Absolute Rotary Encoder with CANopen Interface User Manual - Serie M

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Version 07/10 BEI Sensors CANopen Manual serie M 1 Main Features - Compact and heavy-duty industrial design - Interface: CANopen / CAN - Housing: 58 mm  - Solid/hollow shaft: 6 or 10mm  / 15mm   - Max. 65536 steps per revolution (16 Bit) - Max. 16384 revolutions (14 Bit) - Code: Binary - Velocity and Acceleration Output Mechanical Structure - Aluminium flange and housing - Stainless steel shaft - Precision ball bearings with sealing or cover rings - Code disc made of unbreakable and durable plastic Programmable Parameters - Direction of rotation (complement) - Resolution per revolution - Total resolution - Preset value - Two limit switches and eight cams - Baud rate and CAN-identifier - Transmission mode: Polled mode, cyclic mode, sync mode - Layer Setting Services Electrical Features - Temperature insensitive IR-opto-receiver asic with integrated signal conditioning - Connection cap: Status indication with two LEDs - Polarity inversion protection - Over-voltage-peak protection ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE USER MANUAL Version 07/10 BEI Sensors CANopen Manual serie M 2 Table of Contents General Security Advise......................................4 About this Manual................................................4 1. Introduction ......................................................5 1.1 General CANopen Information.........................5 2. Installation ........................................................7 2.1 Connection via Connection Cap.......................7 2.1.1 Signal Assignment ........................................7 2.1.2 Bus Termination in Connection Cap ............. 8 2.1.3 Setting Node Number in Connection Cap .....9 2.1.4 Setting Baudrate in Connection Cap........... 10 2.1.5 Status of the connection cap LEDs ............. 10 2.2 Installation of Connector and Cable encoders ..............................................................12 2.2.1 Signal Assignment ...................................... 12 2.2.2 Setting Node Number ................................. 13 2.2.3 Setting Baud Rate....................................... 13 2.2.4 Switching the integrated Bus Terminal Resistor................................................................ 14 Object 3002h: Terminal Resistor.......................... 14 3. Technical Data................................................15 Electrical Data......................................................15 Mechanical Data ..................................................15 Minimum Mechanical Lifetime..............................16 Environmental Conditions .................................... 16 4. Configuration .................................................17 4.1 Operating Modes ........................................... 17 4.1.1 General .......................................................17 4.1.2 Mode: Preoperational.................................. 17 4.1.3 Mode: Start - Operational............................ 17 4.1.4 Mode: Stopped............................................ 18 4.1.2 Reinitialization of the Encoder..................... 18 4.2 Normal Operating...........................................18 4.3 Storing Parameter.......................................... 19 4.3.1 List of storable Parameter ........................... 19 4.3.1 Storing Procedure ....................................... 20 4.4 Restoring Parameters ....................................20 4.5 Usage of Layer Setting Services (LSS).......... 20 5. Programmable Parameters ........................... 22 5.1 Programming example: Preset Value ............ 23 5.1.1 Set Encoder Preset Value........................... 23 5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh ................................ 25 5.3 Manufacturer specific objects 2000h – 5FFFh.................................................................. 26 5.4 Application specific objects 6000h – 67FEh .. 26 5.5 Object Descriptions ....................................... 27 Object 1000h: Device Type ................................. 27 Object 1001h: Error Register ............................... 28 Object 1003h: Pre-Defined Error Field ................ 28 Object 1005h: COB-ID Sync................................ 28 Object 1008h: Manufacturer Device Name.......... 29 Object 1009h: Manufacturer Hardware Version... 29 Object 100Ah: Manufacturer Software Version.... 29 Object 100Ch: Guard Time.................................. 29 Object 100Dh: Life Time Factor........................... 30 Object 1010h: Store Parameters ......................... 30 Object 1011h: Restore Parameters ..................... 30 Object 1012h: COB-ID Time Stamp Object ......... 31 Object 1013h: High Resolution Time Stamp........ 31 Object 1014h: COB-ID Emergency Object .......... 31 Object 1016h: Consumer Heartbeat Time ........... 32 Object 1017h: Producer Heartbeat Time ............. 32 Object 1018h: Identity Object .............................. 32 Object 1020h: Verify configuration....................... 33 Object 1029h: Error behaviour............................. 33 Object 1800h: 1 st -TPDO-Communication-Parameter.................. 33 Object 1801h: 2 nd TPDO Communication Parameter............................................................ 33 Object 1A00h: 1 st TPDO Mapping Parameter...... 35 Object 1A01h: 2 nd TPDO Mapping Parameter..... 35 Object 1F50h: Download Program Area.............. 35 Object 1F51h: Program Control........................... 36 Object 2000h: Position Value .............................. 36 Object 2100h: Operating Parameters .................. 36 Object 2101h: Resolution per Revolution ............ 37 Object 2102h: Total Resolution ........................... 37 Object 2103h: Preset Value................................. 38 Object 2104h: Limit Switch, min. ......................... 39 Object 2105h: Limit Switch, max. ........................ 39 Object 2160h: Customer storage......................... 40 Version 07/10 BEI Sensors CANopen Manual serie M 3 Object 2200h: Cyclic Timer PDO ......................... 40 Object 2300h: Save Parameter with Reset .......... 40 Object 3000h: Node Number ............................... 41 Object 3001h: Baudrate .......................................41 Object 3002h: Terminal Resistor.......................... 41 Object 3010h: Speed Control............................... 42 Object 3011h: Speed Value ................................. 42 Object 3020h: Acceleration Control ..................... 42 Object 3021h: Acceleration Value........................ 43 Object 3030h: C2-C5-Behavior ............................ 43 Object 4000h: Bootloader Control........................ 43 Object 6000h: Operating parameters................... 44 Object 6001h: Measuring units per revolution...... 45 Object 6002h: Total measuring range in measuring units....................................................45 Object 6003h: Preset value..................................45 Object 6004h: Position value ............................... 45 Object 6030h: Speed Value ................................. 46 Object 6040h: Acceleration Value........................ 47 Object 6200h: Cyclic timer ...................................48 Object 6300h: Cam state register ........................ 48 Object 6301h: Cam enable register ..................... 48 Object 6302h: Cam polarity register..................... 48 Object 6400h: Area state register ........................ 51 Object 6401h: Work area low limit ....................... 52 Object 6402h: Work area high limit...................... 52 Object 6500h: Operating status ........................... 52 Object 6501h: Single-turn resolution ................... 53 Object 6502h: Number of distinguishable revolutions ........................................................... 53 Object 6503h: Alarms .......................................... 53 Object 6504h: Supported alarms ......................... 54 Object 6505h: Warnings ...................................... 54 Object 6506h: Supported warnings ..................... 55 Object 6507h: Profile and software version ......... 55 Object 6508h: Operating time.............................. 55 Object 6509h: Offset value .................................. 56 Object 650Ah: Module identification .................... 56 Object 650Bh: Serial number............................... 56 6. Troubleshooting ............................................ 57 7. Mechanical Drawings .................................... 58 Appendix A: Order Codes................................. 65 Appendix B: History and Compatibility ........... 68 Appendix C: Glossary ....................................... 73 Appendix D: List of tables ................................ 76 Appendix E: List of figures ............................... 76 Appendix F: Document history ........................ 76 Version 07/10 BEI Sensors CANopen Manual serie M 4 General Security Advise Important Information Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure. The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result in personal injury if the instructions are not followed. This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow this symbol to avoid possible injury or death. Please Note Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by BEI Sensors for any consequences arising out of the use of this material. This document is not intended as an instruction manual for untrained persons. About this Manual Background This user manual describes how to install and configure an absolute rotary encoder with CANopen interface. Relate Note Version date: 14. July 2010 Version number: 1.1 Reference number: MBL20100714 Copyright The company BEI Sensors claims copyright on this documentation. It is not allowed to modify, to extend, to hand over to a third party and to copy this documentation without written approval by the company BEI Sensors. Nor is any liability assumed for damages resulting from the use of the information contained herein. Further, this publication and features described herein are subject to change without notice. User Annotation BEI Sensors welcomes all reader to send us feedback and commands about this document. Version 07/10 BEI Sensors CANopen Manual serie M 5 1. Introduction This manual explains how to install and configure the OPTOCODE II absolute rotary encoder with CANopen interface applicable for military and industrial applications with CANopen interface. The product is fully compliant with CiA- standards: DS301V402 CANopen Application Layer DR303-1 Cabeling and connector pin assignment DR303-3 CANopen indicator specification DS305V200 CANopen Layer Setting Service DS306V1R3 Electronic datasheet specification DS406V32 Device Profile for Encoders Measuring System The measuring system consists of a light source, a code disc pivoted in a precision ball bearing and an opto-electronic scanning device. A LED is used as a light source which shines through the code disc and onto the screen behind. The tracks on the code disk are evaluated by an opto-array behind the reticle. With every position another combination of slashes in the reticle is covered by the dark spots on the code disk and the light beam on the photo transistor is interrupted. That way the code on the disc is transformed into electronic signals. Fluctuations in the intensity of the light source are measured by an additional photo transistor and another electronic circuit compensates for these. After amplification and conversion the electronic signals are available for evaluation. Single-Turn Single turn encoders specify the absolute position for one turn of the shaft i.e. for 360°. After one turn the measuring range is completed and starts again from the beginning. Multi-Turn Linear systems normally need more than one turn of a shaft. A single turn encoder is unsuitable for this type of application because of the additional requirement of the number of turns. The principle is relatively simple: Several single turn encoders are connected using a reduction gear. The first stage supplies the resolution per turn, the stages behind supply the number of turns. There are several types of encoder versions. Please refer to the datasheets to find out which is the best version for your application. 