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CANopen

Identifier determination (COB-ID) Communication Object

Page 18

© Fritz Kübler GmbH, Zähl-und Sensortechnik

It is not necessary to use the

„Prepared“

status with the

Minimum Capability Device Boot-Up.

5

CAN

open

Identifier determination (COB-ID)

Communication Object

5.1.1.1

Determining the Identifier

When using the Predefined Master/Slave Connection Set, the Information
Identifiers are calculated as follows:
The last 6 bits of the node-ID (01h...3Fh/01...63) are used as an offset on the
Base Identifier.
The Base Identifier can be found in the following table:

Object

Base
Identifier

Range
Decimal Hex

Use

EMERGENCY

128

129-255

81-FFh

Emergency Telegram

PDO(rx) asynch 385

385-511

181-1FFh

Position value
Asynchronous

PDO(rx) Synch

641

641-767

281-2FFh

Position value
Synchronous

SDO(rx)

1409

1409-1535

581-5FFh

Service Data Object

SDO(tx)

1537

1537-1663

601-67Fh

Service Data Object

Nodeguard

1793

1793-1919

701-77Fh

Node Guarding

Diagnosis

2016

2016

Diagnosis Telegram

Examples:

Formula for defining the COB-ID:

(Base Identifier) – 1 + (Offset)

Position value asynchronous (Node-ID set to 05h)

385 – 1 + 5 = 389 -> 185h determined Identifier

SDO Object Read (Node-ID set to 63h)

1409 – 1 + 63 = 1471 -> 5BFh determined Identifier

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Содержание 9080 Series

Страница 1: ...english deutsch fran ais Manual R 600 065 Absolute Multiturndrehgeber CANopen Feldbusanschluss Hohlwellen und Wellenausf hrung Typenreihe 9080...

Страница 2: ...NOSEFUNKTION 14 4 CANOPEN PROTOKOLL 16 4 1 ALLGEMEINES 16 4 2 CANOPEN IMPLEMENTIERUNG 16 4 3 CANOPEN VOREINSTELLUNGEN 17 4 4 CANOPEN BOOT UP SEQUENZ 19 5 CANOPEN IDENTIFIER ERMITTLUNG COB ID COMMUNICA...

Страница 3: ...ierung Das Kapitel Projektierung enth lt Informationen die vorab f r die Planung von Steuerungssystemen mit Absoluten Drehgebern 9080 notwendig sind Diese Informationen reichen von Angaben ber lieferb...

Страница 4: ...Installation und Adressierung Seite 4 Fritz K bler GmbH Z hl und Sensortechnik 2 Installation und Adressierung 2 1 Mechanischer Aufbau...

Страница 5: ...che Eigenschaften aufweisen Parameter Einheit Wert Bemerkung Min nom Max Impedanz Z 108 120 132 Gemessen zwischen zwei Signalleitungen Spez Widerstand R m m 70 F r den Empf ngerbaustein ist die Differ...

Страница 6: ...rate und eventuell ist der Busabschlu zu aktivieren falls der Geber das letzte Ger t in der Buskette darstellt Abschlie end mu das Anschlu teil mit dem Geberteil wieder verschraubt werden Der Geber is...

Страница 7: ...versorgung GND PIN 3 Input CAN GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Spannungsversorgung GND PIN 10...

Страница 8: ...GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Spannungsversorgung GND PIN 10 Spannungsversorgung 10 30 VDC...

Страница 9: ...nzuschliessen 2 4 1 2 Busterminierung ein aus Schalter S2 6 Schalter S2 Wert Zustand Busterminierung 6 25 On ein 6 25 Off aus 2 5 Schalter S2 bertragungsrate Einstellung Es werden 8 verschiedene bertr...

Страница 10: ...0 Off 20 Kb 2 21 Off 3 22 On 2 5 1 3 bertragungsrate 50 KB Schalter S2 Wert Zustand Baudrate 1 20 Off 50 Kb 2 21 On 3 22 Off 2 5 1 4 bertragungsrate 125 KB Defaulteinstellung ab Werk Schalter S2 Wert...

