ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE
USER MANUAL
THM4 – THK4
Main Features
-
- Interface: CANopen (DS406)
CANopen Lift (DSP417)
- Housing: 36 mm
- Solid shaft: 6 or 10mm
- Blind hollow shaft: 6mm
- Max. 4096 steps per revolution (12 Bit)
- Max. 65536 revolutions (16 Bit)
- Code: Binary
- Velocity and Acceleration Output
- LSS services
Mechanical Structure
-
- Nickel-plated steel housing
Stainless steel shaft
Precision ball bearings
Compact and heavy-duty industrial design
Aluminium flange and housing
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
Electrical Features
-
Highly integrated circuit in SMD-
technology
- Polarity inversion protection
- Over-voltage-peak protection
- Galvanic Isolation
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Table of Contents
Main Features..........................................................1
Mechanical Structure...............................................1
Programmable Parameters .....................................1
Electrical Features...................................................1
Table of Contents..................................................2
General Security Advise.......................................4
About this Manual............................................. ....4
1. Introduction........................................................5
1.1 General CANopen Information..........................5
2. Installation..........................................................7
2.1 Electrical Connection ........................................7
3. Technical Data...................................................9
Electrical Data .........................................................9
Sensor data .............................................................9
Tab. 3 Sensor data .....................................................9
Flange....................................................................10
Synchro (S)............................................................10
Blind hollow shaft (B).............................................10
Clamp (C) ..............................................................10
Minimum Mechanical Lifetime...............................10
Cable .....................................................................10
4. Configuration...................................................11
4.1 Operating Modes.............................................11
4.1.1 General.........................................................11
4.1.2 Mode: Preoperational...................................11
4.1.3 Mode: Start - Operational.............................11
4.1.4 Mode: Stopped .............................................11
4.1.2 Reinitialization of the Encoder .....................12
4.2 Normal Operating ............................................12
4.3 Storing Parameter ...........................................13
4.3.1 List of storable Parameter ............................13
4.3.1 Storing Procedure ........................................13
4.4 Restoring Parameters .....................................14
4.5 Usage of Layer Setting Services (LSS) ..........14
5. Programmable Parameters ............................15
5.1 Programming example: Preset Value .............16
5.1.1 Set Encoder Preset Value............................16
5.2 Communication Profile DS301 specific
objects from 1000h - 1FFFh..................................17
5.3 Manufacturer specific objects 2000h –
5FFFh ....................................................................18
5.4 Application specific objects 6000h – 67FEh .. 18
5.5 Object Descriptions ........................................ 19
Object 1000h: Device Type ..................................19
Object 1001h: Error Register ................................ 20
Object 1003h: Pre-Defined Error Field ................. 20
Object 1005h: COB-ID Sync................................. 21
Object 1008h: Manufacturer Device Name .......... 21
Object 1009h: Manufacturer Hardware Version... 21
Object 100Ah: Manufacturer Software Version.... 21
Object 100Ch: Guard Time................................... 22
Object 100Dh: Life Time Factor ........................... 22
Object 1010h: Store Parameters .......................... 22
Object 1011h: Restore Parameters ...................... 23
Object 1012h: COB-ID Time Stamp Object ......... 23
Object 1013h: High Resolution Time Stamp ........ 23
Object 1014h: COB-ID Emergency Object........... 24
Object 1016h: Consumer Heartbeat Time ........... 24
Object 1017h: Producer Heartbeat Time ............. 24
Object 1018h: Identity Object ............................... 25
Object 1020h: Verify configuration ....................... 25
Object 1029h: Error behaviour ............................. 25
Object 1800h: 1st Transmit PDO Communication
Parameter ............................................................. 26
Object 1801h: 2nd Transmit PDO Communication
Parameter ............................................................. 26
Event Timer........................................................... 27
Object 1A00h: 1st Transmit PDO Mapping
Parameter ............................................................. 27
Object 1A01h: 2nd Transmit PDO Mapping
Parameter ............................................................. 28
Object 1F50h: Download Program Area .............. 28
Object 1F51h: Program Control ........................... 28
Object 2000h: Position Value ............................... 29
Object 2100h: Operating Parameters................... 29
Object 2101h: Resolution per Revolution............. 30
Object 2102h: Total Resolution ............................ 30
Object 2103h: Preset Value.................................. 31
Object 2104h: Limit Switch, min. ..........................31
Object 2105h: Limit Switch, max. .........................32
Object 2160h: Customer storage ......................... 32
Object 2200h: Cyclic Timer PDO ......................... 33
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Object 2300h: Save Parameter with Reset...........33
Object 3000h: Node Number ................................33
Object 3001h: Baudrate ........................................34
Object 3010h: Speed Control................................34
Object 3011h: Speed Value ..................................34
Object 3020h: Acceleration Control ......................35
Object 3021h: Acceleration Value.........................35
Object 4000h: Bootloader Control.........................35
Object 6000h: Operating parameters....................36
Object 6001h: Measuring units per revolution ......37
Object 6002h: Total measuring range in
measuring units .....................................................37
Object 6003h: Preset value ...................................37
Object 6004h: Position value ................................37
Object 6030h: Speed Value ..................................38
Object 6040h: Acceleration Value.........................38
Object 6200h: Cyclic timer ....................................38
Object 6300h: Cam state register .........................39
Object 6301h: Cam enable register ......................39
Object 6302h: Cam polarity register .....................39
Object 6400h: Area state register .........................42
Object 6401h: Work area low limit ........................43
Object 6402h: Work area high limit ...................... 43
Object 6500h: Operating status............................ 43
Object 6501h: Single-turn resolution .................... 44
Object 6502h: Number of distinguishable
revolutions............................................................. 44
Object 6503h: Alarms ........................................... 44
Object 6504h: Supported alarms.......................... 45
Object 6505h: Warnings ....................................... 45
Object 6506h: Supported warnings ...................... 46
Object 6507h: Profile and software version ......... 46
Object 6508h: Operating time............................... 46
Object 6509h: Offset value ................................... 47
Object 650Ah: Module identification..................... 47
Object 650Bh: Serial number ...............................47
6. Diagnosis.........................................................48
6.2 Troubleshooting .............................................. 48
7. Mechanical Drawings.....................................49
Appendix A: History...........................................53
Appendix B: Glossary........................................54
Appendix C: List of tables .................................57
Appendix D: Document history......................... 57
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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.