1.1 General CANopen Information The CANopen system is used in industrial applications. It is a multiple access system (maximum: 127 participants), which means that all devices can access the bus. In simple terms, each user checks whether the bus is free, and if it is the user can send messages. If two users try to access the bus at the same time, the user with the higher priority level (lowest ID number) has permission to send its message. Users with the lowest priority level must cancel their data transfer and wait before re-trying to send their message. Data communication is carried out via messages. These messages consist of 1 COB-ID followed by a maximum of 8 bytes of data. The COB-ID, which determines the priority of the message, consists of a function code and a node number. The node number corresponds to the network address of Version 07/10 BEI Sensors CANopen Manual serie M 6 the device. It is unique on a bus. The function code varies according to the type of message being sent:  Management messages (LMT, NMT)  Messaging and service (SDOs)  Data exchange (PDOs)  Layer Setting Services (LSS)  Predefined messages (synchronization, emergency messages) The absolute rotary encoder supports the following operating modes:  Polled mode: The position value is only given on request.  Cyclic mode: The position value is sent cyclically (regular, adjustable interval) on the bus.  SYNC mode: The position value is sent after a synchronization message (SYNC) is received. The position value is sent every n SYNCs (n ≥ 1). Other functions (offset values, resolution, etc) can be configured. The absolute rotary encoder corresponds to the class 2 encoder profile (DS 406 in which the characteristics of encoder with CANopen interface are defined). The node number and speed in bauds are determined via rotary switches. The transmission speed can range from 20kBaud up to 1Mbaud 1Mbaud (30m cable for a maximum speed of 1Mbaud, 1000 m cable for a maximum speed of 10 kbaud). Various software tools for configuration and parameter- setting are available from different suppliers. It is easy to align and program the rotary encoders using the EDS (electronic data sheet) configuration file provided. Further CAN-information is available at: CAN in Automation (CiA) - International Users and Manufacturers Group e.V. Kontumazgarten 3 DE-90429 Nuremberg www. can -cia.org/ (*) Reference: CAN Application Layer for Industrial Applications CiA DS201..207 V1.1 CAL-based Communication Profile for Industrial Systems CiA DS301 CANopen Application Layer CiA DS406 Device Profile for Encoders We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to change without notice. Version 07/10 BEI Sensors CANopen Manual serie M 7 2. Installation 2.1 Connection via Connection Cap 2.1.1 Signal Assignment The rotary encoder is connected with two or three cables depending on whether the power supply is integrated into the bus cable or connected separately. If the power supply is integrated into the bus cable, one of the cable glands can be fitted with a plug. The cable glands are suitable for cable diameters from 6.5 up to 9 mm. Tab. 1 Signal Assignment Connection Cap Clamp Description  Ground + 24 V Supply voltage - 0 V Supply voltage G CAN Ground L CAN Low H CAN High G* CAN Ground L* CAN Low H* CAN High * are not connected, if terminal resistor is ON (see next page) G H - + G L L H ON 0 9 8 7 6 5 4 3 2 1 7 8 2 5 6 4 3 0 9 1 x10 x1 8 7 2 6 5 4 3 0 9 1 Bd R T Version 07/10 BEI Sensors CANopen Manual serie M 8 ON T R T ON R Bus In Bus Out G G + - L H R ON T L H Bus Connection The connection cap fulfills the function of a T- coupler. From there the wiring must be done according to the drawing on the left side. Please note the assignment of incoming and outgoing bus signals. An activated bus termination resistor will lead into a separation of bus in and bus out signals! Cable Connection Remove screw, sealing and cone from the cable gland. Remove 55 mm of the sheath and 50 mm of the shielding. About 5 mm of the wires should be de-isolated. Put screw, and sealing on the cable. The cone should be mounted under the shielding according to the figure 3. Put the whole cable into the cable gland and tighten the screw. 2.1.2 Bus Termination in Connection Cap If the encoder is connected at the end or beginning of the bus the termination resistor must be switched on. The termination resistor is switched on when the switch is in the ON position. Separation of Bus In and Bus Out signals if termination resistor is activated. There is a resistor provided in the connection cap, which must be used as a line termination on the last device. Resistor: Last Device Device X Fig. 1 Connection cap bus in and bus out Fig. 2 Cable preparation Fig. 3 Cable connection 5 mm 5 mm 55 mm 50 mm Version 07/10 BEI Sensors CANopen Manual serie M 9 2.1.3 Setting Node Number in Connection Cap The setting of the node number is done by turning the BCD rotary switches in the connection cap. Possible (valid) addresses lie between 0 and 89 whereby every address can only be used once. Two LEDs on the backside of the connection cap show the operating status of the encoder. BCD coded rotary switches x1 x10 Device address 0...89 Setting CAN-node number Address reserved 90…99 xBd Setting of the baud-rate The CANopen Encoder adds internal 1 to the adjusted device address. To set the node number the customer can easily remove the connection cap for installation by removing two screws at the backside of the encoder. The meaning and the positioning of the two turn-switches you can see in the picture on the right side. Protocol Definition via BCD address switches x1 x10 Device address 97 Recovery of C2-C5-Behvior x1 x10 Device address 98 Protocol selection according to DS301-V3 x1 x10 Device address 99 Protocol selection according to DS301-V4 G H - + G L L H ON 0 9 8 7 6 5 4 3 2 1 7 8 2 5 6 4 3 0 9 1 x10 x1 8 7 2 6 5 4 3 0 9 1 Bd R T Version 07/10 BEI Sensors CANopen Manual serie M 10 LED grün green LED grün /green Err Sta 2.1.4 Setting Baudrate in Connection Cap The adjusting of the baudrate is adjusted by one turn switch in the connection cap. The following baudrates are possible: 2.1.5 Status of the connection cap LEDs The LED behaviour was designed in accordance to the CiA normative DR 303-3 CANopen indicator spec- ification. Baudrate in kBit/s BCD coded rotary switches 20 0 50 1 100 2 125 3 250 4 500 5 800 6 1000 7 reserved 8 Sets SDO and LSS mode 9 Tab. 2 Baud rate Assignment Connection Cap Version 07/10 BEI Sensors CANopen Manual serie M 11 CAN Run LED State Description Flickering AutoBitrate/ LSS The auto-bitrate detection is in progress or LSS services are in progress (alternately flickering with run LED)1 Blinking PREOPERATIONAL The device is in state PREOPERATIONAL Single flash STOPPED The device is in state STOPPED Double flash Reserved for further use Triple flash Program/ Firmware download A software download is running on the device On OPERATIONAL The device is in state OPERATIONAL Tab.3: CAN Run LED states ERR LED State Description Off No error The device is in working condition Flickering AutoBitrate/ LSS The auto-bitrate detection is in progress or LSS services are in progress (alternately flickering with run LED)1 Blinking Invalid Configuration General configuration error Single flash Warning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning level (too many error frames) Double flash Error control event A guard event (NMT-slave or NMT-master) or a heartbeat event (heartbeat consumer) has occurred Triple flash Sync error The sync message has not been received within the configured communication cycle period time out ( see object dictionary entry 1006h) Quadruple flash Event-timer error An expected PDO has not beenreceived before the event-timer elapsed On Bus off The CAN controller is bus off Tab.4: CAN Error LED states Version 07/10 BEI Sensors CANopen Manual serie M 12 2.2 Installation of Connector and Cable encoders The new encoders with cable or connector exit fulfil all connection cap features, like:  Node Number Addressing  Baud Rate Setting  Terminal Resistor 2.2.1 Signal Assignment The BEI Sensors absolute rotary with cable- and connector-exit were designed in accordance to CiA normative DR303-1 Cabeling and connector pin assignment. Signal 5 pin round connector pin number (male / female) 9 pin D-Sub connector pin number open cable Signal Pin Pin CAN Ground 1 3 green 24 V supply voltage 2 9 white 0 V supply voltage 3 6 brown CAN High 4 7 yellow CAN Low 5 2 pink Tab.5 Signal Assignment Connector / Cable 5 pin M12 connector female/male 9 pin D-Sub-connector 1 4 2 3 5 2 3 1 4 5 Version 07/10 BEI Sensors CANopen Manual serie M 13 2.2.2 Setting Node Number If the device has a connector, a cable exit or the BCD-rotary-switch in the connection cap is set to “9”, the node number has to be set via SDO objects. An advantage of setting the node number via software is, that the whole CANopen node number span from 1 to 127 can be addressed. The default node number is 32. To set node number object 3000h has to be written. For further information regard chapter 5.5 Object Dictionary. Object 3000h: Node Number Subindex Description Data Type Default Value Access Restore after BootUp 0 Node Number Unsigned 8 1Fh rw Yes NOTE: To avoid the node number 0, one will be added to the value of this object! E.g.: 1Fh+1h = 20h = 32 (dec) Setting Node Number via LSS If the device has a connector, a cable exit or the BCD-rotary-switch in the connection cap is set to “9”, the node number can be adjusted via Layer Setting Services (LSS). For further information regard chapter 4.5 2.2.3 Setting Baud Rate If the device has a connector, a cable exit or the BCD-rotary-switch in the connection cap is set to “9”, the baud rate has to be adjusted via SDO objects. The default baud rate is 20 kBaud. To set baud rate object 3001h has to be written. For further information please regard chapter 5.5 Object Dictionary. Eight different baud rates are provided. To adjust the baud rate only one byte is used. Baudrate in kBit/s Byte 20 00h 50 01h 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h Object 3001h: Baudrate Subindex Description Data Type Default Value Access Restore after BootUp 0 Baudrate Unsigned 8 0h rw yes Version 07/10 BEI Sensors CANopen Manual serie M 14 Setting Baud Rate via LSS If the device has a connector, a cable exit or the BCD-rotary-switch in the connection cap is set to “9”, the node number can be adjusted via Layer Setting Services (LSS). The default baud rate is 20 kBaud. For further information regard chapter 4.5. 2.2.4 Switching the integrated Bus Terminal Resistor Object 3002h: Terminal Resistor This object allows the control of an internal terminal resistor. This resistor can be switched galvanically isolated via an a Photo-MOS-relay. Subindex Description Data Type Default Value Access Restore after BootUp 0 Terminal resistor BOOL 0h rw yes If an encoder with connector or cable is used, there is the possibility to set a termination resistor inside the encoder. If the encoder is the last device in the bus, the user can set object 3002h to “one” and the internal termination will be switched on. Version 07/10 BEI Sensors CANopen Manual serie M 15 3. Technical Data In the following section you will find general technical datas for absolute rotary encoders with CANopen interface. There are several version with slightly different technical datas. For details please refer to the corresponding datasheet of the used encoder Electrical Data Interface Transceiver according ISO 11898, galvanically isolated by opto-couplers Transmission rate max. 1 MBaud Device addressing Adjustable by rotary switches in connection cap Supply voltage 10 – 30* V DC (absolute limits) Current consumption max. 230 mA with 10 V DC, max. 100 mA with 24 V DC Power consumption max. 2.5 Watts Step frequency LSB 800 kHz Accuracy of division  ½ LSB (12 bit), ± 2 LSB (16 bit) Emitted interference: EN 61000-6-4 EMC Noise immunity: EN 61000-6-2 Electrical lifetime > 10 5 h *Absolute rotary encoders should be connected only to subsequent electronics whose power supplies comply with EN 50178 (protective low voltage) Tab. 6 Electrical Data Mechanical Data Flange Synchro (S) Clamp (C) Hollow shaft (B) Blind Hollow shaft (T) Shaft diameter 6 mm 10 mm 10 mm 15 mm 12 mm Shaft length 10 mm 20mm 20 mm - hollow shaft depth min. / max. - - - 15 mm / 30 mm 15 mm / - Tab. 7 Further mechanical data Housing Aluminium, optional stainless steel Lifetime Dependent on shaft version and shaft loading – refer to table Max. shaft loading Axial 40 N, radial 110 N Inertia of rotor  30 gcm 2 Version 07/10 BEI Sensors CANopen Manual serie M 16 Friction torque  3 Ncm (without shaft sealing) Singleturn: max. 12,000 RPM RPM (continuous operation) Multiturn: max. 6,000 RPM Shock (EN 60068-2-27)  100 g (half sine, 6 ms) Permanent shock (EN 60028-2-29)  10 g (half sine, 16 ms) Vibration (EN 60068-2-6)  10 g (10 Hz ... 