Страница 11: ...Installation und Adressierung Fritz K bler GmbH Z hl und Sensortechnik Seite 11...

Страница 12: ...n und gespeichert Die Knoten ID kann im Bereich zwischen 0 63 eingestellt werden Sie wird als Bin rwert angegeben Den Teilnehmern am CAN Bus k nnen maximal 255 Knoten ID s zugeordnet werden Wenn das s...

Страница 13: ...1 Wert Zustand 1 25 On 2 24 Off 3 23 Off 4 22 Off 5 21 On 6 20 On Beispiel Adresse 63 Defaulteinstellung Schalter S1 Wert Zustand 1 25 On 2 24 On 3 23 On 4 22 On 5 21 On 6 20 On Hinweis Jede Knoten ID...

Страница 14: ...osefunktion Wird der Schalter S2 4 auf on gestellt das Ger t von der Spannungsversorgung getrennt und wieder eingeschaltet so geht der Geber in den Diagnose Modus Innerhalb dieser Betriebsart sind ver...

Страница 15: ...ein Diagnose Object mit folgender Bedeutung jede Sekunde auf den Bus gegeben Diagnose Message OBJECT 2016 Byte Statusbyte Wert Beschreibung unsigned8 Subinde x Description 0 00 FF 0 Byte LSB Position...

Страница 16: ...steil und mehreren spezifischen Ger teteilen CANopen nutzt ein Subset von CAL verschiedene Dienste werden daraus benutzt Das Kommunikationsprofil ist als CAL based Communication Profile DS 301 genormt...

Страница 17: ...ler spezifische Voreinstellungen Im folgenden Abschnitt finden Sie Features die von CAL CANopen ISO 11898 nicht oder nur unvollst ndig beschrieben sind 4 3 1 1 Einstellung der bertragungsrate Die Defa...

Страница 18: ...kann die Knotenadresse Node ID des Encoders ge ndert werden Diese Node ID kann Werte zwischen 1 255 einnehmen wobei auch hier zu beachten ist da im Predefined Master Slave Connection Set nach CiA DS...

Страница 19: ...LED rot Zustand Prepared Zustand Operational LED gr n F r das Wechseln innerhalb der verschiedenen Zust nde werden folgende Dienste des CANopen Profiles ben tigt 1 Start Remote Node Starten des Can Kn...

Страница 20: ...erden Object Basisiden tifier Bereich Dezimal Hex Verwendung EMERGENCY 128 129 255 81 FFh Emergency Telegramm PDO rx asynch 385 385 511 181 1FFh Positionswert Asynchron PDO rx Synch 641 641 767 281 2F...

Страница 21: ...ync message O Unsigned32 1006 VAR rw communication cycle period O Unsigned32 1007 VAR rw synchr window length O Unsigned32 1008 VAR cons t Manufacturer Device Name O visible string 1009 VAR cons t Man...

Страница 22: ...rag M O Die Spalte M O zeigt an ob ein Eintrag Mandatory Pflicht ist oder Optional 5 3 CANopen Object Directory DS 406 Die folgende Tabelle gibt einen berblick ber die unterst tzten Object Directory E...

Страница 23: ...jekt zeigt einen vordefinierten Objekt Namen f r den Eintrag Attribut Die Spalte Attribut zeigt die Zugriffsm glichkeiten auf den Eintrag rw read write schreiben und lesen ro read only nur lesen const...

Страница 24: ...bject Class C2 Mandatory Access rw PDO Mapping No Value Range Unsigned16 Mandatory Range NO Default Value NO Parameterstruktur Bit Function Bit 0 Bit 1 C1 C2 0 Code Sequence CW CCW m 1 Commissioning D...

Страница 25: ...scription Subindex 0 Description Meas Units p revolution Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access rw Default Value NO Measuri...

