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AM58K CANopen®

6.11 Node guarding protocol

At system boot the “Node guarding protocol” is disabled; this protocol is enabled
automatically   as   soon   as   the   master   device   sends   a   RTR   message   (Remote
Transmission Request) the first time.

100C-00 Guard time

: interval between two RTR messages.

Node life time

:

maximum time available for the encoder to receive a
RTR message.

Node life time

 = 

100C-00 Guard time

 

 

100D-00 Life time factor

.

“Node guarding” is enabled if 

Node life time

 

 0.

If the slave does not receive a RTR message before the  

Node life time

  has

expired, it warns activating a “Life Guarding Event”. Furthermore the red LED
starts flashing so indicating the Node guarding error, objects  

1001-00 Error

register

 and 

1003 Pre-defined error field

 are updated and an error message

is sent.
To reset the error send a 

Reset node

 command.

MAN AM58K CB E 1.1.odt

48

6 - CANopen® interface

time

Master

Slave

RTR

request

NodeGuard.

response

RTR

request

Node life 

time

Node guarding 
event

Life guarding 
event

Guard 

time

Содержание AM58K 13/4096CB Series

Страница 1: ...User s guide AM58K CB DS406 Device profile for encoder Smart encoders actuators...

Страница 2: ...on herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and...

Страница 3: ...agnostic LEDs 16 4 8 Baud rate DIP A 17 4 9 Node number DIP B 18 5 Quick reference 19 5 1 Hardware resolution 19 5 1 1 Procedure to set the hardware resolution 19 5 2 Using the default settings 21 6 C...

Страница 4: ...37 1A03 01 PDO4 mapping parameter 37 6 8 2 Manufacturer specific objects 38 2104 00 Limit switch min 38 2105 00 Limit switch max 38 3000 00 Baud rate 38 3001 00 Node ID 39 3005 00 Velocity format 40...

Страница 5: ...6 6508 00 Operating time 46 6509 00 Offset value 46 650A 01 Manufacturer offset value 46 650B 00 Serial number 46 6 9 Warning objects 47 6 10 Emergency objects 47 6 11 Node guarding protocol 48 7 Sett...

Страница 6: ...city value 40 6 6000 00 Operating parameters 41 6001 00 Counts per revolution 42 6002 00 Total resolution 42 6003 00 Preset value 43 6004 00 Position value 44 6200 00 Cyclic time 44 6500 00 Operating...

Страница 7: ...ant to highlight the parts of the text where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to...

Страница 8: ...r enhanced encapsulation This results in a high rated IP protection and excellent durability under extreme conditions and temperatures both high and low Also connectors and cables are expressly intend...

Страница 9: ...connecting the device connect according to explanation in section 4 Electrical connections in compliance with the 2004 108 EC norm on electromagnetic compatibility following precautions must be taken...

Страница 10: ...ect the encoder and user s shaft make sure the misalignment tolerances of the flexible coupling are respected 2 Identification Device can be identified through the ordering code and the serial number...

Страница 11: ...coder shaft fix the encoder to the flange 2 or to the mounting bell by means of screws 3 secure the flange 2 to the support or the mounting bell to the motor mount the flexible coupling 1 on the motor...

Страница 12: ...AM58K CANopen 3 1 3 With mounting bell code PF4256 MAN AM58K CB E 1 1 odt 12 3 Mounting instructions...

Страница 13: ...ce are located inside the encoder connection cap Thus you must remove the connection cap to access any of them NOTE Be careful not to damage the internal components when you perform this operation To...

Страница 14: ...Figure use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers 4 3 Connection cap The connection cap is fitted with two PG9 cable glands for bus IN bus OUT and supply voltage connections T...

Страница 15: ...n Case CAN Shield 1 1 2 10Vdc 30Vdc Supply voltage 3 0 Vdc Supply voltage 4 CAN High 5 CAN Low 1 CAN Shield is also connected to pin 1 to allow the connection of the shield even if the plug connector...

