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CANopen encoder

5.3 Setting of the node number
5.3.1 Setting of the node number via SDO objects

For devices without terminal cap the address can only be set via SDO objects� The

address of an encoder without terminal cap is set to 32 as standard� Details on

changing the node number → chapter 7.4.

5.3.2 Setting of the baud rate via SDO objects.

For devices without terminal cap the baud rate can only be changed via SDO

objects� The baud rate is set to 125 Kbits/s as default value� Details on changing

the baud rate → chapter 7.4.

5.3.3 Setting the node number and the baud rate via LSS

Another possibility of how to set the node number and the baud rate 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

flashes, 2�5 Hz

operating voltage OK, bus connection OK

green/red

green flashing, 2�5 Hz

and red flashing 1x at each 3rd

pulse of the green LED

guarding error, either node guard or heartbeat

green

flashes, 1 Hz

bus stopped

green

lights

master failure,

encoder remains in the preoperational

operating status

> guard and heartbeat error are not indicated

green/red

green lights/

red flashing, 2�5 Hz

non reproducible indication (no clear

description of the indication)

Содержание RM8004

Страница 1: ...Device manual Absolute magnetic encoder with CANopen interface RM8004 RM9000 RM9001 704820 02 03 2016 UK...

Страница 2: ...ating 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 transmis...

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...

Страница 4: ...d 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 acc...

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...

Страница 6: ...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 A...

Страница 7: ...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...

Страница 8: ...ceived 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 Byt...

Страница 9: ...rrent 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...

Страница 10: ...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...

Страница 11: ...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 Th...

Страница 12: ...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...

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...

Страница 14: ...w 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 10...

Страница 15: ...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 hear...

Страница 16: ...ration 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 objec...

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...

Страница 18: ...ber 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 d...

Страница 19: ...he 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 c...

Страница 20: ...on 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 v...

Страница 21: ...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 u3...

Страница 22: ...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 V...

Страница 23: ...quest 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 diag...

Страница 24: ...ect 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 T...

Страница 25: ...w 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...

Страница 26: ...teresis 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...

Страница 27: ...nd 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 are...

Страница 28: ...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 i...

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 speci...

Страница 30: ...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 D...

Страница 31: ...rating 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 I...

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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