Страница 26: ...216 231 to 224 Objekt 6003H Preset Value Dieser Parameter unterst tzt die Adaption vom Nullpunkt des Encoders zum mechanischen Nullpunkt des Systems Die Differenz vom aktuellen Wert der Position und...

Страница 27: ...CANopen Identifier Ermittlung COB ID Communication Object Fritz K bler GmbH Z hl und Sensortechnik Seite 27 Byte 0 Byte 1 Byte 2 Byte 3 27 to 20 215 to 28 223 to 216 231 to 224...

Страница 28: ...e NO Object Function Object Class C2 Mandatory PDO mapping not possible Access ro Default Value NO Position value Byte 0 Byte 1 Byte 2 Byte 3 27 to 20 215 to 28 223 to 216 231 to 224 Objekt 6200H Cycl...

Страница 29: ...ct wird auch im Diagnosemodus f r die bertragungsgeschwindigkeit der Diagnosemessage verwendet 5 5 CANopen Object Directory DS 406 5 5 1 1 Encoder Diagnostics Objekt 6500H Operating Status Dieser Para...

Страница 30: ...her use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Manufacturer spe...

Страница 31: ...maximale Wert betr gt 65535 Object 6502H Object Description Value Main INDEX 6502H Name Number of revolutions Object Code 7 VAR Data Type Index 6 Unsigned16 Length 1 Value Description Object Class C2...

Страница 32: ...ittlung COB ID Communication Object Seite 32 Fritz K bler GmbH Z hl und Sensortechnik Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned16 Mandatory Ran...

Страница 33: ...d for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer s...

Страница 34: ...rved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Interface Problem No Yes o Objekt...

Страница 35: ...CANopen Identifier Ermittlung COB ID Communication Object Fritz K bler GmbH Z hl und Sensortechnik Seite 35 Default Value NO...

Страница 36: ...further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 1...

Страница 37: ...oint Not supported Supporte d o o 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for furt...

Страница 38: ...ion Object Code 7 VAR Data Type Index 7 Unsigned32 Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO Default Value NO Objekt 6508H...

Страница 39: ...ittlung COB ID Communication Object Fritz K bler GmbH Z hl und Sensortechnik Seite 39 Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Ran...

Страница 40: ...Mandatory Range NO Default Value NO Objekt 650AH Modul Indentification Object 650Ah beinhaltet die Parameter Module identification manufacturer offset value manufacturer minimum position value manufa...

Страница 41: ..._position_value Object Class optional Access ro PDO Mapping no Value Range Signed32 Mandatory Range no Default Value no Objekt 650BH Serial Number Dieses Objekt beinhaltet die Seriennummer des Encoder...

Страница 42: ...CANopen Identifier Ermittlung COB ID Communication Object Seite 42 Fritz K bler GmbH Z hl und Sensortechnik Mandatory Range NO Default Value NO...

Страница 43: ...abe die aktuelle Position wird zeitgesteuert Bereich 1ms 65535ms ber den CAN Bus ausgegeben Die eingstellte Zeit Object 6200h bestimmt die H ufigkeit der Ausgabe Die Ausgabe erfolgt ber ein PDO Asynch...

Страница 44: ...ionswert synchron Node ID eingestellt auf 63h 641 1 63 447 2BFh ermittelter Identifier Beispiel 0 0129 1 SDO63Server Rx 100D 00 01 Initiate Upload Rsp exp 0 0 0 0 0129 1 SDO63Server Rx d 8 4F 0D 10 00...

Страница 45: ...bei IP 65 Schutzart nach EN60529 IP65 Arbeitstemberaturbereich min 20 C bis 70 C Schockfestigkeit nach DIN IEC 68 2 27 1000 m s2 6 ms Vibrationsfestigkeit nach DIN IEC 68 2 6 100 m s2 10 2000Hz Anschl...

Страница 46: ...CAN Message Eine Transport Objekt innerhalb des CAN Netzwerkes Daten m ssen innerhalb dieses Objektes versendet werden COB ID COB Indentifier Bezeichnet ein Objekt eindeutig innerhalb des Netzwerkes...

