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SFA-5000 • SFA-10000 CANopen®

1802 TPDO communication parameter 3

PDO3 message is used by default for synchronous transmission of the position
value. For more information refer to the “6.6 PDO objects” section on page 41.



01 COB-ID of TPDO3

[Unsigned32, rw]

Bit number

Value Meaning

31 (msb)

0

PDO exists / is valid

1

PDO does not exist / is not valid

30

0

RTR allowed on this PDO

(not implemented)

1

no RTR allowed on this PDO

29

0

11-bit ID (CAN 2.0A)

1

29-bit ID (CAN 2.0B)

28 … 11

0

if bit 29 = 0

X

if bit 29 = 1: bits 28-11 of 29-bit-COB-ID

10 … 0 (lsb)

X

bits 10-0 of COB-ID

Default = Node-ID+C000 0380h (disabled, no RTR)

WARNING

It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed).
This means that “No RTR is allowed on the PDO”.
If the node address is set 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 the node address is set via software (i.e. all dip-switches for
setting the node have LOW logic level = 0) it retains the set value, unless
a software procedure for setting a new address is forced at power on.



02 TPDO3 transmission type

[Unsigned8, rw]

Transmission type

PDO transmission

00h (0)

Acyclic, synchronous

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)

Asynchronous,
manufacturer specific

implemented

FFh (255)

Asynchronous, device
profile specific

not implemented

MAN SFA_5000_10000_CB E 1.0.odt

6 - CANopen® interface

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Содержание CANopen SFA-10000-CB

Страница 1: ...ectors options CANopen complying with DS 301 and DS 406 profiles Suitable for the following models SFA 5000 CB SFA 10000 CB Table of Contents 1 Safety summary 19 2 Identification 21 3 Mounting instruc...

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: ...tion of the shield 30 4 6 Setting the baud rate DIP A 31 4 7 Setting the node address DIP B 32 4 8 Setting the RT bus termination 33 4 7 Diagnostic LEDs 34 5 Quick reference 35 6 CANopen interface 37...

Страница 4: ...1A02 01 TPDO mapping parameter 3 54 1A03 01 TPDO mapping parameter 4 55 6 8 2 Manufacturer Specific Profile Area objects 56 2104 00 Limit switch min 56 2105 00 Limit switch max 56 3000 00 Baud rate 5...

Страница 5: ...up 79 7 1 Setting the Operational Pre operational state 79 7 2 Setting the resolution per revolution 79 7 3 Setting the total resolution 79 7 4 Setting the Operating parameters 79 7 5 Setting the Pre...

Страница 6: ...ue 58 6 6000 00 Operating parameters 59 6001 00 Measuring units per revolution 60 6002 00 Total measuring range 62 6003 00 Preset value 66 6004 00 Position value 67 6200 00 Cyclic time 69 6500 00 Oper...

Страница 7: ...nt 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: ...of the moving equipment causes the wire to reel and unreel and thus the linear movement to be converted into a rotary motion detected by the encoder which is coupled to the drum The stroke per turn is...

Страница 9: ...sage CANopen communication service transmitted whenever a node enters the Pre operational state after initialization Bus Topology of a communication network where all nodes are reached by passive link...

Страница 10: ...cation profile is standardized by EN 50325 4 It defines communication services and objects In addition it specifies the Object Dictionary and the network management NMT CANopen Manager The CANopen man...

Страница 11: ...ace to frequency inverters servo controllers as well as stepper motors CiA DSP 405 The CANopen device and interface profile for IEC 61131 3 compatible controllers is based on the CiA DSP 302 specifica...

Страница 12: ...ollers etc CiA DSP 422 The CANopen application profile for municipal vehicles defines the communication of sub systems used in garbage trucks CiA TR 308 This technical report specifies some timings fo...

Страница 13: ...t Recommendation DR This kind of recommendation is not fixed but it is published CiA s draft recommendations are not changed within one year Draft Standard DS This kind of standard is not fixed but it...

Страница 14: ...ption of one of the pre defined recessive bits CRC delimiter ACK delimiter and EOF is regarded as a form error condition that will cause the transmission of an error frame in the very next bit time Fu...

Страница 15: ...munication or application entity that is allowed to control a specific function In networks this is for example the initialization of a communication service Multiplexed PDO MPDO The MPDO is made of 8...

