Technical Manual
Absolute Multiturn Encoders
Fieldbus
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Series 5868 Series 5888
Страница 1: ...Technical Manual Absolute Multiturn Encoders Fieldbus P Pr ro of fi il le e f fo or r L Li if ft t a ap pp pl li ic ca at ti io on ns s Series 5868 Series 5888 ...
Страница 2: ...mprove our products we reserve the right to make changes at any time to technical information contained in the document to hand Warranty Disclaimer Fritz Kübler GmbH provides no guarantee neither tacit nor express in respect of the whole manual whether this applies to the original German text or to the English translation and assumes no liability for any damage neither direct nor indirect however ...
Страница 3: ... 7 12 8 DEFINITION OF THE TRANSMISSION TYPE OF THE PDO 8 13 VARIABLE PDO MAPPING 8 13 9 DEFAULT TRANSMIT PDO1 MAPPING 9 14 TWO VIRTUAL DEVICES 9 14 10 APPLICATION PROGRAMMING EXAMPLE 10 15 SETTING THE PARAMETERS WITH THE CANWIZARD 10 15 SAVE ALL CHANGED PARAMETERS IN THE EEPROM STORE PARAMETERS 1010H 10 16 Object 1010h Store Parameters 10 16 Object 1011h Load Standard Values 10 16 11 OBJECT 1018H ...
Страница 4: ...ECT 63C1H SINGLETURN RESOLUTION 16 28 OBJECT 63C2H NUMBER OF REVOLUTIONS 16 28 OBJECT 63C4H SUPPORTED WARNINGS 16 28 OBJECT 63C5H WARNINGS 16 29 OBJECT 63C6H SUPPORTED ALARMS 16 29 OBJECT 63C7H ALARMS 16 30 OBJECT 2100H BAUD RATE 16 30 OBJECT 2101H NODE ADDRESS 16 31 OBJECT 2102H CANBUS TERMINATION 16 31 OBJECT 2103H FIRMWARE FLASHVERSION 16 31 OBJECT 2130H ENCODER MEASURING STEP 16 32 OBJECT 1029...
Страница 5: ...e available in blind hollow shaft and solid shaft versions and are ideal for use in harsh industrial environments thanks to their IP 65 protection rating The CANopen Profile CANopen represents a unified user interface and thus allows for a simplified system structure with a wide variety of devices CANopen is optimized for the fast exchange of data in real time systems and possesses a number of dif...
Страница 6: ...high speed exchange of real time data e g encoder position speed comparative position status with a maximum length of 8 byte These data are transmitted with a high priority low COB Identifier PDOs are broadcast messages and provide their real time data simultaneously to all desired receivers PDOs can be mapped i e 4 byte of position and 2 byte of speed can be combined in one 8 byte data word The S...
Страница 7: ...company BÖHNKE PARTNER GmbH In the upper area the Device Name the CANopen Profile and the operating elements for the network management are displayed There are also two links either for reading in the device again or for manually assigning a particular EDS file to this device Below this are displayed the device information for this node and the name of the assigned EDS file In the lower part of th...
Страница 8: ...r time to ensure that the PDOs are communicated error free With a baud rate of 10 KBaud cycle time must be at least 14 ms With a baud rate of 20 KBaud cycle time must be at least 10 ms With a baud rate of 50 KBaud cycle time must be at least 4 ms With a cycle time 0 in Event Mode i e PDO on value change the baud rate must be at least 125 KBaud CANbus Termination The bus termination can be switched...
Страница 9: ... assigned to them The acceptance of a new node number only becomes effective when the encoder is rebooted Reset Power on or by means of an NMT Reset Node command All other settings within the object table are however retained 5 5 C CA AN Nb bu us s c co on nn ne ec ct ti io on n D Sub 9 Connector pin assignment Connection diagram D SUB pin assignment M23 Connector pin assignment cable connection C...