Страница 47: ...Fritz K bler GmbH Z hl und Sensortechnik Schubertstra e 47 78054 VS Schwenningen GERMANY Tel 49 77 20 39 03 0...

Страница 48: ...Abk rzungen Seite 48 Fritz K bler GmbH Z hl und Sensortechnik Fax 49 77 20 2 15 64 info kuebler gmbh de www kuebler gmbh de...

Страница 49: ...Manual Absolute Multiturn Encoders CANopen Field Bus Hollow Shaft or Shaft Versions Type Series 9080...

Страница 50: ...CTION 13 4 CANOPEN PROTOCOL 15 4 1 GENERAL 15 4 2 CANOPEN IMPLEMENTING 15 4 3 CANOPEN PRESETTINGS 16 4 4 CANOPEN BOOT UP SEQUENCE 17 5 CANOPEN IDENTIFIER DETERMINATION COB ID COMMUNICATION OBJECT 18 5...

Страница 51: ...ngineering The chapter Engineering contains information required for the development of control systems using 9080 Absolute Encoders This information reaches from indications about the available encod...

Страница 52: ...re Kabelverschraubung PG7 PG7 screwed cable bushing Klemmleiste 10 polig 10 terminals block Anschlu kasten abnehmbar Connection box removable DIL Schalter DIL switch Blechfederelement f r Drehmomentst...

Страница 53: ...llowing electrical characteristics Parameter Unit Value Remark Min rated Max Impedance Z 108 120 132 Measured between two signal lines Specific resistance R m m 70 For the receiving element the differ...

Страница 54: ...rate and possibly if the encoder is the last device in the bus chain enable the bus termination Finally screw back the connecting section on the encoder section The encoder is now ready for use 2 3 1...

Страница 55: ...Supply voltage GND PIN 3 Input CAN GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Supply voltage GND PIN 10...

Страница 56: ...put CAN GND PIN 4 Input CAN LOW CAN_L PIN 5 Input CAN HIGH CAN_H PIN 6 Output CAN HIGH CAN_H PIN 7 Output CAN LOW CAN_L PIN 8 Output CAN GND PIN 9 Supply voltage GND PIN 10 Supply voltage 10 30 VDC PI...

Страница 57: ...externally 2 4 1 2 Bus termination enabled disabled Switch S2 6 Switch S2 Value Status Bus termination 6 25 On on 6 25 Off off 2 5 Switch S2 Transmission rate setting The device supports 8 various tra...

Страница 58: ...Off 20 Kb 2 21 Off 3 22 On 2 5 1 3 Transmission rate 50 KB Switch S2 Value Status Baud rate 1 20 Off 50 Kb 2 21 On 3 22 Off 2 5 1 4 Transmission rate 125 KB Factory default setting Switch S2 Value St...

Страница 59: ...initialisation of the CAN encoder The node ID may be set in the range between 0 63 It is defined as a binary value A maximum of 255 node ID s may be assigned to the CAN bus members If the Predefined...

Страница 60: ...s 35 Switch S1 Value Status 1 25 On 2 24 Off 3 23 Off 4 22 Off 5 21 On 6 20 On Example Address 63 Default setting Switch S1 Value Status 1 25 On 2 24 On 3 23 On 4 22 On 5 21 On 6 20 On Hint Each node...

Страница 61: ...gnostics function If switch S2 4 is set to on and the power supply of the device is switched off and on again the encoder switches to the diagnostics mode This operating mode allows carrying out vario...

Страница 62: ...iagnostics object having the following meaning is sent every second on the bus Diagnostics Message OBJECT 2016 Byte Status byte Value Description unsigned8 Subinde x Description 0 00 FF 0 Byte LSB Pos...

Страница 63: ...and various specific device sections CANopen uses a subset of CAL several of its utilities are used The communication profile is standardised as the CAL based Communication Profile DS 301 and the devi...