Страница 16: ...n the transmission line 4 7 Diagnostic LEDs Two diagnostic LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the CANopen interface GREEN LED Des...

Страница 17: ...DIP A Set binary value of transmission rate considering that ON 1 OFF 0 bit 1 LSB 2 3 MSB 4 20 21 22 ON OFF Available baud rate values Decimal value Binary value Baud rate 0 000 20 Kbit s 1 001 50 Kb...

Страница 18: ...510 0001 10012 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON OFF OFF ON ON OFF OFF OFF Set node number 55 5510 0011 01112 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON ON ON OFF...

Страница 19: ...esolution refer to section 5 2 Using the default settings on page 21 Please note that the parameters 6001 00 Counts per revolution and 6002 00 Total resolution refer to the scaling function anyway the...

Страница 20: ...Cmd Index Sub Process data 580 ID 60 02 65 00 00 00 00 00 Step 4 Send a Reset node command Master Encoder COB ID Cmd Slave ID 000 81 ID Step 5 Store parameters object 1010 01 Store parameters Master E...

Страница 21: ...r COB ID Cmd Index Sub Process data 581 43 01 65 01 A0 A1 A2 A3 steps rev A3 24 A2 16 A1 8 A0 Read number of revolutions 6502 00 Hardware number of turns Master Encoder COB ID Cmd Index Sub Process da...

Страница 22: ...SOLUTE ENCODERS CAN EDS file has to be installed on CANopen master device 6 2 Operation states CANopen devices are designed to operate using different states Transition from one state to another is ma...

Страница 23: ...ng a NMT message 6 2 3 Operational state In this state slave device is active and all communication objects are available Slave device can use the parameters available in the Object dictionary and is...

Страница 24: ...laves devices to transmit process data encoder position and velocity Emergency error messages are triggered by each error event Nodeguard used to request the state of the slave Relation between device...

Страница 25: ...network nodes NMT Function Command NMT Function State node 01 hex Start remote node Operational 02 hex Stop remote node Stopped 80 hex Enter pre operational Pre operational 81 hex Reset node Pre opera...

Страница 26: ...der If several nodes encoders are connected to the network the Master receives the position values from the slaves respecting the Node number order The encoder can be programmed to send a reply after...

Страница 27: ...B Com command Index parameter index Sub parameter sub index Data parameter value 6 7 1 Command The command byte contains the type of telegram transmitted to the CAN network Three types of telegram are...

Страница 28: ...bytes byte 4 byte 5 byte 6 byte 7 LSByte MSByte 6 8 1 Standard objects DS 301 1000 00 Device type Unsigned32 ro Default 0002 0196h multiturn encoder DS 406 1001 00 Error register Unsigned8 ro Should...

Страница 29: ...he device 100C 00 Guard time Unsigned16 rw It contains the Guard time expressed in msec milliseconds Object 100C 00 Guard time is used in the Node guarding protocol controlled by the master For more d...

Страница 30: ...values default values are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode Write load ASCII code in hexadecimal form in the...

Страница 31: ...EMCY expressed in multiples of 100 s When set to 0 this function is disabled Default 0000h 1018 Identification object 01 Vendor number Unsigned32 ro 02 Product number Unsigned32 ro 03 Revision number...

Страница 32: ...t implemented reserved FCh 252 Synchronous RTR only not implemented FDh 253 Asynchronous RTR only not implemented FEh 254 Asynchronous manufacturer specific implemented FFh 255 Asynchronous device pro...

Страница 33: ...et using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always forced to the default value Otherwise if th...

Страница 34: ...on value For more information refer to section 6 6 PDO objects on page 26 01 COB ID of the PDO3 Unsigned32 rw Bit number Value Meaning 31 MSB 0 PDO exists is valid 1 PDO does not exist is not valid 30...

Страница 35: ...nt following an attempt to change the Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Value range of parameter exceeded is generated If...

Страница 36: ...not implemented 01h F0h 1 240 Cyclic synchronous implemented F1h FBh 241 251 not implemented reserved FCh 252 Synchronous RTR only not implemented FDh 253 Asynchronous RTR only not implemented FEh 254...