About this Manual
Background
This user manual describes how to install and
configure an absolute rotary encoder with
CANopen interface.
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 people.
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1. Introduction
This manual explains how to install and
configure the MAGNETOCODE absolute rotary
encoder with CANopen interface applicable for
both military and industrial applications with
CANopen interface. The products are fully
compliant with standard DS406.
Measuring System
Magnetic rotary encoder determine
positions using the Hall effect sensor
technology developed for the automotive
mass market. A permanent magnet fixed to
the shaft generates a magnetic field that is
sampled by the Hall sensor, which
translates the measured value into a unique
absolute position value.
To register revolutions even when no
voltage is applied, energy from the turning
of the shaft must suffice for proper
operation. An innovative, patented
technology makes this feasible even at low
rotational speeds and through long
standstill periods – a Wiegand wire ensures
that the magnetic field can only follow the
turning of the shaft in discrete steps. A coil
wound on the Wiegand wire receives only
brief, strong voltage spikes, which prompt
the reliable recognition of each revolution.
Typical Applications:
• Packing Machines
• Mobile Machines
• Wind Mills
• Medical Equipment
1.1 General CANopen Information
The CANop
applications. It is a multiple access system
(maximum: 127 participants), which means that
all devices can access the bus. In simple terms,
each device checks whether the bus is free, and
if it is the device is able to send messages. If two
devices try to access the bus at the same time,
the device with the higher priority level (lowest
ID number) has permission to send its message.
Devices with the lowest priority level must delay
their data transfer and wait before retrying 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
the device. It is unique on a bus. The function
code varies according to the type of message
being sent:
The absolute rotary encoder supports the
following operating modes:
en system is used in industrial
Management messages (LMT, NMT)
Messaging and service (SDOs)
Data exchange (PDOs)
Layer Setting Services (LSS)
Predefined messages (synchronization,
emergency messages)
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Polled mode: The position value is only
sent 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 by
their corresponding object dictionary entries.
The transmission speed can range from
20kBaud up to 1Mbaud (30m cable for a
maximum speed of 1Mbaud, 1000m cable for a
maximum speed of 20 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 information is available at:
CAN in Automation (CiA) International Users
and Manufacturers Group e.V.
Kontumazgarten 3
DE-90429 Nurenberg
(*) Reference: CAN Application Layer for
Industrial Applications
CiA Draft Standard 201 ... 207, Version
1.1
CAL-based Communication Profile for
Industrial Systems
CiA Draft Standard 301
CiA Draft Standard 305 Layer Setting
Services
CiA Draft Standard 406 Device Profile
for Encoders
We do not assume responsibility for
technical inaccuracies or omissions.
Specifications are subject to change without
notice.
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2. Installation
2.1 Electrical Connection
Function Wire end Connector Pin RJ45 Connector Pin M12
Can High white 1 4
Can Low brown 2 5
Can-GND green 3 1
GND yellow 4 3
+ Ub= 10-30 V
red 8 2
Tab.1 Signal Assignment Connector / Cable
5 p
in male M12 connector RJ45 Connector
4
3
5
1
2
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Setting Node Number via SDO Objects
The node number has to be adjusted via SDO
objects. The default node number is 32. To set
Setting Baud Rate via SDO Objects
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
Setting Node Number via LSS
The node number can also be adjusted via
Layer Setting Services (LSS). For further
information regard chapter 4.5
Setting Baud Rate via LSS
The baud rate can also be adjusted via Layer
Setting Services (LSS). The default baud rate is
20 kBaud. For further information regard chapter
4.5.
Bus Termination
the node number, object 3000h has to be
written. For further information regard
chapter 5.5 Object Dictionary.
further information please regard chapter 5.5
Object Dictionary.