Страница 10: ...ultiple Virtual Device 1005h COB ID Sync 80h 100Ch Guard Time 0 100Dh Life Time Factor 0 1012h COB ID Time stamp 100h 1013h High Resolution time stamp 0 1017h Producer heartbeat time 2500 ms 1029h Error Behaviour 0 Comm Error 1 Device specific 1 Manufacturer Err 1906h TPDO1 Communication Parameter 01h COB ID 18Ch 02h Transmission Type 255 asynch 03h Inhibit Time 0 05h Event counter 20ms 1907h TPDO...
Страница 11: ...ameters In order to ensure that parameter changes are saved in the event of power failure then these must without fail be transferred to the EEPROM by means of Object 1010h store parameters This will cause all data already present in the EPROM to be over written If errors have occurred during programming of the objects and if these parameters are then saved in the EEPROM it will not be possible to...
Страница 12: ... ft t R 000 000 7 12 of 41 7 7 E Ex xt te er rn na al l P Pr re es se et t The device can be set to the preset value by means of the built in SET key The resulting position is dependent on the value programmed in Object 6382h Default setting 0 as per illustration ...
Страница 13: ...red depending on the application application specific whereas Type 255 is dependent on the device device specific Additionally for Numbers 254 255 a time controlled EventTimer can be used The values for the timer can range from 1ms 65535 ms Variable PDO Mapping Variable Mapping of the various objects means that the user is able to configure the content of the Transmit PDOs dependent on the applica...
Страница 14: ...ping Object for Transmit PDO 1 and PDO2 is defined in the Object Dictionary Indexes 1B06h and 1B07h It consists of 2 entries and can be modified by the user variable mapping A pre defined mapping exists for the first virtual device TPDO1 Mapping Object 1B06h has the following assignment A pre defined mapping exists for the second virtual device TPDO2 Mapping Object 1B07h has the following assignme...
Страница 15: ...equirements Resolution per revolution should be set to 3600 steps per revolution Position Value should be set to 0 TPDO1 Position should transmit the event every 10 ms The new parameters should be saved in the EEPROM Setting the parameters with the CANwizard Additionally a time controlled EventTimer can be used for the Transmit PDOs The values for the timer can range from 1 ms 65535 ms ...
Страница 16: ...4 ms In order to prevent an inadvertent save the instruction will only be executed if the string save is entered as a codeword into this Sub Index A read access to the Sub Index 1h provides information about the functionality of the memory Byte 0 73h ASCII Code for s Byte 1 61h ASCII Code for a Byte 2 76h ASCII Code for v Byte 3 65h ASCII Code for e O Ob bj je ec ct t 1 10 01 11 1h h L Lo oa ad d ...
Страница 17: ...ndor and the device 1018 RECORD Device Identification read only Sub Index 0h Number of Sub indices supplies the value 4 Sub Index 1h read only supplies the Vendor ID 000000013h Fritz Kübler GmbH Sub Index 2h supplies the Product Code e g 0x58682001 CANopen encoder Sub Index 3h read only supplies the Software revision Number e g 102 Sub Index 4h read only supplies the 8 digit Serial Number of the e...
Страница 18: ...plication Accuracy of the speed measurement The measurement accuracy is largely dependent on the following parameters actual speed programmed resolution revolution of the encoder Object 6381h 1 programmed number of average values Object 2130h 1 temporary change of speed momentum Object 6384h Encoder Measuring step Values for the speed calculation The speed is calculated using the following formula...
Страница 19: ... and are triggered depending on the event and transmitted over the bus with a high priority Important an Emergency Object is only triggered once per Event No new object is generated while the error still exists Once the error is eliminated then a new Emergency Object with the content 0 Error Reset or No Error is generated and transmitted over the bus The table shows the error codes supported highl...
Страница 20: ...eded Error Register 09 Error Register ManufacturerSpecific1 80 ICLG error register ManufacturerSpecific2 56 ICLG instantaneous temperature ManufacturerSpecific3 20 ICLG current threshold lower range ManufacturerSpecific4 50 ICLG current threshold upper range ManufacturerSpecific5 2E ICLG versions register Emergency Object Protocol An unconfirmed Service message is defined The behaviour in the case...