Страница 37: ...smission cycle time is set next to the object 6200h if 6200 00 Cyclic time 0 the PDO message is not sent 1A00 01 PDO1 mapping parameter Unsig32 rw This object contains the mapped position value of the...

Страница 38: ...ction set bit 13 of object 6000 00 Operating parameters to 1 Default 003F FFF0h 3000 00 Baud rate Unsigned8 rw This object is meant to set the baud rate transmission rate according to the following ta...

Страница 39: ...aved will be lost 3001 00 Node ID Unsigned8 rw This object defines the node identifier of the device The node number is set through the object 3001 00 Node ID only if all bits of DIP B are set to OFF...

Страница 40: ...meters not saved will be lost 3005 00 Velocity format Unsigned8 rw This attribute defines the engineering units for the velocity value 00h steps s number of steps per second default 01h rpm revolution...

Страница 41: ...ction If disabled the device uses its own physical resolution see objects 6501 00 Hardware counts per revolution and 6502 00 Hardware number of turns if enabled it uses the resolution set in objects 6...

Страница 42: ...ue see object 6003 00 Preset value and finally save the new parameters see object 1010 01 Store parameters 6002 00 Total resolution Unsigned32 rw This object sets a custom number of distinguishable st...

Страница 43: ...1 00 Counts per revolution and or 6002 00 Total resolution values change then the 6003 00 Preset value must be updated to the new resolution A new 6003 00 Preset value value is also required 6003 00 P...

Страница 44: ...ise if the value next to this object 6200 00 Cyclic time 0 the PDO message is not sent Value is expressed in milliseconds See on pages 26 and 31 Default 0000h 6500 00 Operating states Unsigned16 ro Bi...

Страница 45: ...Limit switch max bit 13 of this object is set to 1 To enable this function set the bit 13 Limit switch max of the object 6000 00 Operating parameters to 1 Current operating state It shows the current...

Страница 46: ...ition of the encoder and the position relating to the preset value see object 6003 00 Preset value Default 0000 0000h 650A 01 Manufacturer offset value Integer32 ro This object contains the manufactur...

Страница 47: ...can cia org 6 10 Emergency objects Emergency EMCY objects are issued by the device when an internal error occurs EMCY structure IDENTIFIER CAN Data Byte COB ID hex 0 1 2 3 7 see object 1014 00 COB ID...

Страница 48: ...00D 00 Life time factor Node guarding is enabled if Node life time 0 If the slave does not receive a RTR message before the Node life time has expired it warns activating a Life Guarding Event Further...

Страница 49: ...60 00 00 40 00 00 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 Set total resolution 6002 00 Total resolution 224 0100 0000h Master Encoder Set reque...

Страница 50: ...x Sub Process data 580 ID 60 01 18 02 00 Disable Sync mode 1801 PDO2 parameters sub 1 Read COB ID used by PDO2 Master Encoder Req request COB ID Cmd Index Sub Process data 600 ID 40 01 18 01 Encoder M...

Страница 51: ...Sub Process data 580 ID 43 00 18 01 B0 B1 B2 B3 COB ID used by PDO1 B3 24 B2 16 B1 8 B0 set the most significant bit to 0 B3 0x7F Set new COB ID used by PDO1 1800 PDO1 parameters sub 1 Master Encoder...

Страница 52: ...ameters sub 2 0x01 1803 PDO4 parameters sub 1 NODEID 0xC0000480 1803 PDO4 parameters sub 2 0xFE 1A00 01 PDO1 mapping parameter 0x60040020 1A01 01 PDO2 mapping parameter 0x60040020 1A02 01 PDO3 mapping...

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Страница 56: ...plied by a Class 2 Circuit or Low Voltage Limited Energy or Energy Source not exceeding 30 Vdc Refer to the product datasheet for supply voltage rate Dispose separately LIKA Electronic Via S Lorenzo 2...

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