1,000 Hz) Weight (standard version) Singleturn:  300 g Multiturn:  400 g Singleturn:  500 g Weight (with connection cap) Multiturn:  700 g Weight (stainless steel version) Singleturn:  400 g Multiturn:  500 g Singleturn:  1,100 g Weight (stainless steel version with connection cap) Multiturn:  1,200 g Tab. 8 Further mechanical data Minimum Mechanical Lifetime Lifetime in 10 8 revolutions with Fa / Fr Flange 40 N / 60 N 40 N / 80 N 40 N / 110 N C10 (Clamp flange 10 x 20) 247 104 40 S10 (Synchro flange 10 x 20) 262 110 42 S6 (Synchro flange 6 x 10) without shaft sealing 822 347 133 Tab. 9 Mechanical Lifetime S6 (Synchro flange 6 x 10) with shaft sealing: max. 20 N axial, 80 N radial Environmental Conditions Operating temperature - 40 .. +85°C Storage temperature - 40 .. + 85 °C Humidity 98 % (without liquid state) Protection class (EN 60529) Casing side: IP 65 Shaft side: IP 64 (optional with shaft sealing: IP66) Tab. 10 Environmental Conditions Version 07/10 BEI Sensors CANopen Manual serie M 17 4. Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with CANopen interface. 4.1 Operating Modes 4.1.1 General The encoder accesses the CAN network after powerup in pre-operational mode: BootUp Message: 700 hex + Node Number It is recommended that the parameters can be changed by the user when the encoder is in preoperational mode. Pre-operational mode entails reduced activity on the network, which simplifies the checking of the accuracy of the sent/received SDOs. It is not possible to send or receive PDOs in pre-operational mode. 4.1.2 Mode: Preoperational To set a node to pre-operational mode, the master must send the following message: Identifier Byte 0 Byte 1 Description 0 h 80 h 00 NMT-PreOp, all nodes 0 h 80 h NN NMT-PreOp, NN NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode. The pre- operational mode can be used for configuration purposes, in this state no Proces Data Objects (PDOs) can be sent by the encoder. 4.1.3 Mode: Start - Operational To put one or all nodes in the operational state, the master have to send the following message: Identifier Byte 0 Byte 1 Description 0 h 01 h 00 NMT-Start, all nodes 0 h 01 h NN NMT-Start, NN NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to operational mode. This mode is used for normal operation and the encoder can provide the position value as PDO. Version 07/10 BEI Sensors CANopen Manual serie M 18 4.1.4 Mode: Stopped To put one or all nodes in the stopped state, the master have to send the following message: Identifier Byte 0 Byte 1 Description 0 h 02 h 00 NMT-Stop, all nodes 0 h 02 h NN NMT-Stop, NN NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode. 4.1.2 Reinitialization of the Encoder If a node is not operating correctly, it is advisable to carry out a reinitialization: NN Command Index Description 0 h 82 h 00 Reset Communication 0 h 81 h NN Reset Node NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode. After reinitialization, the encoder accesses the bus in pre-operational mode. 4.2 Normal Operating Polled Mode By a remote-transmission-request telegram the connected host calls for the current process value. The encoder reads the current position value, calculates eventually set- parameters and sends back the obtained process value by the same identifier. Cyclic Mode The encoder transmits cyclically - without being called by the host - the current process value. The cycle time can be programmed in milliseconds for values between 1 ms and 65536 ms. Sync Mode After receiving a sync telegram by the host, the encoder answers with the current process value. If more than one node number (encoder) shall answer after receiving a sync telegram, the answer telegrams of the nodes will be received by the host in order of their node numbers. The programming of an offset-time is not necessary. If a node should not answer after each sync telegram on the CAN network, the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again. Tab. 11 CAN Transmission Mode Description Version 07/10 BEI Sensors CANopen Manual serie M 19 4.3 Storing Parameter 4.3.1 List of storable Parameter Object Index Object Description 1005h COB-ID Sync 100Ch Guard Time 100Dh Life Time Factor 1016h Consumer Heartbeat Time 1017h Producer Heartbeat Time 1020h Verify configuration 1800h Communication parameter PDO 1 1801h Communication parameter PDO 2 1A00h Transmit PDO1 Mapping Parameter 1A01h Transmit PDO2 Mapping Parameter 2100h Operating Parameters 2101h Resolution per Revolution 2102h Total Resolution 2103h Preset Value 2104h Limit Switch, min. 2105h Limit Switch, max. 2160h Customer Storage 2200h Cyclic Timer 3000h Node Number 3001h Baud rate 3002h Terminal Resistor 3030h C2-C5-Behavior 6000h Operating Parameter 6001h Steps per Revolution 6002h Total Resolution 6003h Preset Value 6200h Cyclic Timer Tab. 12 List of Storable Parameters Version 07/10 BEI Sensors CANopen Manual serie M 20 4.3.1 Storing Procedure The parameter settings can be stored in a non- volatile E 2 PROM. The parameter settings are stored in RAM when being programmed. When all the parameters are set and proved, they can be transferred in one burn cycle to the E 2 PROM by the parameter memory transfer. The stored parameters are copied after a RESET (Power on, NMT- Reset) from the E 2 PROM to the RAM (volatile memory). Storing without Reset By using the object 1010h from the communication profile related object dictionary you can store the parameters into the non- volatile memory without a reset. Storing with Reset By using the object 2300h from the manufacturer specific object dictionary you can store the parameters into the non-volatile memory. After storing the parameters a reset of the device is performed. 4.4 Restoring Parameters The default parameters can be restored by using the object 1011h from communication profile related object dictionary. The already in the non- volatile memory programmed parameters are not overwritten. Only after a new store command the default parameters are stored in the non- volatile memory. To restore the default parameter the following telegram is used. The restored parameters are equal for every type of CANopen encoder and might not fit with the status after delivery. Please check the restored parameters before you store them to the non- volatile memory. 4.5 Usage of Layer Setting Services (LSS) The integrated Layer Setting Service functionality is designed according to the CiA normative DS305V200 CANopen Layer Setting Service: General Description: These services and protocols can be used to inquire or to change settings of several parameters of the physical, data link layer, and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network. In case of the new series, the encoder will be the LSS slave device and the PLC (control) has to support LSS master device functionality. The LSS-functionality of the new series is limited to the following parameters of the application layer, namely node number and baud rate. Version 07/10 BEI Sensors CANopen Manual serie M 21 Object 1018h: Identity Object (LSS-address) Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of entries Unsigned 8 4 ro no 1 Vendor ID Unsigned 32 42h ro no 2 Product Code Unsigned 32 43h 41h ro no 3 Revision Number Unsigned 32 10000h ro no 4 Serial Number Unsigned 32 ro no Tab. 13: Identity Object The LSS master device requests services, that are performed by the encoder (LSS slave devices). The LSS master device requests the LSS address from the LSS slave device. The LSS address is defined in object 1018h Identity Object, it consists of vendor-id, product-code, revision-number and serial-number as shown in Table 10. After receiving this information the control can unequivocally identify the encoder and the node number and baud rate can be set. The exact procedure varies in detail, coursed by the different PLC tools. Version 07/10 BEI Sensors CANopen Manual serie M 22 5. Programmable Parameters Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org) Command Function Telegram Description 22h Domain Download Request Parameter to Encoderr 23h, 27h, 2Bh, 2Fh (*) Domain Download Request Parameter to Encoder (Bytes indicated) 60h Domain Download Confirmation Parameter received 40h Domain Upload Request Parameter request 43h, 47h, 4Bh, 4Fh (*) Domain Upload Reply Parameter to Master (Bytes indicated) 80 h Warning Reply Transmission error (*)The value of the command byte depends on the data length of the called parameter. Tab. 14 General Command Byte Description Command Data length Data type Command Data length Data type 43h 4 Byte Unsigned 32 23h 4 Byte Unsigned 32 47h 3 Byte Unsigned 24 27h 3 Byte Unsigned 24 4Bh 2 Byte Unsigned 16 2Bh 2 Byte Unsigned 16 4Fh 1 Byte Unsigned 8 2Fh 1 Byte Unsigned 8 Tab. 15 Detailed Command Byte Description Object Dictionary Version 07/10 BEI Sensors CANopen Manual serie M 23 The data transmission according to CAL is realized exclusively by object oriented data messages. The objects are classified in groups by an index record. Each index entry can be subdivided by sub-indices. The overall layout of the standard object dictionary is shown beside: 5.1 Programming example: Preset Value If a CANopen device is connected and configured by the turning switches with the right baudrate and also configured to a unused node number, it will start up into the pre-operational mode and send a bootup massage to the master. The RUN LED of the device is now blinking. 