Страница 16: ...message identifiers to CANopen communication objects Some CANopen communication objects are distributed in broadcast NMT message Sync message Time message and others are transmitted between NMT Maste...

Страница 17: ...tion is sent after the reception of a number of SDO segments SDO Manager The SDO Manager handles the dynamic establishment of SDO connections It resides on the very same node as the NMT Master Segment...

Страница 18: ...ions TIME message Standardized message in CANopen containing the time as a 6 byte value given as ms after midnight and days after 1st January 1984 TPDO The Transmit Process Data Object TPDO is a commu...

Страница 19: ...ction on page 26 in compliance with the 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body a...

Страница 20: ...e suggest installing the unit providing protection means against waste especially swarf as turnings chips or filings should this not be possible please make sure that adequate cleaning measures are in...

Страница 21: ...l number when reaching Lika Electronic for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue Warning enc...

Страница 22: ...trical connection and maintenance operations must be carried out by qualified personnel only with power supply disconnected Mechanical components must be in stop 3 1 Overall dimensions Values are expr...

Страница 23: ...ing the provided M6 nuts 2 WARNING We suggest installing the unit providing protection means against waste especially swarf as turnings chips or filings should this not be possible please make sure th...

Страница 24: ...ber of turns is 25 for SFA 5000 and 50 for SFA 10000 EXAMPLE 1 SFA 5000 CB 8192 PG using the physical resolution Scaling function in 6000 00 Operating parameters 0 Stroke per turn of the drum 200 mm 7...

Страница 25: ...range 8 192 000 information example Custom number of encoder revolutions 6002 00 Total measuring range 4 096 6001 00 Measuring units per revolution Linear resolution 0 1 mm 100 m Max number of turns o...

Страница 26: ...caused to internal components The terminal connectors for connecting the power supply and the BUS IN and BUS OUT cables PG cable version as well as the DIP switches meant to set the node ID and the b...

Страница 27: ...nnection cap at the end of the operation Take care in re connecting the internal connector Tighten the screws 1 using a tightening torque of approx 2 5 Nm WARNING You are required to check that the en...

Страница 28: ...le gland You can use either cable for power supply We recommend CANopen certificated cables to be used Core diameter should not exceed 1 5 mm 0 06 inches Terminal connector Description 0Vdc power supp...

Страница 29: ...plete list of the available cordsets and patchcords please refer to the product datasheet Accessories list M12 5 pin connector A coding frontal side male BUS IN female BUS OUT M12 Description Case CAN...

Страница 30: ...tors are used connect the cable shield properly as recommended by the manufacturer Anyway make sure that ground is not affected by noise It is recommended to provide the ground connection as close as...

Страница 31: ...fied using SDO messages If the DIP A bit 4 ON the bit rate is set via DIP A DIP A Set the binary value of the transmission rate considering that ON 1 OFF 0 bit 1 LSB 2 3 MSB 4 20 21 22 ON OFF Availabl...

Страница 32: ...OFF the node address is set in the 3001 00 Node ID object of the Object Dictionary and can be modified using SDO messages If one bit at least of DIP B is set to ON the node address is set via DIP B A...

Страница 33: ...To avoid conflict between the Slaves this operation must be carried out when only one device is connected to the network 4 8 Setting the RT bus termination WARNING Power supply must be turned off bef...

Страница 34: ...e Blinking The encoder is in Pre Operational state ERR LED RED Description ON The CAN controller is switched off the bus is off Double flash Node Guarding error see on page 75 ff Single flash Max numb...

Страница 35: ...ion in a cyclic mode and or a synchronous mode Default Baud rate and Node ID are Baud rate 500 Kbit s Node ID 1 Reading the physical resolution per revolution 6501 00 Physical singleturn resolution Ma...

Страница 36: ...ter COB ID Cmd Index Sub Process data 580 ID 60 00 62 00 00 00 Setting the Operational mode Master Encoder COB ID Cmd Node 000 01 01 Reading the position every 100 ms Encoder Master COB ID Byte 0 Byte...

Страница 37: ...own EDS file Lika_SFAxCB_DS406_Vx eds When you need to download the file please refer to the address www lika biz ROTARY ENCODERS DRAW WIRE UNITS DRAW WIRE ABSOLUTE EDS file must be installed in the...

Страница 38: ...ter must send a Start remote node command using an NMT message see on page 79 6 2 3 Operational state In this state the Slave device is operational and all communication objects are available The Slav...

