VAR Highest sub index supported u8 ro 0x1 1h VAR Cam 2 hysteresis channel 1 u32 rw 0x0 6332h Cam 3 hysteresis 0h VAR Highest sub index supported u8 ro 0x1 1h VAR Cam 3 hysteresis channel 1 u32 rw 0x0 6333h Cam 4 hysteresis 0h VAR Highest sub index supported u8 ro 0x1 1h VAR Cam 4 hysteresis channel 1 u32 rw 0x0 6334h Cam 5 hysteresis 0h VAR Highest sub index supported u8 ro 0x1 1h VAR ...

Страница 27: ...and high limit 1 Position out of range refer to module identification object 650Ah is reached Range overflow 0 No range overflow 1 Position is lower than the position value set in object 6402h work area low limit Range underflow 0 No range underflow 1 Position is higher than the position value set in object 6401h work area high limit r 0 reserved 6401 Work area low limit The objects shows the lowe...

Страница 28: ...0 Single turn resolution u32 ro see type label The object indicates the physical resolution per revolution of the encoder 6502 0 Number of distinguishable revolutions u16 ro see type label The object indicates the physical number of revolutions of the encoder 6504 0 Supported alarms u16 ro Not supported 6507 0 Profile and software version u32 ro The object contains the implemented profile versions...

Страница 29: ... minimum and maximum of the position value 0 Largest sub index integer 32 ro 3 1 Manufacturer specific offset integer 32 ro 2 Manufacturer specific min position value integer 32 ro 3 Manufacturer specific max position value integer 32 ro 650B 0 Serial number u32 ro Serial number of the shaft encoder If the serial number is not supported by the encoder the value is always 0xffffffff ...

Страница 30: ...e profile for drives CiA DS 403 Device profile for HMI CiA DS 404 Device profile for measurement and control technology CiA DS 405 Specification for interfaces to programmable systems IEC 61131 3 CiA DS 406 Device profile for encoders CiA DS 407 Application profile for local public transport COB CANopen communication object PDO SDO EMCY COB ID CANopen identifier of a communication object Communica...

Страница 31: ...erating status of a CANopen participant In this mode only NMT commands are transferred Rec PDO Receive Process Data Object also Rx PDO ro read only unidirectional rw read write bidirectional Rx queue Input buffer s16 Data type signed 16 bits incl sign 16 bit format SDO Service Data Object With this object direct access to the object directory of a network participant is possible read write An SDO ...

Страница 32: ...CANopen encoder 32 Tx queue Transmit Transmission buffer u8 16 32 Data type unsigned 8 16 32 bits without sign 8 16 32 bit format wo write only ...

Страница 33: ...UK CANopen encoder 33 ...

Страница 34: ...CANopen encoder 34 ...

Страница 35: ...UK CANopen encoder 35 ...

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