5.1.1 Set Encoder Preset Value Master to Encoder with Node Number 1 Setting Preset Value (Value 1000) Identifier DLC Command Index Subindex Service/Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 601 8 22 03 60 00 00 10 00 00 Answer of the Encoder Identifier DLC Command Index Subindex Service/Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 581 8 43 03 60 00 00 00 00 00 Read Preset Value from the Encoder Identifier DLC Command Index Subindex Service/Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 601 8 40 03 60 00 00 00 00 00 Answer of the Encoder Index (hex) Object 0000 not used 0001-001F Static Data Types 0020-003F Complex Data Types 0040-005F Manufacturer Specific Data Types 0060-0FFF Reserved for further use 1000-1FFF Communication Profile Area 2000-5FFF Manufacturer Specific Profile Area 6000-9FFF Standardized Device Profile Area A000-FFFF Reserved for further use Tab. 16 Overview Object Dictionary Version 07/10 BEI Sensors CANopen Manual serie M 24 Identifier DLC Command Index Subindex Service/Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 581 8 43 03 60 00 00 10 00 00 Save Preset Values Identifier DLC Command Index Subindex Service/Process data NN 1 Download 1010h Byte 4 Byte 5 Byte 6 Byte 7 601 8 22 10 10 01 73 61 76 65 Version 07/10 BEI Sensors CANopen Manual serie M 25 5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh In this manual we refer to the communication profile DS301 V4.02 Object Description Page Hand- Book Page DS301 Page DS406 1000h Device type 28 86 8 1001h Error register 29 87 8 1003h Pre-defined error field 29 88 1005h COB-ID SYNC-message 29 89 1006h ComCyclePeriode 29 90 1008h Device name 30 91 1009h Hardware version 30 91 100Ah Software version 30 91 100Ch Guard Time 30 92 100Dh Life Time Factor 31 92 1010h Store parameters 31 92 1011h Restore default parameters 31 94 1012h COB-ID Time Stamp 32 97 1013h High Resolution Time Stamp 32 98 1014h COB-ID Emergency 32 98 1016h Consumer Heartbeat Time 33 100 1017h Producer Heartbeat Time 33 101 1018h Identity Object 33 101 1020h Verify Configuration 34 117 1029h Error Behaviour 34 133 9 1800h Communication parameter PDO 1 34 111 9 1801h Communication parameter PDO 2 34 111 11 1A00h Transmit PDO1 Mapping Parameter 36 112 11 1A01h Transmit PDO2 Mapping Parameter 36 112 12 1F50h Download Program Area 36 1F51h Program Control 37 Tab. 17 Object Dictionary 1000h-1FFFh Version 07/10 BEI Sensors CANopen Manual serie M 26 5.3 Manufacturer specific objects 2000h – 5FFFh Object Description Page Hand-Book 2000h Position Value 37 2100h Operating Parameters 37 2101h Resolution per Revolution 31 2102h Total Resolution 38 2103h Preset Value 39 2104h Limit Switch, min. 40 2105h Limit Switch, max. 40 2160h Customer Storage 41 2200h Cyclic Timer 41 2300h Save Parameter with reset 41 3000h Node Number 42 3001h Baudrate 42 3002h Terminal Resistor 42 3010h Speed Control 43 3011h Speed Value 43 3020h Acceleration Control 43 3021h Acceleration Value 44 4000h Bootloader Control 44 Tab. 18 Object Dictionary 2000-5FFF 5.4 Application specific objects 6000h – 67FEh In this manual we refer to the communication profile DS406 V3.2 Object Description Page Hand-Book Page DS406 6000h Operating Parameters 45 17 6001h Measuring units per revolution 46 18 6002h Total measuring range in measuring units 46 19 6003h Preset value 46 19 6004h Position Value 46 20 6030h Speed Value 47 25 6040h Acceleration Value 48 26 6200h Cyclic Timer 49 28 Version 07/10 BEI Sensors CANopen Manual serie M 27 6300h Cam state register 49 30 6301h Cam enable register 49 32 6302h Cam polarity register 49 33 6400h Area state register 52 6401h Work area low limit 53 6402h Work area high limit 53 6500h Operating status 53 63 6501h Single-turn resolution 54 64 6502h Number of distinguishable revolutions 54 65 6503h Alarms 54 65 6504h Supported alarms 55 66 6505h Warnings 55 67 6506h Supported warnings 56 68 6507h Profile and software version 56 69 6508h Operating time 56 70 6509h Offset value 57 70 650Ah Module identification 57 71 650Bh Serial number 57 72 Tab. 19 Object Dictionary 6000h-6FFFh 5.5 Object Descriptions In the following chapter you will find detailed information of the object dictionary related to the encoderdevice. Object 1000h: Device Type The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit field which describes the device profile that is used and a second 16-bit field which gives additional information about optional functionality of the device. The additional information parameter is device profile specific. Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 32 N/A ro no absolute rotary encoder single turn: 10196h absolute rotary encoder multi turn: 20196h Version 07/10 BEI Sensors CANopen Manual serie M 28 Object 1001h: Error Register This object is used by the device to display internal faults. When a fault is detected, the corresponding bit is therefore activated. The following errors are supported: Bit Description Comments 0 Generic Error The generic error is signaled at any error situation. Subindex Description Data Type Default Value Access Restore after BootUp 0h - Unsigned 8 N/A ro no Object 1003h: Pre-Defined Error Field The object holds the errors that have occurred on the device and have been signaled via the Emergency Object.  The error code is located in the least significant word  Additional Information is located in the most significant word  Subindex 0 contains the number of recorded errors Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of recorded errors Unsigned 8 0 rw no 1 Most recent errors Unsigned 32 - ro no 2 Second to last error Unsigned 32 - ro no … 10 Clearing Error Log The error log can be cleared by writing 0 to subindex 0 of object 1003. Object 1005h: COB-ID Sync This object contains the synchronization message identifier. Version 07/10 BEI Sensors CANopen Manual serie M 29 Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 32 80000080h rw no Object 1008h: Manufacturer Device Name This object contains the device name. Subindex Description Data Type Default Value Access Restore after BootUp 0 - String - ro no Object 1009h: Manufacturer Hardware Version This object contains the article name of the circuit board. Subindex Description Data Type Default Value Access Restore after BootUp 0 - String - ro no There are two actual version of circuit boards:  POS026 Object 100Ah: Manufacturer Software Version This object contains the manufacturer software version. The new encoder line 2008 starts with version 4.00. Subindex Description Data Type Default Value Access Restore after BootUp 0 - String 4.00 ro no Object 100Ch: Guard Time This object contains the guard time in milliseconds. Version 07/10 BEI Sensors CANopen Manual serie M 30 Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 16 0 rw yes Object 100Dh: Life Time Factor This object contains the life time factor parameters. The life time factor multiplied with the guard time gives the life time for the node guarding protocol. Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 8 0 rw yes Object 1010h: Store Parameters This object is used to store device and CANopen related parameters to non volatile memory. Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 2 ro no 1 Store all parameters Unsigned 32 “save” rw no Storing procedure To save the parameters to non volatile memory the access signature “save” has to be sent to the corresponding subindex of the device. Most significant word Least significant word ASCII E v a s Hex value 65h 76h 61h 73h Object 1011h: Restore Parameters This object is used to restore device and CANopen related parameters to factory settings. Subindex Description Data Type Default Value Access Restore after BootUp Version 07/10 BEI Sensors CANopen Manual serie M 31 0 Number of sub indices Unsigned 8 2 ro no 1 Restore all parameters Unsigned 32 “load” rw no Storing procedure To save the parameters to non volatile memory the access signature “load” has to be sent to the corresponding subindex of the device. Most significant word Least significant word ASCII D a o l Hex value 64h 61h 6Fh 6Ch Note: The restoration of parameters will only be taken into account after a power up or reset command. Please check all parameters before you store them to the non volatile memory. Object 1012h: COB-ID Time Stamp Object This object contains the COB-ID of the Time Stamp object. Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 32 100h rw no Object 1013h: High Resolution Time Stamp This object contains a time stamp with a resolution of 1μs. Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 32 0 rw no Object 1014h: COB-ID Emergency Object This object contains the EMCY emergency message identifier. Subindex Description Data Type Default Value Access Restore after BootUp 0 - Unsigned 32 80h + Node ID rw no Version 07/10 BEI Sensors CANopen Manual serie M 32 Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only monitor one corresponding device. If the time is set to 0 the monitoring is not active. The value of this object must be higher than the corresponding time (object 1017) of the monitored device. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of indices Unsigned 8 1 ro no 1h Consumer heartbeat time Unsigned 32 0 rw yes The context of subindex 1 is as follows: Bit 31 to 24 23 to 16 15 to 0 Value 0h (reserved) Address of monitored device Monitoring time (ms Object 1017h: Producer Heartbeat Time The object contains the time intervall in milliseconds in which the device has to produce the a heartbeat message. Subindex Description Data Type Default Value Access Restore after BootUp 0h - Unsigned 16 0 rw yes Object 1018h: Identity Object This object contains the device information. For further information, please see chapter 4.5 Layer Setting Services. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of entries Unsigned 8 4 ro no 1h Vendor ID Unsigned 32 42h ro no 2h Product Code Unsigned 32 43h 41h ro no 3h Revision Number Unsigned 32 10000h ro no 4h Serial Number Unsigned 32 ro no Version 07/10 BEI Sensors CANopen Manual serie M 33 Object 1020h: Verify configuration This object indicates the downloaded configuration date and time. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of entries Unsigned 8 2h ro no 1h Configuration date Unsigned 32 rw no 2h Configuration time Unsigned 32 rw no Object 1029h: Error behaviour This object indicates the error behavior. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of entries Unsigned 8 1h ro no 1h Communication error Unsigned 8 rw no Object 1800h: 1 st TPDO Communication Parameter This object contains the communication parameter of the 1 st transmit PDO. Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 5 ro yes 1 COB-ID Unsigned 32 180h + Node ID rw yes 2 Transmission Mode Unsigned 8 FE rw yes 3 Inhibit Time Unsigned 32 0 rw yes 4 Not available 5 Event Timer Unsigned 32 64h or 0 rw yes Object 1801h: 2 nd TPDO Communication Parameter This object contains the communication parameter of the 2 nd transmit PDO. NOTE: In the older encoder line C2 and C5 the second PDO was configured via object 1802! Version 07/10 BEI Sensors CANopen Manual serie M 34 Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 5 ro yes 1 COB-ID Unsigned 32 280h + Node ID rw yes 2 Transmission Mode Unsigned 8 1 rw yes 3 Inhibit Time Unsigned 32 0 rw yes 4 Not available 5 Event Timer Unsigned 32 0 rw yes Transmission Mode The transmission mode can be configured as described below: Transmission Mode Transfer Value (decimal) Cyclic Acyclic Synchro nous Asynchr onous RTR only Notes 0 X X Send PDO on first Sync message following an event 1-240 X X Send PDO every x Sync messages 241-251 reserved 252 X X Receive SYNC message and send PDO on Remote Request 253 X Update data and send PDO on Remote Request 254 X Send PDO on event 255 X Send PDO on event Inhibit Time For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If data is changed, the PDO sender checks whether an "inhibit time" has expired since the last transmission. A new PDO transmission can only take place if the "inhibit time" has expired. The "inhibit time" is useful for asynchronous transmission (transmission mode 254 and 255), to avoid overloads on the CAN bus. Event Timer The "event timer" only works in asynchronous transmission mode (transmission mode 254 and 255). If the data changes before the "event timer" expires, a temporary telegram is sent. If a value > 0 is written in this Version 07/10 BEI Sensors CANopen Manual serie M 35 16-bit field, the transmit PDO is always sent after the "event timer" expires. The value is written in subindex 5 of a transmit PDO. The data transfer also takes place with no change to data. The range is between 1- 65536 ms. Object 1A00h: 1 st TPDO Mapping Parameter This object contains the mapping parameter of the 1 st transmit PDO. Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 2 ro yes 1 1st mapped object Unsigned 32 60040020h rw yes Object 1A01h: 2 nd TPDO Mapping Parameter This object contains the mapping parameter of the 2 nd transmit PDO. Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub indices Unsigned 8 2 ro yes 1 2 nd mapped object Unsigned 32 60040020h rw yes Object 1F50h: Download Program Area This is a special bootloader object, that has functionality for single turn encoders without connection cap only. (see Bootloader chapter) Use this entry to download your Intel hex file with the programming data. Detailed information about Domain download and Block transfer in CiA Draft Standard 301 Application Layer and communication Profile. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 2h ro Yes 1h DOMAIN wo yes Version 07/10 BEI Sensors CANopen Manual serie M 36 Object 1F51h: Program Control This is a special bootloader object, that has functionality for single turn encoders without connection cap only (see Bootloader chapter). This array controls the programs residing at index 0x1F50. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of program control entries Unsigned 8 2h ro yes 1h Unsigned 32 rw yes Sub-index 1h and higher control the memory block functionality. They can have the following values: for writing: 1 - start downloaded program 4 - erase flash Object 2000h: Position Value This object contains the position value. Subindex Description Data Type Default Value Access Restore after BootUp 0 Position Value Unsigned 32 - ro n.a. Object 2100h: Operating Parameters As operating parameters the code sequence (Complement) can be selected and the limit switches can be turned on or off. Subindex Description Data Type Default Value Access Restore after BootUp 0 Operating Parameters Unsigned 8 0h rw yes The parameter code sequence (Complement) determines the counting direction, in which the output process value increases or decreases (CW = Clockwise, CCW = Counterclockwise). The code sequence is determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min. and Max. can be turned on or off in Index 2100h. Optional an event triggered PDO can be activated. Remark: This function produces a Version 07/10 BEI Sensors CANopen Manual serie M 37 PDO with every change of the position value. Due to this, there will be generated a large amount of PDOs and a heavy bus load. Bit 0 Code sequence Code Bit 1 Limit switch, min. Bit 2 Limit switch, max. Bit 3 Event triggered PDO 0 CW increasing 0 off 0 off 0 off 1 CCW increasing 1 on 1 on 1 on Calculation Example: Target: Absolute rotary encoder with direction CCW decreasing, both limit switches disabled and event-triggered PDOs enabled. Bitmatrix: Bit 0 = 1 Direction decreasing (CCW) Bit 1 = 0 Limit switch min. disabled Bit 2 = 0 Limit switch max. disabled Bit 3 = 1 Event triggered Result = 1001h Object 2101h: Resolution per Revolution This object contains the desired steps per revolution of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp 0 Resolution per Revolution Unsigned 32 see type sign rw yes If the desired value exceeds the hardware resolution of the encoder, the code will not be transmitted stepwise. So it is important, to keep the parameter in the possible value range. Object 2102h: Total Resolution This object contains the desired total resolution of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp 0 Total Resolution Unsigned 32 see type sign rw yes Version 07/10 BEI Sensors CANopen Manual serie M 38 This parameter is used to program the desired number of measuring units over the total measuring range. This value must not exceed the total resolution of the absolute rotary encoder, which is printed on the type sign of the encoder. Attention: Following formula letter will be used: PGA Physical total resolution of the encoder (see type sign) PAU Physical resolution per revolution (see type sign) GA Total resolution (customer parameter) AU Resolution per revolution (customer parameter) Please use the following formula to calculate the total resolution of the encoder: If the desired resolution per revolution is less than the really physical resolution per revolution of the encoder, then the total resolution must be entered as follows: Total resolution: Calculation example: Customer handicap: AU = 2048 Encoder type sign: PGA=24 bit, PAU=12bit Object 2103h: Preset Value The preset value is the desired position value, which should be reached at a certain physical position of the axis. The position value is set to the desired process value by the parameter preset. The preset value must not exceed the parameter total resolution to avoid run-time errors. If the parameter value exceeds the total resolution of the encoder a SDO “Out of range” message is generated. Subindex Description Data Type Default Value Access Restore after BootUp 0 Preset Value Unsigned 32 0 rw yes      , PGA AU GA AU PAU PAU      16777216 2048 4096 8388608 GA GA   , ganze Zahl PGA k k GA Version 07/10 BEI Sensors CANopen Manual serie M 39 Object 2104h: Limit Switch, min. Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit process value is set to high. Both programmed values must not exceed the parameter total resolution to avoid run-time errors. If the parameter value exceeds the total resolution of the encoder a SDO “Out of range” message is generated. Bit 30 = 1: Limit Switch, Min. reached or passed under Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch, min. Unsigned 32 0 rw yes The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value reaches or passes under the value of the limit switch: Function Status bits Process value Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X Object 2105h: Limit Switch, max. Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit process value is set to high. Both programmed values must not exceed the parameter total resolution to avoid run-time errors. If the parameter value exceeds the total resolution of the encoder a SDO “Out of range” message is generated. Bit 31 = 1: Limit Switch, Max. reached or passed beyond Subindex Description Data Type Default Value Access Restore after BootUp 0 Limit Switch, max. Unsigned 32 0 rw yes The limit switch, max sets Bit 31=1 with the next message telegram, if the process value reaches or passes under the value of the limit switch: Version 07/10 BEI Sensors CANopen Manual serie M 40 Function Status bits Process value Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X Object 2160h: Customer storage This object provides for the customer the possibility to store any value. Attention: The values, written to these objects, will be stored in volatile memory, only. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 4h ro 1h Customer Storage1 Unsigned 32 rw 2h Customer Storage2 Unsigned 32 rw 3h Customer Storage3 Unsigned 32 rw 4h Customer Storage4 Unsigned 32 rw Object 2200h: Cyclic Timer PDO This object contains cyclic time of the event timer in ms (of PDO 1). Subindex Description Data Type Default Value Access Restore after BootUp 0h Event Time in ms Unsigned 16 0h ro yes The object 2200h is hard-wired to the objects 1800h subindex 5h and 6200h and provide the cycle time for the cyclic mode. (See chapter Cycle Time and Event Timer) Object 2300h: Save Parameter with Reset With this object all parameters can be stored in the non volatile memory. After storing the parameters a reset is executed. Subindex Description Data Type Default Value Access Restore after BootUp Version 07/10 BEI Sensors CANopen Manual serie M 41 0 Access code Unsigned 32 55AAAA55h wo no Object 3000h: Node Number This object contains the node number of the device. The BEI Sensors standard node number is 32. Subindex Description Data Type Default Value Access Restore after BootUp 0 Node Number Unsigned 8 1Fh rw Yes NOTE: To avoid the node number 0, one will be added to the value of this object! E.g.: 1Fh+1h = 20h = 32 (dec) Object 3001h: Baudrate This object contains the baudrate of the device. Subindex Description Data Type Default Value Access Restore after BootUp 0 Baudrate Unsigned 8 - rw yes Eight different baud rates are provided. To adjust the baud rate only one byte is used. Baudrate in kBit/s Byte 20 00h 50 01h 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h Object 3002h: Terminal Resistor This object allows the control of an internal terminal resistor. This resistor can be switched galvanically isolated via a Photo-MOS-relay. Version 07/10 BEI Sensors CANopen Manual serie M 42 Subindex Description Data Type Default Value Access Restore after BootUp 0 Terminal resistor BOOL 0h rw yes Object 3010h: Speed Control This object contains the speed control. The speed measurement is disabled by default. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 2h ro 1h Enable Speed Unsigned 8 0h rw yes 2h Speed modus Unsigned 8 0h rw yes Object 3011h: Speed Value This object contains speed value. Subindex Description Data Type Default Value Access Restore after BootUp 0h Speed value INTEGER32 romap no Speed-modus setting Delay [msec] Accuracy [steps/sec], relative 0 1 2 5 50 500 +/-32; 3.5% +/-16; 1.0% +/-8; 0.3% Tab. 20 Delay and accuracy Object 3020h: Acceleration Control This object contains the acceleration control. The acceleration measurement is disabled by default. Subindex Description Data Type Default Value Access Restore after BootUp Version 07/10 BEI Sensors CANopen Manual serie M 43 0h Number of sub indices Unsigned 8 2h Ro 1h Enable Acceleration Unsigned 8 0h rw Yes 2h Acceleration modus Unsigned 8 0h rw yes Object 3021h: Acceleration Value This object contains acceleration value. Subindex Description Data Type Default Value Access Restore after BootUp 0h Acceleration Value INTEGER32 romap Acceleration-modus setting Delay [msec] Accuracy [steps/sec²] 0 1 2 40 120 750 +/-1’024 +/-512 +/-128 Tab. 21 Delay and accuracy Object 3030h: C2-C5-Behavior This object allows to switch back in an backward compatibility mode. To switch back, the security code “47111147h“ has to be written to Subindex 0h. After this the Subindex 1h Enable C2-C5-Behavior can be written to ONE. This modus should only be used for fully compatible replacement of C2- or C5-encoders. For further information, concerning compatibility, have a look at Apendix B Subindex Description Data Type Default Value Access Restore after BootUp 0h Security code Unsigned 32 47111147h ro 1h Enable C2-C5-Behavior BOOL 0h rw yes Object 4000h: Bootloader Control This object controls the Bootloader functionality. Writing the security code to this object causes erasing the EEPROM and application information in the flash memory and resets the device. After a power-up, the Bootloader checks the user application and detects no more information. The Bootloader starts up with a pre-defined CANopen node ID of 1 (0x1) and a fixed CAN baud rate of 125 kbits. Version 07/10 BEI Sensors CANopen Manual serie M 44 Subindex Description Data Type Default Value Access Restore after BootUp 0h Bootloader Control Unsigned32 wo ATTENTION: Activating the boot loader courses a deep reset of the device. If the encoder enters boot loader mode, only a minimum object amount will remain, to assure basic communication. The device does not behave like an encoder anymore and waits for new programming. Firmware updates have to be done in close cooperation with the CAN product manager of BEI Sensors. Object 6000h: Operating parameters This object shall indicate the functions for code sequence, commissioning diagnostic control and scaling function control. Code sequence: The code sequence defines, whether increasing or decreasing position values are output, in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft. Scaling function control: With the scaling function the encoder numerical value is converted in software to change the physical resolution of the encoder. The measuring units per revolution (object 6001h) and total measuring range in measuring units (object 6002h) are the scaling parameters. The scaling function bit is set in the operating parameters. If the scaling function bit is set to zero, the scaling function is disabled. Bit structure for the operating parameters Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R R R R R MD SFC CD CS Table Description: MS: Manufacturer Specific Function (not available) R: Reserved for future use MD: Measuring direction (not available) Subindex Description Data Type Default Value Access Restore after BootUp 0h Operating Parameter Unsigned 16 0h rw yes Version 07/10 BEI Sensors CANopen Manual serie M 45 SFC: Scaling function (0 = disable, 1 = enable) CD: Commissioning diagnostic control (not availabe) CS: Code sequence (0 = CW, 1 = CCW) Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h. Object 6001h: Measuring units per revolution This object shall indicate the number of distinguishable steps per revolution. Subindex Description Data Type Default Value Access Restore after BootUp 0h Measuring units per revolution Unsigned 32 see type sign rw yes Hardwired with 2101h. Object 6002h: Total measuring range in measuring units This object shall indicate the number of distinguishable steps over the total measuring range. Subindex Description Data Type Default Value Access Restore after BootUp 0h Total measuring steps Unsigned 32 see type sign rw yes Object 6003h: Preset value This object indicates the preset value for the output position value Subindex Description Data Type Default Value Access Restore after BootUp 0h Preset Value Unsigned 32 0h rw yes Object 6004h: Position value This object contains the process value of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp Version 07/10 BEI Sensors CANopen Manual serie M 46 0h Process Value Unsigned 32 - romap yes Hardwired with Object 2000h. Object 6030h: Speed Value This object contains the speed value of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 1h ro 1h Speed value channel1 Integer 16 - romap yes If the velocity exceeds the data type, the speed value is frozen to the maximal possible value. The customer can use the 3010h (32 bit) object. How to map the speed into TPDO2: (Hint: SDO: 0x600 + Node number. The following values are all in hex and the Nodenumber is "1" DLC (Data length) = 8 , 22 means "write", This example is written in intel-format (LSB...MSB), depending on your tool, it could be, that Motorola-format (MSB..LSB) is used and the direction of the Bytes have to be changed.) 