Страница 21: ...ic ct ti io on na ar ry y Structure of the entire Object Dictionary Index hex Object 0000 unused 0001 001F static date types 0020 003F complex data types 0040 005F manufacturer specific data types 0060 0FFF reserved 1000 1FFF Communication Profile 2000 5FFF Manufacturer specific Profile 6000 9FFF Standardized Device Profile A000 FFFF reserved ...
Страница 22: ...ing 100B VAR RO Node ID O Unsigned32 100C VAR RW Guard Time O Unsigned32 100D VAR RW LifeTime Factor O Unsigned32 1010 VAR RW Store parameters Device Profile O Unsigned32 1011 VAR RW Restore parameters Device Profile O Unsigned32 1012 VAR RW COB ID Time stamp O Unsigned32 1013 VAR RW High resolution time stamp O Unsigned32 1014 VAR RO Emergency COB_ID O Unsigned32 1017 VAR RW Producer Heartbeat ti...
Страница 23: ...381 ARRAY RW Measuring Units per Revolution M Unsigned32 6382 ARRAY RW Preset value M Unsigned32 6383 ARRAY RO Position value M Unsigned32 6384 ARRAY RO Measuring Step CAR Pos Unit1 O Unsigned16 6385 ARRAY RO Measuring Step CAR Pos Unit2 O Unsigned16 6390 ARRAY RO Speed Value O Unsigned16 6391 ARRAY RO Acceleration Value O Signed16 63B0 ARRAY RO Working Area state O Unsigned 8 63B4 ARRAY RW Workin...
Страница 24: ...devices For this reason in Object 1000h a 00h is programmed for Virtual Device Code Object 6001h Liftnumber This Object contains the currently assigned Lift number Data content Range of values 1 80h see table Device Profile Default setting 01h Object 6380h Operating Parameters The parameters for the type of operation are set and saved here Bit 0 Code sequence 0 increasing when turning clockwise cw...
Страница 25: ...381h Measuring Units per Revolution Resolution This parameter configures the desired resolution per revolution The encoder itself then internally calculates the appropriate scale factor The calculated scaling factor MURF by which the physical position value will be multiplied is worked out according to the following formula MURF Measuring steps per revolution Object 6381h phys resolution Singletur...
Страница 26: ...age will be sent and the Warning Bit Overspeed Bit 0 in the Object Warnings 6505h will be set Object 6391h Acceleration Value The encoder outputs the current calculated acceleration correctly signed as a signed 16 bit value The acceleration is calculated from the changes in speed and is thus also indirectly dependent on the settings of Object 2130h These values affect the calculation and the resul...
Страница 27: ...an larger than outside LowLimit2 HighLimit2 range2 LowLimit1 HighLimit1 range1 Range of values 8 bit Data content see Bit 0 7 Both limit values Object 6401h and 6402h must be checked to ensure that the output signals are correctly activated Object 63B4h Working Area Low Limit 2 Values Object 62B8h Working Area High Limit 2 Values These two parameters configure the working area The state inside and...
Страница 28: ...his Object can be used to programme the number of revolutions which the multiturn encoder should count The value depends on the encoder type and any value from 1 4096 12 bit can be accommodated This programmed value only affects the number of revolutions It does not affect the resolution Data content Range of values 1 4096 or 1 1000h Default setting 1000h corresponds to 4096 Object 63C4h Supported...
Страница 29: ...ed none exceeded Bit 1 Not used Bit 2 Watchdog Status System OK Reset carried out Bit 3 Operating time Below 100000h 100000h Bit 4 15 Not used When Bit 0 is active then simultaneously an emergency message ID 80h node number with the Error code 4200h Device specific is sent When Bit 2 or 3 is active then simultaneously an emergency message ID 80h node number with the Error code 5200h Device Hardwar...
Страница 30: ... occurs then in both cases an emergency message ID 80h node number with the error code 1000h Generic error is sent Object 2100h Baud rate This Object is used to change the baud rate via software The default setting is 04h 125 KBit s If the value is set between 1 9 and the parameter saved then on the next Power ON or with a reset node the device will boot up with the modified baud rate Data content...