Страница 64: ...Nopen Presettings K bler specific presettings The following section contains features which are not or incompletely described by CAL CANopen ISO 11898 4 3 1 1 Setting the transmission rate The default...

Страница 65: ...operated according to the definition as a Minimum Capability Device in accordance with CANopen compare with CiA DS 302 The device behaves according to the following status diagram Power on Status Init...

Страница 66: ...er The Base Identifier can be found in the following table Object Base Identifier Range Decimal Hex Use EMERGENCY 128 129 255 81 FFh Emergency Telegram PDO rx asynch 385 385 511 181 1FFh Position valu...

Страница 67: ...communication cycle period O Unsigned32 1007 VAR rw synchr window length O Unsigned32 1008 VAR cons t Manufacturer Device Name O visible string 1009 VAR cons t Manufacturer Hardware Version O visible...

Страница 68: ...s an overview of the supported Object Directory inputs defined by the Device Profile for Encoder CiA DS 406 INDEX hex Object Symb Attr Name M O C2 TYPE Parameters 6000 VAR rw Operating parameters M un...

Страница 69: ...nly Type The Type column shows a pre defined Object Name for the input M O The M O column indicates if an input is Mandatory or Optional C2 Object in Class2 Mandatory or Optional 5 4 CANopen Object Di...

Страница 70: ...e parameters Bit Function Bit 0 Bit 1 C1 C2 0 Code Sequence CW CCW m 1 Commissioning Diagnostic Control Disa Enab o 2 Scaling function control Disa Enab m 3 Reserved for further use m 4 Reserved for f...

Страница 71: ...n Subindex 0 Description Meas Units p revolution Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access rw Default Value NO Measuring units...

Страница 72: ...ct 6003H Preset Value This parameter supports the matching of the encoder zero point with the mechanical zero point of the system The difference between the current position value and the preset value...

Страница 73: ...sition Value Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access ro Default Value NO Position value Byte 0 Byte 1 Byte 2 Byte 3 27 to 20...

Страница 74: ...Important This object is also used in Diagnostic Mode for the transmission rate of the diagnostic messages 5 5 CANopen Object Directory DS 406 5 5 1 1 Encoder Diagnostics Object 6500H Operating Statu...

Страница 75: ...rved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Man...

Страница 76: ...uring range of the system The maximum value is 65535 Object 6502H Object Description Value Main INDEX 6502H Name Number of revolutions Object Code 7 VAR Data Type Index 6 Unsigned16 Length 1 Value Des...

Страница 77: ...ved for further use m 4 Reserved for further use m 5 Reserved for further use m 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 R...

Страница 78: ...rved for further use m 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 1...

Страница 79: ...s OK Reset generated o o 3 Operating time limit warning No Yes o o 4 Battery charge OK Too low o o 5 Reference point Reached Not reached o o 6 Reserved for further use m 7 Reserved for further use m 8...

Страница 80: ...Not supported Supporte d o o 1 Ligh control reserve Not supported Supporte d o o 2 CPU watchdog status Not supported Supporte d o o 3 Operating time limit warning Not supported Supporte d o o 4 Batte...

Страница 81: ...encoder Example Profile version 1 40 Binary code 00000001 01000000 Hexadecimal 1h 40h Example Software version 1 20 Binary code 00000001 00100000 Hexadecimal 1h 20h Structure of the parameters Profile...

Страница 82: ...n INDEX 6508H Name Operating time Object Code 7 VAR Data Type Index 7 Unsigned32 Length 1 Value Description Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO...

Страница 83: ...cal zero point of the encoder disk The minimum and maximum positions are saved in Sub index 01h and 02h INDEX 650Ah Name Module_identification Object Code RECORD Sub Index 00h Description manufacturer...

Страница 84: ...of the encoder This is an unsigned 32 bits value When the object is not in use the manufacturer sets it to FFFFFFFFh Object 650BH Object Description Value Main INDEX 650BH Name Serial Number Object C...

Страница 85: ...447 1BFh determined Identifier Cyclic Mode time driven transmission the transmission of the current position via the CAN bus is time driven range 1ms 65535ms The time set Object 6200h defines the freq...