If the encoder is the last device in the bus you
can use an external termination resistor on a T-
coupler.
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3. Technical Data
In the following section you will find general technical data about absolute rotary encoders with
CANopen interface.
Electrical Data
Interface Transceiver according ISO 11898,
galvanically isolated by opto-couplers
Transmission rate max. 1 MBaud
Device addressing Adjustable by SDO telegrams or Layer Setting Services
Supply voltage 10 – 30* V DC (absolute limits)
Current consumption max. 100 mA with 10 V DC, max. 50 mA with 24 V DC
Power consumption max. 1,2 Watts
Emitted interference: EN 61000-6-4 EMC
Noise immunity: EN 61000-6-2
Electrical lifetime > 105 h
Tab. 2 Electrical Data
*Absolute rotary encoders should be connected only to subsequent electronics whose power supplies comply with EN
50178 (protective low voltage)
Sensor data
Singleturn technology magnetic 2 axis Hall sensor
Singleturn resolution up to 4096 steps / revolution (12 Bit)
Singleturn accuracy +/-0,35°
Internal cycle time < 1 ms
Multiturn technology self supplied magnetic pulse counter
Multiturn resolution Can measure up to 200 Billion revolutions
Tab. 3 Sensor data
Environmental Conditions
Operating temperature - 30 ... + 85 °C (M12 connector version
- 30 ... + 70 °C (Cable exit version) *
Storage temperature - 30 ... + 85 °C (M12 connector version
- 30 ... + 70 °C (Cable exit version) *
Humidity 98 % (without liquid state)
Protection Class (EN 60529) Casing side: IP54 (Cable exit version)
IP65 (M12 Connector version)
Shaft side: IP65
Tab.4 Environmental Conditions
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Mechanical Data
Housing Nickel-plated iron housing
Flange Aluminium
Shaft 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
Friction torque
30 gcm2
3 Ncm
RPM (continuous operation) max. 12.000 RPM
Shock (EN 60068-2-27)
Permanent shock (EN 60028-2-29)
Vibration (EN 60068-2-6)
Weight (standard version)
100 g (half sine, 6 ms)
10 g (half sine, 16 ms)
10 g (10 Hz ... 1,000 Hz)
150 g, including cable
Flange Synchro (S) Blind hollow shaft (B) Clamp (C)
Shaft diameter 6 mm 6 mm 10 mm
Shaft length 11,5 mm - 20 mm-
Hollow shaft depth min. / max. - 8 mm / 18 mm -
Tab. 5 Mechanical data
Minimum Mechanical Lifetime
Lifetime in 108 revolutions with Fa / Fr Flange
40 N / 60 N 40 N / 80 N 40 N / 110 N
S06 (Synchro flange 6 x 11.5) 216 91 35
Tab. 6 Minimum Mechanical Lifetime
Cable
Operating temperature cable flexing -5°C bis +70°C
static -30°C bis +70°C
Minimum bend radius flexing 10x cable diameter
static 5x cable diameter
Cable
Tab.7 Cable properties
aprox 6 mm / type : LIYCY 4x2x0.14
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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 Gener al
The enc
oder 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
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.
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.
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
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.
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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 Oper ating
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. 8 CAN Transmission Mode Description
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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
6000h Operating Parameter
6001h Steps per Revolution
6002h Total Resolution
6003h Preset Value
6200h Cyclic Timer
Tab. 9 List of Storable Parameters
4.3.1 Storing Procedure
The parame
volatile E
ter settings can be stored in a non-
2
PROM. The parameter settings are
stored in RAM when being programmed.
When all the parameters are set and proved,
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they can be transferred in one burn cycle to the
2
E
PROM by the parameter memory transfer.
The stored parameters are copied after a
Storing without Reset
By using the object 1010h from the
communication profile related object dictionary
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
4.4 Restorin g Par a m eters
The default pa
rameters 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
RESET (Power on, NMT-Reset) from the
E2PROM to the RAM (volatile memory).
you can store the parameters into the non-
volatile memory without a reset.
storing the parameters a reset of the device is
performed.
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)
To
configure the encoder via LSS the encoder
will be the LSS slave device and the control has
to support LSS master device functionality.
The LSS master device requests services, that
are performed by the LSS slave devices
(encoder). The LSS master device requests the
LSS address (vendor-id, product-code, revision-
number, serial-number) from the LSS slave
device. After receiving this information the
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control can unequivocally identify the encoder
and the node number and baud rate can be set.
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
60h Domain Download Confirmation Parameter received
40h Domain Upload Request Parameter request
43h, 47h, 4Bh, 4Fh (*) Domain Upload Reply
80 h Warning Reply Transmission error
Tab. 10 General Command Byte Description
(*)The value of the command byte depends on the data length of the called parameter:
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. 11 Detailed Command Byte Description
Object Dictionary
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:
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. 12 Overview Object Dictionary
Parameter to Encoder (Bytes
indicated)
Parameter to Master (Bytes
indicated)
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