Страница 31: ...ower on or by means of an NMT Reset Node command All other settings within the object table are however retained Object 2102h CANbus Termination This Object can be used to set the bus termination via software By default the value is set to 1 which means that the hardware setting for the bus termination has priority Range of values 0 1 Default setting 1 Please note that when software termination is...
Страница 32: ...on Measuring Value Default setting 1 2130h Sub 2 Speed Measuring Step Default setting 1 2130h Sub 3 Speed average value Default setting 10 Object 1029h Error Behaviour If a serious error is detected then the device should automatically switch to Pre Operational mode The settings in this Object can be used to determine how the device is to behave when an error arises The following error classes are...
Страница 33: ...ied following a device Reset or Power ON The node automatically enters the Pre operational state once it has run through the Reset and Initialization routines The LEDs display the momentary status Pre operational The CAN node can now be addressed via SDO messages or with NMT commands under the standard identifier Then follows the programming of the encoder or communication parameters Operational T...
Страница 34: ...ject Dictionary will have their values set 2 On Power ON only the parameters in the section Communication Profile of the Object Dictionary will have their values set 1 18 8 H He ea ar rt tb be ea at t P Pr ro ot to oc co ol l Nowadays as an alternative to Node Guarding the modern Heartbeat Protocol should be used The protocol is activated if a value 0 is written to Object 1017h Producer Heartbeat ...
Страница 35: ...g ca 1sec Connection to Master Stopped state SDO communication not possible Only NMT commands Bus ON Connection to Master Operational state PDO Transfer is active ERR OFF Device working normally Observe combination with BUS LED ERR flashing Connection to Master interrupted Combination with BUS status BUS LED green flashing or ON is dependent on Object 1029h Error Behaviour ERR ON BUS OFF Status Sh...
Страница 36: ...ng of yellow and red LEDs Data connection fault to sensor Sensor faulty Return device to manufacturer for servicing ERR flashing Connection to Master interrupted No CANbus availability Bus Diag flashing Alternate flashing of yellow and red LEDs Data connection fault to EEPROM EEPROM faulty Return device to manufacturer for servicing 2 20 0 G Ge en ne er ra al l R RE ES SE ET T S Sw wi it tc ch hi ...
Страница 37: ... be sent over the network within a COB COB ID COB Identifier Unique identifier of a CAN message The identifier defines the priority of the COB in the network DBT Distributor Service element of CAL responsible for the dynamic allocation of identifiers DS Draft Standard DSP Draft Standard Proposal ID Identifier see COB ID LMT Layer Management Service element of CAL responsible for the configuration ...
Страница 38: ...De ec ci im ma al l H He ex xa ad de ec ci im ma al l C Co on nv ve er rs si io on n T Ta ab bl le e With numerical data the decimal values are given as numerals with no affix e g 1408 binary values are identified by the letter b e g 1101b and hexadecimal values with an h e g 680h after the numerals ...
Страница 39: ...heet is provided by the vendor manufacturer of the CANopen device It has a standardized format for describing the device The EDS contains information concerning Description of the file name version date programme was generated etc General information about the device manufacturer s name and code Device name and type Version LMT address Supported baud rates as well as boot up capability Description...
Страница 40: ...der Measuring Step 16 32 Error Codes 13 19 Error Display after switching on 19 36 EventTimer 10 15 F Firmware Flashversion 16 31 I Identity Object 11 17 Initial Startup 4 8 L LED Monitoring 19 35 Lift number 16 24 Load Standard Values 10 16 M Manufacturer specific Objects 15 22 Mapping table See PDO Mapping Measuring Units per Revolution 16 25 N Network Management 17 33 23 39 NMT Commands 17 34 NM...
Страница 41: ...16 28 speed output 12 18 Speed Value 16 26 Store Parameters 1010h 10 16 Supported virtual device types 16 24 synchronously 2 6 T Termination 4 8 transmission type Siehe PDO V Variable PDO Mapping 8 13 W Warnings 16 29 Working Area State Register 16 27 2 25 5 T Te ec ch hn ni ic ca al l D Da at ta a E El le ec ct tr ri ic ca al l M Me ec ch ha an ni ic ca al l ...