Страница 39: ...l time data transmission of process data in real time Service Data Objects SDO protocol used to set and read values from the Object dictionary of a remote device Special Function Objects SYNC synchron...

Страница 40: ...t up 1110 701 77F The type of COB tx or rx is viewed from the Slave device 6 4 NMT objects NMT structure COB ID 11 bit 2 CAN Data Bytes Func code Node ID Command Slave ID 0000 0 NMT Func Slave ID If t...

Страница 41: ...necessary to set to 0 or 1 the most significant bit of COB ID used by PDO1 1800 TPDO communication parameter 1 sub 1 object PDO2 and PDO3 SYNC mode synchronous transmission of position value The tran...

Страница 42: ...can be active at the same time 6 7 SDO objects SDO messages are used to set and read values from the Object dictionary of the encoder These parameters are described in the Object dictionary section se...

Страница 43: ...he Object Dictionary The Object Dictionary is essentially a grouping of objects accessible via the network in an ordered pre defined fashion The user related objects are grouped in three main areas th...

Страница 44: ...DS 406 section on page 59 In the following pages the objects implemented are listed and described as follows Index subindex Object name data types attribute Index and subindex are expressed in hexadec...

Страница 45: ...occurred errors Unsigned8 rw write 00h to delete the error history 01 Last error occurred Unsigned32 ro 02 04 Previous errors occurred Unsigned32 ro 1005 00 COB ID SYNC message Unsigned32 rw This obj...

Страница 46: ...ll parameters on non volatile memory Write save ASCII code in hexadecimal format in the data bytes Master Encoder COB ID Cmd Index Sub Data bytes 600 ID 23 10 10 01 73 61 76 65 s a v e Encoder Master...

Страница 47: ...t is always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the set value unless a software pr...

Страница 48: ...This means that No RTR is allowed on the PDO If the node address is set 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...

Страница 49: ...alue next to the 6200 00 Cyclic time object 0 the PDO message is not sent NOTE Please refer to the 7 Setting up section on page 79 for an example of how the 1800 TPDO communication parameter 1 object...

Страница 50: ...ecific implemented FFh 255 Asynchronous device profile specific not implemented Default 01h synchronous transmission at each SYNC command The position value is transmitted after the set number of SYNC...

Страница 51: ...n the PDO If the node address is set 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...

Страница 52: ...the 6200 00 Cyclic time object otherwise if the value next to the 6200 00 Cyclic time object 0 the PDO message is not sent NOTE Please refer to the 7 Setting up section on page 79 for an example of h...

Страница 53: ...Dh 253 Asynchronous RTR only not implemented FEh 254 Asynchronous manufacturer specific implemented FFh 255 Asynchronous device profile specific not implemented Default FEh cyclic transmission see her...

Страница 54: ...o the 6200 00 Cyclic time object if 6200 00 Cyclic time 0 the PDO message is not sent 1A00 01 TPDO mapping parameter 1 Unsig32 rw This object contains the mapping of the PDO the encoder uses to transm...

Страница 55: ...ing to the manufacturer profile This object describes the content of the PDO by its index sub index and length The length contains the length of the application object expressed in bits 31 24 23 16 15...

Страница 56: ...the bit 13 of the 6500 00 Operating status object will be set to 0 If the encoder position is greater than the value set in this object then the bit 13 of the 6500 00 Operating status object will be...

Страница 57: ...ue execute the store parameters function see the 1010 01 Store parameters object When the power is turned off the parameters not saved are lost 3001 00 Node ID Unsigned8 rw This object defines the nod...

Страница 58: ...ved are 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 number of revolutions per m...

Страница 59: ...ull the wire out Default 1 To know whether the Code sequence is currently set to to Count up information rewinding the wire or Count up information pulling the wire out you can read the bit 0 Code seq...

Страница 60: ...range objects then you are required to set a new preset value see the 6003 00 Preset value object and finally save the new parameters see the 1010 01 Store parameters object Limit switch min Limit swi...

Страница 61: ...Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 WARNING When you set a new value next to the 6001 00 Measuring units per revolution object please alwa...

Страница 62: ...he 1010 01 Store parameters object NOTE Please refer to the 7 Setting up section on page 79 for an example of how the 6001 00 Measuring units per revolution object is to be set 6002 00 Total measuring...