1. The TPDO2 has to be enabled by setting the Transmission type (1801Sub2) to FE: 601 8 22 01 18 02 FE 00 00 00 2. The Event Timer has to be changed from 0x00 to the desired value (e.g.: 100 ms --> 0x64) 601 8 22 01 18 05 64 00 00 00 3. The TPDO mapping Parameter 0 (1A01) has to be dissabled, by setting the Number of entries (1A01Sub0) to 0: 601 8 22 01 1A 00 00 00 00 00 4. Then the dissabled TPDO mapping Parameter 0 Subindex 1, namely mappedObj1, can be written. The Speed values is Object 6030Sub1 and the data length is 16Bit --> 10: 601 8 22 01 1A 01 10 01 30 60 Version 07/10 BEI Sensors CANopen Manual serie M 47 5. The TPDO mapping Parameter 0 (1A01) has to be enabled, by setting the Number of entries (1A01Sub0) to 1, again: 601 8 22 01 1A 00 01 00 00 00 6. Finally the Speed has to be enabled by setting "Enable Speed" (3010Sub1): 601 8 22 10 30 01 01 00 00 00 7. To save this configuration please write 73 61 76 65 to 1010: 601 8 22 10 10 01 73 61 76 65 8. Send the NMT-message, to get into "Operational Mode": 00 2 01 00 Summarisation: 601 8 22 01 18 02 FE 00 00 00 601 8 22 01 18 05 64 00 00 00 601 8 22 01 1A 00 00 00 00 00 601 8 22 01 1A 01 10 01 30 60 601 8 22 01 1A 00 01 00 00 00 601 8 22 10 30 01 01 00 00 00 601 8 22 10 10 01 73 61 76 65 00 2 01 00 Object 6040h: Acceleration Value This object contains the acceleration value of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 1h ro 1h Acceleration value channel1 Integer 16 - romap yes Version 07/10 BEI Sensors CANopen Manual serie M 48 Object 6200h: Cyclic timer This object contains the value of the event timer of the corresponding TPDOs. The value can be changed between 1-65538 ms. Subindex Description Data Type Default Value Access Restore after BootUp 0h Cyclic Time Unsigned 16 64h rw yes The object 6200h is hard-wired to the objects 1800h subindex 5h and 2200h and provide the cycle time for the cyclic mode. (See chapter Cycle Time and Event Timer) Object 6300h: Cam state register This object contains the cam state register. The subindices 1h to FEh contain the cam state of channel 1 to 254. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 1h ro 1h Cam state channel 1 Unsigned 8 4h romap yes Object 6301h: Cam enable register This object contains the cam enable register Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 1h ro 1h Cam enable channel 1 Unsigned 8 rw yes Object 6302h: Cam polarity register This object contains the cam enable register Subindex Description Data Type Default Value Access Restore after Version 07/10 BEI Sensors CANopen Manual serie M 49 BootUp 0h Number of sub indices Unsigned 8 1h ro 1h Cam polarity channel 1 Unsigned 8 0h rw yes List of Cam objects 6310h Cam1 low limit rw 0h VAR Highest sub-index supported U32 ro 0x1 1h VAR Cam1 low limit channel1 rw 6311h Cam2 low limit rw 0h VAR Highest sub-index supported U32 ro 0x1 1h VAR Cam2 low limit channel1 rw 6312h Cam3 low limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam3 low limit channel1 rw 6313h Cam4 low limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam4 low limit channel1 rw 6314h Cam5 low limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam5 low limit channel1 rw 6315h Cam6 low limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam6 low limit channel1 rw 6316h Cam7 low limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam7 low limit channel1 rw 6317h Cam8 low limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam8 low limit channel1 rw 6320h Cam1 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam1 high limit channel1 rw 6321h Cam2 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 Version 07/10 BEI Sensors CANopen Manual serie M 50 1h VAR Cam2 high limit channel1 rw 6322h Cam3 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam3 high limit channel1 rw 6323h Cam4 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam4 high limit channel1 rw 6324h Cam5 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam5 high limit channel1 rw 6325h Cam6 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam6 high limit channel1 rw 6326h Cam7 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam7 high limit channel1 rw 6327h Cam8 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam8 high limit channel1 rw 6330h Cam1 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam1 hyteresis channel1 rw 6331h Cam2 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam2 hyteresis channel1 rw 6332h Cam3 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam3 hyteresis channel1 rw 6333h Cam4 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam4 hyteresis channel1 rw 6334h Cam5 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam5 hyteresis channel1 rw 6335h Cam6 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 Version 07/10 BEI Sensors CANopen Manual serie M 51 1h VAR Cam6 hyteresis channel1 rw 6336h Cam7 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam7 hyteresis channel1 rw 6337h Cam8 hyteresis rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam8 hyteresis channel1 rw Object 6400h: Area state register This object contains the area state register The object provides the actual area status of the encoder position. Figure 9 specifies the object structure and Table 106 specifies the value definition. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Unsigned 8 1h ro 1h Work area state channel Unsigned 8 romap yes 7 6 5 4 3 2 1 0 R r r r r Range underflow Range overflow Out of range MSB LSB Signal Value Definition out of range 0 1 Position between low and high limit Position out of range (refer to module identification object, 650Ah) is reached range overflow 0 1 No range overflow Position is lower than the position value set in object 6402h „work area low limit“ range underflow 0 1 No range underflow Position is higher than the position value set in object 6401h „work area high limit“ Version 07/10 BEI Sensors CANopen Manual serie M 52 r 0 Reserved Object 6401h: Work area low limit This object indicates the position value, at which bit 2 of the according work area state channel in object 6400h shall flag the underflow of the related work area. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Integer 32 1h ro 1h Work area low limit channel 1 Integer 32 0h rw yes This object is hardwired with 2104h (Limit Switch Min). Object 6402h: Work area high limit This object indicates the position value, at which bit 1 of the according work area state channel in object 6400h shall flag the overflow of the related work area. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Integer 32 1h ro 1h Work area high limit channel 1 Integer 32 0h rw yes This object is hardwired with 2105h (Limit Switch Max). Object 6500h: Operating status This object shall provide the operating status of the encoder. It gives information on encoder internal programmed parameters. Subindex Description Data Type Default Value Access Restore after BootUp 0h Operating status Unsigned 16 - ro no The operating status object corresponds to the value of the object 6000h and 2100h. Version 07/10 BEI Sensors CANopen Manual serie M 53 Object 6501h: Single-turn resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder. Subindex Description Data Type Default Value Access Restore after BootUp 0h Single Turn Resolution Unsigned 32 see type sign ro no Object 6502h: Number of distinguishable revolutions This object contains number of revolutions of the absolute rotary encoder. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of Revolutions Unsigned 16 see type sign ro no Object 6503h: Alarms Additionally to the emergency messages in /CiA301/, this object shall provide further alarm messages. An alarm shall be set if a malfunction in the encoder could lead to incorrect position value. If an alarm occurs, the according bit shall indicate the alarm til the alarm is cleared and the encoder is able to provide an accurate position value. Subindex Description Data Type Default Value Access Restore after BootUp 0h Alarms Unsigned 16 - romap no Bit structure of the alarms Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R R R R R R R CD PE Table Description: MS: Manufacturer Specific Alarm (not supported) R: Reserved for future use CD: Commissioning diagnostic control (not supported) PE: Position Error (not supported) Version 07/10 BEI Sensors CANopen Manual serie M 54 Object 6504h: Supported alarms The object shall provide the supported alarms of the device. Please refer to the bit structure table to find more details about the supported alarms. Subindex Description Data Type Default Value Access Restore after BootUp 0h Supported Alarms Unsigned 16 1000h ro no The CA-encoder supports the position error alarm. Object 6505h: Warnings This object shall provide the warnings. Warnings indicate that tolerance for certain internal parameters of the encoder have been exceeded. In contrast to alarm and emergency messages warnings do not imply incorrect position values. All warnings shall be cleared if the tolerances are again within normal parameters. Subindex Description Data Type Default Value Access Restore after BootUp 0h Warnings Unsigned 16 - romap no Bit structure of the warnings Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Use MS MS MS MS R R R R R R RP BC OT CP LC FE Table Description: MS: Manufacturer Specific Warnings (not supported) R: Reserved for future use RP: Reference Point reached/not reached (not supported) BC: Battery charge (not supported) OT: Operating Time limit (not supported) CP: CPU watchdog status (not supported) LC: Light control reserve (not supported) FE: Frequency warning (not supported) Version 07/10 BEI Sensors CANopen Manual serie M 55 Object 6506h: Supported warnings The object provides the supported warnings of the device. Please refer to the bit structure table to find more details about the supported warnings. Subindex Description Data Type Default Value Access Restore after BootUp 0h Supported Warnings Unsigned 16 1000h ro no Currently there are not supported warnings available for an Optocode absolute rotary encoder. The CA-encoder supports the manufacture specific warning (Bit 12). Object 6507h: Profile and software version This object provides the implemented encoder device profile version and the manufacturer-specific software version. Subindex Description Data Type Default Value Access Restore after BootUp 0h Profile and Software Version Unsigned 32 04040302h ro no The value is divided into the profile version part and the Software version part. Each part is divided in upper version and lower version. MSB LSB Software Version 4.4 Profile Version 3.2 Upper Software Version Lower Software Version Upper Profile Version Lower Profile Version 04 04 03 02 Object 6508h: Operating time This object indicates the operating time of the device. Currently the operating time is not supported and the value of this object will always be FFFFFFFFh. Subindex Description Data Type Default Value Access Restore after BootUp 0h Operatiung time