Страница 86: ...sion window Object 1007h via a PDO Synchronous Object Position value synchronous Node ID set to 63h 641 1 63 447 2BFh determined Identifier Example 0 0129 1 SDO63Server Rx 100D 00 01 Initiate Upload R...

Страница 87: ...IP 65 Protection according to EN60529 IP65 Operating temperature range min 20 C up to 70 C Shock resistance according to DIN IEC 68 2 27 1000 m s2 6 ms Vibration resistance according to DIN IEC 68 2 6...

Страница 88: ...ence Model COB Communication object CAN Message A Transport Object within the CAN Network Data must be sent within this object COB ID COB Identifier Defines univocally an Object within the network The...

Страница 89: ...Fritz K bler GmbH Z hl und Sensortechnik Schubertstra e 47 78054 VS Schwenningen GERMANY Phone 49 77 20 39 03 0 Fax 49 77 20 2 15 64 info kuebler gmbh de www kuebler gmbh de...

Страница 90: ...Manuel Codeurs multitours absolus Connexion par bus de terrain CANopen Ex cution arbre creux et sortant Type 9080...

Страница 91: ...ROTOCOLE CANOPEN 15 4 1 GENERALITES 15 4 2 IMPLEMENTATION DE CANOPEN 15 4 3 PREREGLAGES CANOPEN 16 4 4 SEQUENCE DE LANCEMENT DE CANOPEN 17 5 DETERMINATION DE L IDENTIFIANT CANOPEN COB ID OBJET DE COMM...

Страница 92: ...pitre Etude contient les informations n cessaires pour le d veloppement de syst mes de commande utilisant les codeurs absolus 9080 Ces informations vont des indications sur les ex cutions disponibles...

Страница 93: ...erschraubung PG7 Passe c ble vis PG7 Klemmleiste 10 polig Bornier 10 bornes Anschlu kasten abnehmbar Bo tier de connexion amovible DIL Schalter Commutateur DIL Blechfederelement f r Drehmomentstift 6...

Страница 94: ...es doivent pr senter les caract ristiques suivantes Param tre Unit Valeur Remarques Min nom Max Imp dance Z 108 120 132 Mesur e entre deux lignes de signal R sistivit R m m 70 Pour l tage de r ception...

Страница 95: ...sse de transmission et le cas ch ant activer la terminaison de bus si le codeur est le dernier appareil de la cha ne bus Finalement revisser la partie raccordement sur la partie codeur Le codeur est a...

Страница 96: ...ion GND BROCHE 3 Entr e CAN GND BROCHE 4 Entr e CAN LOW CAN_L BROCHE 5 Entr e CAN HIGH CAN_H BROCHE 6 Sortie CAN HIGH CAN_H BROCHE 7 Sortie CAN LOW CAN_L BROCHE 8 Sortie CAN GND BROCHE 9 Tension d ali...

Страница 97: ...AN LOW CAN_L BROCHE 5 Entr e CAN HIGH CAN_H BROCHE 6 Sortie CAN HIGH CAN_H BROCHE 7 Sortie CAN LOW CAN_L BROCHE 8 Sortie CAN GND BROCHE 9 Tension d alimentation GND BROCHE 10 Tension d alimentation 10...

Страница 98: ...bus activ e d sactiv e Commutateur S2 6 Commutateur S2 Valeur Etat Terminaison de bus 6 25 On activ e 6 25 Off d sactiv e 2 5 Commutateur S2 R glage de la vitesse de transmission Le syst me supporte 8...

Страница 99: ...Kb 2 21 Off 3 22 On 2 5 1 3 Vitesse de transmission 50 KB Commutateur S2 Valeur Etat Bauds 1 20 Off 50 Kb 2 21 On 3 22 Off 2 5 1 4 Vitesse de transmission 125 KB r glage d usine par d faut Commutateur...