Страница 42: ...s st ta al ll la at ti io on n m mi is st ta ak ke es s A Av vo oi id ds s m ma ac ch hi in ne e s st to op ps s a an nd d r re ep pa ai ir r w wo or rk k Sturdy Safety LockTM Design bearing structure F Fe ew w c co om mp po on ne en nt ts s a an nd d c co on nn ne ec ct ti io on n p po oi in nt ts s i in nc cr re ea as se e t th he e o op pe er ra at ti io on na al l r re el li ia ab bi il li it ...
Страница 43: ...of the working area As a price effective variant encoders with a connector or a cable connection are available for which the device address and baud rate are modified by means of software The models with bus terminal cover and integrated T shaped coupler allow a particularly easy installation bus and power supply are connected very simply thanks to M12 connectors the device address is set by means...
Страница 44: ... 58 0 3 36 8 1 1 0 3 n i s u B 1 t u o s u B 3xM3 6 0 24 deep 1 W Wi it th h r re em mo ov va ab bl le e b bu us s t te er rm mi in na al l c co ov ve er r 63 5 mm Square flange Flange type 5 and 7 Drawing with cable version 60 2 36 8 1 1 0 3 3 1 3 5 9 7 3 0 5 7 1 3 5 8 7 40 1 57 7 5 0 5 4 1 4 2 2 7 5 D h7 1 25 h7 31 75 8 2 0 1 7 n i s u B t u o s u B 5 2 5 3 6 6 0 2 4 2 5 5 5 0 22 60 2 36 7 5 0 5...
Страница 45: ...3 xM4 6 0 24 deep 1 ø 58 mm Synchro flange Flange type 2 and 4 Drawing with M23 connector W Wi it th h f fi ix xe ed d c co on nn ne ec ct ti io on n 63 5 mm Square flange Flange type 5 and 7 Drawing with 2 x M23 connector 28 1 1 2 5 0 3 3 1 8 4 2 2 3 6 4 4 2 2 6 3 2 5 8 5 1 25 X D h8 31 75 3 0 5 7 8 2 0 1 7 n i s u B t u o s u B 5 2 5 3 6 6 0 2 4 2 5 5 5 0 22 ø 58 mm Synchro flange Flange type 2 ...
Страница 46: ... Drawing with cable version 3x 120 9 8 1 8 4 5 3 2 7 9 5 2 5 0 3 3 1 8 3 2 7 0 6 1 4 3 2 9 3 0 5 9 5 X 0 1 D h8 58 2 28 3xM3 6 0 24 deep 1 8 7 2 5 0 7 28 1 1 2 5 0 3 3 1 4 7 2 5 9 6 3 2 5 8 5 5 6 1 2 4 3x 120 58 6 1 0 3 2 28 4 X D h8 2 1 0 1 97 50 2 1 0 3 2 3 1 n i s u B t u o s u B 3xM4 6 0 24 deep Status LED SET button 3 2 1 ø 58 mm Synchro flange Flange type 2 and 4 Drawing with 2 x M12 connect...
Страница 47: ... Volt power supply UB power supply 0 V power supply UB power supply CAN_Low CAN_High CAN Ground Abbreviation CG CL CH 0 V V 0 V V CL CH CG M23 PIN assignment 3 2 7 10 12 10 12 2 7 3 M12 PIN assignment 1 5 4 3 2 3 2 5 4 1 Bus out 3 4 1 2 5 Bus in 3 2 1 4 5 T Te er rm mi in na al l a as ss si ig gn nm me en nt t M23 type of connection I or M12 type of connection E connector T Te er rm mi in na al l ...
Страница 48: ... V V3 3 1 1 22 CANlift DS 417 V1 01 Type of connection 1 With removable bus terminal cover with radial screwed cable passage 2 2 R Re em mo ov va ab bl le e b bu us s t te er rm mi in na al l c co ov ve er r w wi it th h 2 2 x x M M1 12 2 c co on nn ne ec ct to or r A Fixed connection without bus terminal cover with radial cable 2 m PVC E Fixed connection without bus terminal cover with 1 x M12 ra...