Unsigned 32 FFFFFFFFh ro no Version 07/10 BEI Sensors CANopen Manual serie M 56 Object 6509h: Offset value This object contains the offset value. It is been calculated by the preset function and shifts the physical position value with the desired value. Subindex Description Data Type Default Value Access Restore after BootUp 0h Offset value Integer 32 - ro no Object 650Ah: Module identification This object shall provide the manufacturer-specific offset value, the manufacturer-specific minimum and maximum position value. Subindex Description Data Type Default Value Access Restore after BootUp 0h Highest supported subindex Integer 32 3 ro no 1h Manufacturer offset value Integer 32 - ro no 2h Man. min. position value Integer 32 - ro no 3h Man. max. position value Integer 32 - ro no Object 650Bh: Serial number This object contains the serial number of the device. The serial number is also supported in object 1018h subindex 4h. Subindex Description Data Type Default Value Access Restore after BootUp 0h Serial Number Unsigned 32 See type sign ro no Version 07/10 BEI Sensors CANopen Manual serie M 57 6. Troubleshooting 6.1 Power on – Encoder doesn’t respond Problem: The bus is active but the installed encoder transmitted no boot up message. Possible solution: - switch of the PLC - remove the connection cap of the encoder - check the turn-switch for the baud rate - Assemble the connection cap - power on 6.2 Malfunction of the position value during transmission Problem: During the transmission of the position value occasional malfunction occurs. The CAN bus can be temporary in the bus off state also. Possible solution: Check, if the last bus node has switched on the terminal resistor. If the last bus node is an encoder the terminal resistor is situated in the connection cap. 6.3 Too much ERROR-Frames Problem: The bus load is too high in case of too much error frames. Possible solution: Check if all bus node has the same baud rate. If one node has another baud rate error frames are produced automatically. 6.4 Limit switches without function Problem: The encoder didn’t transmit the bits for the limit switches. Possible solution: The limit switch functionality has to be activated once. Please follow the description you can find at 4.5. 6.5 Encoder without connection cap Notice: The changing of baud rate and node number are only valid after a new power up, NMT Reset or the store parameters command. Version 07/10 BEI Sensors CANopen Manual serie M 58 7. Mechanical Drawings Synchro flange (S) Two versions available Clamp flange (C) Synchro flange d / mm l / mm Version S06 6f6 10 Version S10 10h8 20 d ~32 Ø60 Ø42 15 63,5 4 3 3 l 20 20 Single-Turn=82, Multi-Turn=92 Ø6,5-9 Schlüsselweite, wrench size=17 3xM4x6 3x120° ø50 ø58 f7 Ø59 (Ø61)* 23 30 * Edelstahl / Stainless steel * Edelstahl / Stainless steel 3 10 18 20 20 Schlüsselweite, wrench size=17 15° 3x120° 3x120° 3xM4x6 Ø48 3xM3x6 63,5 Ø60 ~27 Ø6,5-9 Single-Turn=82, Multi-Turn=92 Ø59 (Ø61)* 23 30 Ø58 Ø53 Ø36 15 1 30 Ø10 h8 f7 3 Single-Turn = 72, Multi-Turn = 82 Version 07/10 BEI Sensors CANopen Manual serie M 59 Hollow shaft (B) * Edelstahl / Stainless steel 20° Ø63 20 72 Single-Turn=100 , Multi-Turn=112 1,3 3,3 Anlagekante an Momentenstütze Ø15 F7 15 23 Ø59 (Ø61)* ~32 Ø6,5-9 Schlüsselweite, wrench size=17 Ø3,2 63,5 20 20 Ø60 (lay-on edge torque support) ** Welleneinstecktiefe (hollow shaft depth) Max. W ** = 30 Min. W ** = 15 Mounting instructions The clamp ring may only be tightened if the shaft of the driving element is in the hollow shaft. The diameter of the hollow shaft can be reduced to 12mm, 10 mm or 8 mm by using an adapter (this reducing adapter can be pushed into the hollow shaft). Allowed shaft movements of the drive element are listed in the table. axial radial static ± 0.3 mm ± 0.5 mm dynamic ± 0.1 mm ± 0.2 mm Single-Turn = 90, Multi-Turn = 102 Version 07/10 BEI Sensors CANopen Manual serie M 60 Connection cap AH58-B1CA-1BW, 5pin round connector M12, Micro style Connection cap AH58-B1CA-2BW, female and male connector 5pin connector M12, Micro Style Ø60 23 30 20 15 66 12 12 Ø60 23 30 20 15 66 12 Version 07/10 BEI Sensors CANopen Manual serie M 61 Synchroflange (S) Two versions available Cable exit (cable diameter = 8 mm ) Clampflange (C10) Cable exit (cable diameter = 8 mm ) or 5 pin M12 connector Synchroflange d / mm l / mm Version S06 6f6 10 Version S10 10h8 20 Ø36 f7 1 Ø10 h8 3 Ø58 Ø53 Ø59 3 18 L ~28 5 25 30 3x120° 3xM3x6 3xM4x6 3x120° 15° Ø48 ~18 ~33 Ø59 L ~28 30 25 5 ~18 ~33 4 3 Ø42 l 3 Ø58 3xM4x6 3x120° f7 Ø50 d L Single-Turn 53mm Multi-Turn 62mm Clampflange (C), 9 pin D-Sub connector Synchroflange (S), 9 pin connector The dimensions of encoder housing in the versions cable exit, 12 pin circular connector and 5 pin connector from clamp flange are also valid for the synchro flange. L Single-Turn 53mm Multi-Turn 62mm Ø36 f7 1 Ø10 h8 3 Ø58 Ø53 Ø59 3 18 Single-Turn=53, Multi-Turn=62 3x120° 3xM3x6 3xM4x6 3x120° 15° Ø48 8 13 UNC 4-40 Blind shaft (B) Cable exit (cable diameter = 8 mm) or 5 pin M12 connector Mounting instructions The clamp ring should only be tightened if the shaft of the driving element is inserted into the hub shaft. The diameter of the hollow shaft can be reduced to 12mm, 10 mm or 8 mm by using an adapter (this reducing adapter can be pushed into the hollow shaft). Maximum shaft movements of the drive element are listed in the table. Axial Radial static ± 0,3 mm ± 0,5 mm dynamic ± 0,1 mm ± 0,2 mm L Single-Turn 72mm Multi-Turn 81mm Version 07/10 BEI Sensors CANopen Manual serie M 64 Heavy Duty version with solid shaft Clamp flange as well as synchro flange with 10mm shaft available Heavy Duty version with blind shaft Maximum shaft movements of drive element are listed in the table. Axial Radial static ± 0,3 mm ± 0,5 mm dynamic ± 0,1 mm ± 0,2 mm Ø12 20° Ø63 20 72 Ø3.2 Singleturn=66, Multiturn=90 1,3 3,3 Ø60 73 12,5 21,5 32 Anlagekante an Momentenstütze Max. Welleneinstecktiefe = 30 Min. Welleneinstecktiefe = 15 F7 IN OUT Singleturn=45, Multiturn=69 Ø60 73 12,5 21,5 32 OUT IN M4x6 3x120° 55 Ø48 1 Ø10 h8 f7 Ø58 Ø36 10 18 30 Version 07/10 BEI Sensors CANopen Manual serie M 65 Appendix A: Order Codes Description Type key Optocode MHM5-MHK5-MHO5 CA A1 B - _ _ _ _ - _ _ _ _- ___ Interface CANopen CA Version A1 Code Binary B Revolutions (Bits) Singleturn 00 Multiturn (4096 revolutions) 12 Multiturn (16384 revolutions) 14 Steps per revolution 4096 (0,09°) 12 8192 (0,04°) 13 65536 (0,005°) 16 Flange Clamp flange C Synchro flange S Through Hollow Shaft T Blind shaft B Shaft diameter 06 mm (MHM5) 06 10 mm (MHM5 10 12 mm (Through Hollow Shaft) (MHO5 12 15 mm (Blind Hollow shaft) (MHK5) 15 Mechanical options without 0 Shaft sealing (IP66) S Stainless steel version* V Customized C Connection Connection Caps Cap encoder with connection cap AH 58-B1CA-3PG H3P Cap encoder with connection cap AH 58-B1CA-2M20 H2M Cap encoder with connection cap AH 58-B1CA-1BW H1B Cap encoder with connection cap AH 58-B1CA-2BW H2B Cap encoder without connection cap** HCC Cable Cable exit 1m, radial, open wire ends CRW Cable exit 1m, axial, open wire ends CAW Connectors Connector exit, radial, 5 pin male M12 PRM Connector exit, axial, 5 pin male M12 PAM Connector exit, axial, 9 pin D-Sub PA9 Standard = bold , further models on request * Stainless Steel version is not available with radial cable or connector exit (namely CRW, PRM) ** For the function of a cap encoder a connection cap is needed. To order this encoder type only makes sense for spare part / replacement usage Tab. 22 Order Key Version 07/10 BEI Sensors CANopen Manual serie M 66 Connection caps All connections caps are equipped with a switchable terminal resistor, integrated T-coupler for CAN bus lines, BCD switches to adjust baudrate and node number, as well as LEDs for diagnosis. Description Aluminium housing with three M12 cable glands for cable diameters between 6,5 – 9 mm. Stainless steel housing with three M12 cable glands. Aluminium housing with one 5 pin male M12 connector. Aluminium housing with on 5 pin male M12 connector and one 5 pin female M12 connector Aluminium housing with two M20 cable glands for cable diameter between 9 – 13 mm. Models/Ordering Description for Heavy Duty Version Description Type key Optocode MHM5 – MHK5- CA A1 B - _ _ _ _ - _ _ _ _- ___ Interface CANopen CA Version A1 Code Binary B Revolutions (Bits) Singleturn 00 Multiturn (4096 revolutions) 12 Multiturn (16384 revolutions) 14 Steps per revolution 4096 12 8192 13 65536 16 Flange Clamp flange C Synchro flange S Blind shaft B Shaft diameter 10 mm (MHM5) 10 15 mm (Hollow shaft) (MHK5) 15 Mechanical options without H Customized C Connection 1x 5 pin M12 connector male, 1x 5 pin M12 connector female, venting element PRN 1x 5 pin M12 connector male, venting element PRM Tab. 23 Order Key for Heavy Duty encoders Version 07/10 BEI Sensors CANopen Manual serie M 67 Accessories and documentation Description Drilling: 10 mm / 10 mm Drilling: 6 mm / 6 mm Shaft Coupling Drilling: 4 mm – 11 mm Clamp Disc Set (4 pieces). Clamp Ring Set (2 pieces) Reducing Ring* 15 mm to 12 mm Reducing Ring * 15 mm to 10 mm Reducing Ring * 15 mm to 8 mm Version 07/10 BEI Sensors CANopen Manual serie M 68 Appendix B: History and Compatibility History encoder generations This chapter gives you information about older types of absolute rotary encoder with CANopen interface. Technical changes and compatibilities between the different types are specified. Encodergeneration Optocode Since September 2009 the second CANopen encoder generation, namely OPTOCODE-II, replaces the OPTOCODE encoders. To guarantee conformity to CiA standard the encoders had to be changed in a way, that they are not fully compatible to the old types anymore. Overview of the incompatibilities:  LED-behaviour  Object 1802h second TPDO  Object 1000h Device Type is not 196h  Restore command  BCD-switch position 9 in the connection cap 3.2 Boot-up-time The encoder line needs less time to send the Boot-Up message after switching on. old -series new series Ca. 3000ms Ca. 250 ms 3.3 Object 1802h In the past the second PDO could be parameterised by the object 1801h and 1802h. This is not consistent with the CiA standards and will be ended with the new encoder line. This means in the future the second PDO can only be parameterised via object 1801h. New versions C6, CA (CiA- Conform) Mode COB-ID 1800h PDO1 Asynchronous 180h 1801h PDO2 Cyclic 280h 1802h PDO3 Optional Cyclic (not used in C6) 380h Old versions C2 and C5 Mode COB-ID 1800h PDO1 Asynchronous 180h 1801h PDO2 Cyclic Not used! 1802h PDO2 Optional Cyclic (used in C2/C5) 280h 3.4 Objekt 1000h Device Type is not 196h Object 1000h contains a coded description of CAN devices. Until now 196h was written to all encoder types. According to the standards singleturn and multiturn must be distinguished: Version 07/10 BEI Sensors CANopen Manual serie M 69  Singleturn  10196h  Mutliturn  20196h 3.5 Restore Command In the past the restore command set the encoder to customised default values The restore command sets the encoder to BEI Sensors default values, which are defined in the user manual. Communication parameters like node number and baud rate are not restored. 