Страница 63: ...greater than or equal to the 6001 00 Measuring units per revolution the above setting is not allowed When this happens the encoder falls into an error signalling the faulty condition through the diag...

Страница 64: ...g function bit 2 Scaling function in the 6000 00 Operating parameters object 1 Custom resolution per turn 6001 00 Measuring units per revolution 2 000 cpr Linear resolution 0 1 mm 100 m Linear resolut...

Страница 65: ...n 19 997 19 998 19 999 0 1 2 19 997 19 998 19 999 0 1 2 max measuring length NOTE To avoid counting errors we suggest setting values which are power of 2 2n 2 4 2048 4096 8192 in the 6001 00 Measuring...

Страница 66: ...the position is physical or scaled 6003 00 Preset value 6509 00 Offset value If you never set the 6003 00 Preset value and you never performed the preset setting then the transmitted value and the rea...

Страница 67: ...02 00 Total measuring range 1 WARNING Check the value in the 6003 00 Preset value object and perform the preset operation every time you set a new Code sequence and or change the scaled values 6001 00...

Страница 68: ...s linear resolution can be read also in the order code next to the rotary resolution Refer to the product datasheet EXAMPLE 1 Let s suppose that we are using the physical resolution of the SFA 5000 C...

Страница 69: ...owing PDO transmissions during a cyclic communication If the value next to this 6200 00 Cyclic time object 0 the PDO message is sent cyclically and the interval between two messages is the time set in...

Страница 70: ...et the code sequence you must set the bit 0 Code sequence of the 6000 00 Operating parameters object For any further information on setting and using the counting direction function refer to the 6000...

Страница 71: ...1 Operational state 6501 00 Physical singleturn resolution Unsigned32 ro WARNING This object is active only if the bit 2 Scaling function in the 6000 00 Operating parameters object is set to 0 otherwi...

Страница 72: ...gleturn resolution object value to calculate the position information If you want to set a custom number of revolutions see the 6001 00 Measuring units per revolution and 6002 00 Total measuring range...

Страница 73: ...1 Restore default parameters object on page 46 For any further information on the preset function and the meaning and use of the related objects and commands 6003 00 Preset value and 6509 00 Offset va...

Страница 74: ...h General parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to an hardware error 0607 0010h Data type does not match length of ser...

Страница 75: ...000h Generic error Node guarding error 2000h Current generic error 2100h Current CANopen device input side generic 2200h Current inside the CANopen device generic 2300h Current CANopen device output s...

Страница 76: ...h error 8220h PDO length exceeded 8230h DAM MPDO not processed destination object not available 8240h Unexpected SYNC data length 8250h RPDO timeout 9000h External error generic error F000h Additional...

Страница 77: ...00 Guard time object value multiplied by the 100D 00 Life time factor object value The node life time can be different for each NMT Slave If the NMT Slave has not been polled during its life time a r...

Страница 78: ...Node life time 0 If the Slave does not receive an 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...

Страница 79: ...Process data 600 ID 23 01 60 00 00 20 0 00 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 7 3 Setting the total resolution 6002 00 Total measuring ra...

Страница 80: ...communication parameter 2 sub 2 n 5 05h Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 2F 01 18 02 05 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60...

Страница 81: ...D Cmd Index Sub Process data 580 ID 60 00 62 00 00 00 Read the COB ID used by PDO1 1800 TPDO communication parameter 1 sub 1 Master Encoder Req request COB ID Cmd Index Sub Process data 600 ID 40 00 1...

Страница 82: ...meters execute the store parameters function see the 1010 01 Store parameters object When the power is turned off or in case of Reset node and Restore node commands the parameters not saved are lost M...

Страница 83: ...EMCY 0000h 1018 Identity object 01 Vendor number 02 Product number 03 Revision number 0000 012Eh 0000 0000h 0000 0001h 1800 TPDO communication parameter 1 01 COB ID of TPDO1 02 TPDO1 transmission type...

Страница 84: ...he wire out 0 disabled 0 disabled 0 disabled 6001 00 Measuring units per revolution 0000 2000h 6002 00 Total measuring range 0200 0000h 6003 00 Preset value 0000 0000h 6200 00 Cyclic time 0000h 6500 0...

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Страница 88: ...Energy Source not exceeding 30 Vdc Refer to the order code for supply voltage rate Ce dispositif doit tre aliment par un circuit de Classe 2 ou tr s basse tension ou bien en appliquant une tension ma...

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