Страница 100: ...N L ID nodal peut se r gler dans la plage 0 63 sous la forme d une valeur binaire Il est possible d affecter un maximum de 255 ID nodaux aux participants au bus CAN Dans le cas de l utilisation du Pre...

Страница 101: ...ur S1 Valeur Etat 1 25 On 2 24 Off 3 23 Off 4 22 Off 5 21 On 6 20 On Exemple Adresse 63 R glage par d faut Commutateur S1 Valeur Etat 1 25 On 2 24 On 3 23 On 4 22 On 5 21 On 6 20 On Remarque Chaque ID...

Страница 102: ...S2 4 Fonction diagnostic Si le commutateur S2 4 est plac sur on si ensuite la tension d alimentation de l appareil est coup e puis r tablie le codeur passe dans le Mode Diagnostic Ce mode op ratoire p...

Страница 103: ...un objet diagnostic ayant la signification suivante est mis chaque seconde sur le bus Message Diagnostic OBJET 2016 Octet Octet d tat Valeur Description unsigned8 Subinde x Description 0 00 FF 0 Byte...

Страница 104: ...nication et plusieurs parties appareil sp cifiques CANopen utilise un sous ensemble de CAL dont diff rents utilitaires sont utilis s Le profil de communication est normalis en tant que CAL based Commu...

Страница 105: ...n Diagnostic X LED int gr e pour l tat du bus CAN rouge X LED int gr e pour les modes CAN verte X 4 3 Pr r glages CANopen Pr r glages sp cifiques K bler La chapitre suivant contient les caract ristiqu...

Страница 106: ...ed Master Slave Connection Set selon CiA DS 301 L ID nodal de l appareil est r gl 63 par d faut 4 4 S quence de lancement de CANopen 4 4 1 1 Lancement Minimum Capability Device Le codeur 9080 fonction...

Страница 107: ...s Dans le cas de l utilisation du Predefined Master Slave Connection les identifiants des informations se calculent de la mani re suivante Les 6 derniers bits de l ID nodal 01h 3Fh 01 63 sont utilis s...

Страница 108: ...ce Type M Unsigned32 1001 VAR ro Error Register M Unsigned8 1002 VAR ro Manufacturer Status O Unsigned32 1003 RECORD ro Predefined Error Field O Unsigned32 1004 ARRAY ro Number of PDO supported O Unsi...

Страница 109: ...t pr d fini pour l enregistrement Attribut La colonne Attribut donne les possibilit s d acc s l enregistrement rw read write crire et lire ro read only lire uniquement const constante lire uniquement...

Страница 110: ...alue calculated m signed32 650A VAR ro Manufacturer Offset value m signed32 650B VAR ro Serial Number m unsigned32 Objets constructeur 3000 DOMAIN rw manufacturer modul memory o Domain 3001 VAR rw man...

Страница 111: ...test complet de l unit de lecture est r alis lors de la mise en route suivante Si une erreur est d tect e elle est signal e par un bit d alarme correspondant Scaling Function Fonction chelle Si ce bi...

Страница 112: ...ling function control Disa Enab m 3 Reserved for further use m 4 Reserved for further use m 5 Reserved for further use m 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for furthe...

Страница 113: ...Description Subindex 0 Description Meas Units p revolution Value Range Unsigned32 Mandatory Range NO Object Function Object Class C2 Mandatory PDO mapping not possible Access rw Default Value NO Unit...

Страница 114: ...bjet 6003H Preset Value Valeur de pr s lection Ce param tre supporte la d termination du point z ro du codeur par rapport au point z ro m canique du syst me La diff rence entra la valeur courante de l...

Страница 115: ...sition Ce param tre indique la valeur de la position courante Objet 6004H Description Valeur Main INDEX 6004H Name Position Value Object Code 7 VAR Data Type Index 7 Unsigned32 Length 1 Value Descript...

Страница 116: ...valeurs entre 1 ms et 65535 ms Exemple 1 ms 1h 256 ms 100h Objet 6200H Description Valeur Main INDEX 6200H Name Cyclic timer Object Code 7 VAR Data Type Index 6 Unsigned16 Length 1 Value Description O...