3.6 Connection Cap BCD-switch setting “9” The, former undefined, BCD-switch setting “9” in the connection cap is used to set the encoder in a mode, that ignores the switch setting for baud rate and node number. The parameters can be modified by SDO messages and LSS, only. 3.7 C2-C5-Work-around With little limitations, the new encoder line will be compatible to the current version. It will be possible to use the old EDS-file for configuration purposes in the PLC with the new encoder and no errors will occur. Merely the enhanced functions, like velocity- and acceleration-output, will not be available. In case for unexpected problems, there is the possibility to set the CA-encoder in a compatibility mode, that will restore the old C2- C5-behavior. There are the following procedures to set this mode:  Manual, with the BCD-switch in the connection cap: o Remove cap from encoder o Set node number 97 o Reconnect connection cap  Both LEDs will glow in red. o Remove connection cap again and set back to the needed node number o Reconnect connection cap  C2-C5-Behavior  Via Software: o Set object 3030h subindex 1h to „ONE“ via SDO-commando o Hard- or Software RESET CA00 Type key Nr. type key old type key new comment 1 2 58XX-XXXX-XBA1C203PG AH58-CA-3PG 58XX-XXXX-XB B1 C203PG AH58- B1 CA-3PG encoder CAN connection cap CAN X: wildcard for various designs Version 07/10 BEI Sensors CANopen Manual serie M 70 Version history connection cap In particular the design of the connection cap is improved. Easier installation due to a new type of screw terminals inside of the connection cap. On the back of the connection cap two multi- color LEDs are implemented for easy diagnosis. The terminal resistor is hooked up via a slide switch. Thus continuative bus connection will be cut off. The localisation of accidentally switched on terminal resistors wil be made easier. The device address and the baudrate will be adjusted via BCD switches. This made the installation easier. Changes of the CANopen protocol The following changes have not be relevant to you because only specific function according to the newest CANopen specification (DS-301 V4.0) are not supported anymore or are new implemented. If your application don’t use this function, there will be no problem. Changes of entries in object dictionary Relevant changes applies to the boot-up message, as well as some entries in the CANopen object index not used by the common user. A complete list of these objects you can find in the following table. object-nr. (hex) comment CANopen profile DS301 V3.0 58XX-XXXX-XBA1C203PG CANopen profile DS301 V4.0 58XX-XXXX-XBB1C203PG 1004 Number of PDOs supported supported according to DS301-V4.0 not supported anymore 100B Node-ID supported according to DS301-V4.0 not supported anymore 100E COB-ID Guarding protocol supported according to DS301-V4.0 not supported anymore 1016 Consumer heartbeat time reserved supported 1017 Producer heartbeat time reserved supported 1018 Identity Object reserved supported Changing transmit PDO communication parameter In the new encoder generation the polling isn’t supported anymore if the PDO is disabled. According to CANopen specification DS301- V4.0 it is necessary to set the cyclic time (object entry [2200h]) to 0 and left the PDO switched on to poll the encoder. Important! If the PDO is switched off no communication is possible. Version 07/10 BEI Sensors CANopen Manual serie M 71 Polling in Pre-Operational state The old generation has accepted polling requests in pre-operational state, but wasn’t correct according to CANopen standard. In the manual for the old encoder was a hint, that the polling request is not allowed in pre-operational state, because it is not defined in the CANopen standard. So be aware that the new encoder is in general not accepting poll requests in pre- operational state independent of configuration of the behavior as new or old encoder. Changes in boot-up sequence If the old encoder generation is connected to the supply voltage or a NMT message (reset node, reset communication) is sent to the encoder, a boot-up message appears. The telegram structure looks like this: identifier: 80hex + node number, data length 0 bytes This message was not defined by the specification DS301 V3.0, but vendor specific used by some manufactures to show that the device is ‘alive’. According to DS301 V4.0 the new rotary encoder generation doesn’t support this message anymore. In place of the old message a common valid boot-up message is defined. The structure looks like this: identifier: 700hex + node number, data length 1 byte This boot-up message also appears if the command ‘reset node’ and ‘reset communication’ is sent to the encoder. Handling of spare parts Boot-up message new encoder and old connection cap To use the new encoder generation as spare part for the old encoder generation, the new encoder recognize the old connection cap type and support the specification DS301-V3.0 automatically as well as the appropriate boot-up message. Changing of the default BootUp message of the B1 version To get the same boot-up behavior of the old encoder generation if you use the new encoder generation and the new connection cap type there will be following solution: The needed protocol type will be activated via a defined device address. Please use the following configuration sequence: 1. Setting the needed address (s. table below). 2. Connect the connection cap to the encoder. 3. Switch on supply voltage. 4. Wait until both LEDs are red. 5. Switch off supply voltage. 6. Remove connection cap. 7. Set up the correct device address. (0- 89) 8. Connect the connection cap to the encoder. 9. Switch on supply voltage. normal operation. Profile according C2 encoder protocol DS301-V3.0 protocol DS301-V4.0 address 97 address 98 address 99 Version 07/10 BEI Sensors CANopen Manual serie M 72 Beside the set up via hardware there is also the possibility to set up the protocol via SDO objects. For further information please refer the manual. Version 07/10 BEI Sensors CANopen Manual serie M 73 Appendix C: Glossary A Address Number, assigned to each node, irrespective of whether it is a master or slave. The encoder address (non-volatile) is configured in the base with rotary switches or SDO objects. APV Absolute Position Value. B Baud rate Transmission speed formulated in number of bits per second. Bus node Device that can send and/or receive or amplify data by means of the bus. Byte 8-bit unit of data = 1 byte. C CAL CAN application layer. CAN Controller Area Network or CAN multiplexing network. CANopen Application layer of an industrial network based on the CAN bus. CCW Counter-clockwise CiA CAN In Automation, organization of manufacturers and users of devices that operate on the CAN bus. COB Elementary communication object on the CAN network. All data is transferred using a COB. COB-ID COB-Identifier. Identifies an object in a network. The ID determines the transmission priority of this object. The COB-ID consists of a function code and a node number. CW Clockwise E EDS file Standardized file containing the description of the parameters and the communication methods of the associated device. Version 07/10 BEI Sensors CANopen Manual serie M 74 F FAQ Frequently Asked Questions FC Function code. Determines the type of message sent via the CAN network. L Line terminator Resistor terminating the main segments of the bus. LMT Network management object. This is used to configure the parameters of each layer in the CAN. Master "Active" device within the network, that can send data without having received a request. It controls data exchange and communication management. N NMT Network management object. This is responsible for managing the execution, configuration and errors in a CAN network. NN Node number P PCV Process Value PDO Communication object, with a high priority for sending process data. PV Preset Value: Configuration value R RO Read Only: Parameter that is only accessible in read mode. ROMAP Read Only MAPable: Parameter that can be polled by the PDO. RW Read/Write: Parameter that can be accessed in read or write mode. S Version 07/10 BEI Sensors CANopen Manual serie M 75 SDO Communication object, with a low priority for messaging (configuration, error handling, diagnostics). Slave Bus node that sends data at the request of the master. The encoders are always slaves. W WO Write Only: Parameter that is only accessible in write mode. Version 07/10 BEI Sensors CANopen Manual serie M 76 Appendix D: List of tables Tab. 1 Signal Assignment Connection Cap ..................................................................................................7 Tab. 2 Baud rate Assignment Connection Cap ...........................................................................................10 Tab.3: CAN Run LED states .......................................................................................................................11 Tab.4: CAN Error LED states......................................................................................................................11 Tab.5 Signal Assignment Connector / Cable ..............................................................................................12 Tab. 6 Electrical Data..................................................................................................................................15 Tab. 7 Further mechanical data ..................................................................................................................15 Tab. 8 Further mechanical data ..................................................................................................................16 Tab. 9 Mechanical Lifetime .........................................................................................................................16 Tab. 10 Environmental Conditions ..............................................................................................................16 Tab. 11 CAN Transmission Mode Description ............................................................................................18 Tab. 12 List of Storable Parameters ...........................................................................................................19 Tab. 13: Identity Object...............................................................................................................................21 Tab. 14 General Command Byte Description .............................................................................................22 Tab. 15 Detailed Command Byte Description .............................................................................................22 Tab. 16 Overview Object Dictionary............................................................................................................23 Tab. 17 Object Dictionary 1000h-1FFFh.....................................................................................................25 Tab. 18 Object Dictionary 2000-5FFF.........................................................................................................26 Tab. 19 Object Dictionary 6000h-6FFFh.....................................................................................................27 Tab. 20 Delay and accuracy .......................................................................................................................42 Tab. 21 Delay and accuracy .......................................................................................................................43 Tab. 22 Order Key ......................................................................................................................................65 Tab. 23 Available Connection Cap Types..................................................... Error! Bookmark not defined. Tab. 24 Order Key for Heavy Duty encoders ..............................................................................................66 Tab. 25 List of Accessories ........................................................................... Error! Bookmark not defined. Appendix E: List of figures Fig. 1 Connection cap bus in and bus out.....................................................................................................8 Fig. 2 Cable preparation ...............................................................................................................................8 Fig. 3 Cable connection ................................................................................................................................8 Appendix F: Document history Version Date Comment 1.0 10.10.03 Initial version 1.1 24.10.03 Correction of the type key. List of figures, List of tables added 2.0 06.11.03 Hint protection low voltage added 2.1 08.01.04 Hint temperature cable exit added Version 07/10 BEI Sensors CANopen Manual serie M 77 2.2 21.05.04 New inner diameter of the cable glances 2.3 24.09.04 SubIndex of RestoreAllParameter changed 11/07 19.11.07 Complete Review of the manual 03/08 30.03.08 Complete Review, due to CA00 introduction 07/09 28.07.09 Complete Review, due to CAA1 introduction