Страница 49: ...p po on ne en nt ts s a an nd d c co on nn ne ec ct ti io on n p po oi in nt ts s i in nc cr re ea as se e t th he e o op pe er ra at ti io on na al l r re el li ia ab bi il li it ty y Kübler OptoASIC technology with highest integration density Chip on Board R Re em ma ai in ns s t ti ig gh ht t e ev ve en n i in n r ro ou ug gh he es st t e en nv vi ir ro on nm me en nt ts s e en ns su ur re es s...
Страница 50: ...tus of the working area As a price effective variant encoders with a connector or a cable connection are available for which the device address and baud rate are modified by means of software The models with bus terminal cover and integrated T shaped coupler allow a particularly easy installation bus and power supply are connected very simply thanks to M12 connectors the device address is set by m...
Страница 51: ...commendation cyl pin acc DIN 7 Ø4 3xM3 5 5 0 21 deep 2 1 ø 58 mm Flange with stator coupling Flange type 5 and 6 pitch circle ø 63 mm Drawing with cable versions 63 2 48 25 57 3 2 26 2 6 3 2 9 0 8 0 03 60 2 36 14 5 0 57 1 3 3 4 8 Y 2 68 0 79 68 20 0 12 3 1 D H7 Bus out Bus in max 31 1 22 6 1 0 4 5 7 0 9 1 40 1 57 1 Fastening screw DIN 912 M3 x 8 washer included 1 W Wi it th h r re em mo ov va ab b...
Страница 52: ...1 deep 2 1 ø 58 mm Flange with long torque stop Flange type 1 and 2 Drawing with M23 connector W Wi it th h f fi ix xe ed d c co on nn ne ec ct ti io on n ø 58 mm Flange with stator coupling Flange type 3 and 4 pitch circle ø 65 mm Drawing with 2xM23 connector 3x1 0 2 65 2 56 9 0 9 1 5 8 5 2 1 3 2 9 7 Y 6 0 3 7 7 7 2 5 0 5 2 3 1 0 71 72 2 83 4 3 D H7 1 0 5 2 28 1 1 ø 58 mm Flange with long torque ...
Страница 53: ...1 1 1 2 n i s u B t u o s u B 5 5 0 4 1 2 0 0 6 1 0 D H7 9 9 3 Torque stop slot Recommendation cyl pin acc DIN 7 Ø4 0 3xM3 5 5 0 21 deep 2 1 ø 58 mm Flange with stator coupling Flange type 3 and 4 pitch circle ø 65 mm Drawing with 2x M12 connector 2 1 3 2 9 7 Y 6 5 2 5 6 3x120 5 3 2 7 9 5 2 5 0 5 2 3 1 58 2 28 1 0 5 2 6 0 3 7 7 7 1 7 0 3 8 2 2 7 3 4 D H7 Y Y D De ep pt th h f fo or r b bl li in nd...
Страница 54: ...h 0 Volt power supply UB power supply 0 V power supply UB power supply CAN_Low CAN_High CAN Ground Abbreviation CG CL CH 0 V V 0 V V CL CH CG M23 PIN assignment 3 2 7 10 12 10 12 2 7 3 M12 PIN assignment 1 5 4 3 2 3 2 5 4 1 Bus out 3 4 1 2 5 Bus in 3 2 1 4 5 T Te er rm mi in na al l a as ss si ig gn nm me en nt t M23 type of connection I or M12 type of connection E connector T Te er rm mi in na al...
Страница 55: ...pe en n D DS S 3 30 01 1 V V4 4 0 0 1 10 0 3 30 0 V V D DC C Ex proof zone 2 22 on request Options service 2 no option 3 3 S SE ET T b bu ut tt to on n Field bus profile3 2 21 1 C CA AN No op pe en n E En nc co od de er r P Pr ro of fi il le e D DS S 4 40 06 6 V V3 3 1 1 22 CANlift DS 417 V1 01 Type of connection 1 With removable bus terminal cover with radial screwed cable passage 2 2 R Re em mo ...