Страница 117: ...Fonction Bit 0 Bit 1 C1 C2 0 Code Sequence CW CCW m 1 Commissioning Diagnostic Control Not Supp Supp o 2 Scaling function control Disa Enab m 3 Reserved for further use m 4 Reserved for further use m...

Страница 118: ...n Object Class C2 Mandatory Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO Default Value NO Structure des param tres R solution Monotour Byte 0 Byte 1 Byte 2 Byte 3 27 20 215 28 22...

Страница 119: ...NO Objet 6503H Alarms Alarmes En plus des t l grammes d urgence cet objet signale d autres tats d alarme Un bit d alarme est activ en cas d un dysfonctionnement affectant la position Ce bit reste acti...

Страница 120: ...8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manu...

Страница 121: ...r use m 10 Reserved for further use m 11 Reserved for further use m 12 Manufacturer specific functions o 13 Manufacturer specific functions o 14 Manufacturer specific functions o 15 Interface Problem...

Страница 122: ...point Reached Not reached o o 6 Reserved for further use m 7 Reserved for further use m 8 Reserved for further use m 9 Reserved for further use m 10 Reserved for further use m 11 Reserved for further...

Страница 123: ...reserve Not supported Supporte d o o 2 CPU watchdog status Not supported Supporte d o o 3 Operating time limit warning Not supported Supporte d o o 4 Battery charge Not supported Supporte d o o 5 Ref...

Страница 124: ...el et l indice impl ment s dans le codeur Exemple Version de profil 1 40 Code binaire 00000001 01000000 Hexad cimal 1h 40h Exemple Version de profil 1 20 Code binaire 00000001 00100000 Hexad cimal 1h...

Страница 125: ...eur est enregistr e dans une m moire non volatile du codeur elle indique le temps r el de fonctionnement en 1 10 d heures Si cette fonction n est pas utilis e la valeur est mise FFFFFFFFh Objet 6508H...

Страница 126: ...odul Identification Identification du module L objet 650Ah contient les param tres Module identification identification du module manufacturer offset value valeur de d calage constructeur manufacturer...

Страница 127: ...ult Value no Sub Index 02h Description manufacturer_max_position_value Object Class optional Access ro PDO Mapping no Value Range Signed32 Mandatory Range no Default Value no Objet 650BH Serial Number...

Страница 128: ...termination de l identifiant CANopen COB ID Objet de communication Fritz K bler GmbH Z hl und Sensortechnik Page 39 Access ro PDO Mapping No Value Range Unsigned32 Mandatory Range NO Default Value NO...

Страница 129: ...termin Cyclic Modus mission command e par le temps L mission de la position courante sur le bus CAN est command e par le temps Plage 1ms 65535ms Le temps r gl objet 6200h d termine la fr quence de l m...

Страница 130: ...objet 1007h sous la forme d un objet synchrone PDO Valeur de position synchrone ID nodal r gl 63h 641 1 63 447 2BFh identifiant d termin Exemple 0 0129 1 SDO63Server Rx 100D 00 01 Initiate Upload Rsp...

Страница 131: ...min pour IP 65 Indice de protection selon EN60529 IP65 Plage de temp rature de travail 20 C min jusqu 70 C R sistance aux chocs selon DIN IEC 68 2 27 1000 m s2 6 ms R sistance aux vibrations selon DIN...

Страница 132: ...N Un utilitaire dans le mod le de r f rence CAN COB Objet de communication Message CAN Un objet de transport au sein du r seau CAN Les donn es doivent tre envoy es l int rieur de cet objet COB ID Iden...

Страница 133: ...Fritz K bler GmbH Z hl und Sensortechnik Schubertstra e 47 78054 VS Schwenningen GERMANY T l 49 77 20 39 03 0 Fax 49 77 20 2 15 64 info kuebler gmbh de www kuebler gmbh de...

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