►Instruction
>Reaction, result
[…]Designation of pushbuttons, buttons or indications
→Cross-reference
Important note
Non-compliance can result in malfunction or interference�
Information
Supplementary note
1.2 Warning signs used
NOTE
Warning of damage to property�
2 Safety instructions
These instructions are part of the device� They contain information and illustrations
about the correct handling of the device and must be read before installation or
use�
Observe the operating instructions�
Non-observance of the instructions, operation which is not in accordance with use
as prescribed below, wrong installation or incorrect handling can affect the safety
of operators and machinery�
The installation and connection must comply with the applicable national and
international standards� Responsibility lies with the person installing the unit�
Only the signals indicated in the technical data or on the device label may be
supplied to the connections or wires�
4
CANopen encoder
3 General information
3.1 CANopen technology
The CANopen communication profile is based on the CAN Application Layer (CAL)
specification of the CiA organisation� CANopen is considered as a robust fieldbus
with highly flexible configuration options� It is used in many various applications
which are based on different application profiles� CANopen comprises a concept to
configure and communicate real-time data using synchronous and asynchronous
messages� Four message types (objects) are distinguished�
1� Administration messages (layer management, network management and
identifier distribution)
2� Service Data Objects (SDO)
3� Process Data Objects (PDO)
4� Predefined Objects (synchronisation, time stamp, emergency)
For further information please refer to the CiA-CAN specification (CiA 406 encoders, CiA 301 - CANopen)�
3.1.1 Supported operating modes
Encoders with CANopen interface support the following operating modes:
● RTR (request)
The position value is only given to the bus on request�
● EVENT time
The position value is given to the bus cyclically (interval can be set)�
● Cyclical-synchronous
When the sync telegram has been received by the host, the absolute encoder
transmits the current process value� A sync counter can be programmed so that
the encoder does not send before a defined number of sync telegrams�
In addition other functions can be configured (direction of rotation, resolution etc�)�
UK
3.2 References
http://www�can-cia�org
CAN Application Layer, DS 201 …207 CiA
LSS profile DS305 CiA
CAL-based communication profile, DS 301 CiA
Device profile for encoders DS 406 CiA
CAN specification version 2�0 A Robert Bosch GmbH
CANary CAN controller Atmel
5
CANopen encoder
4 Functions and features
● There are 1 SDO server and 2 default value PDOs according to CiA DS 301�
The PDO mapping can be changed (dynamic PDO mapping)� The default value
identifiers have been assigned according to the "predefined connection set" in
the CANopen specification�
● The COB IDs of the PDOs and their baud rate can be configured�
● The module expects a sync object� The CAN identifier of the sync object can
be configured�
● The module supports "node guarding" and "heartbeat"�
● The module supports an emergency object� The COB ID of the EMCY object
can be configured�
● The module stores the last error� The error code of the corresponding
emergency object is stored�
● The module supports the load command (reset function to restore the factory
settings)�
● Alarms and warnings are not displayed�
5 Electrical connection
The 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�
TerminalDescription
┴Ground
+24 V voltage supply
-0 V voltage supply
GCAN Ground
LCAN low
HCAN high
G*CAN Ground
L*CAN low
H*CAN high
* are not connected, if the terminal resistor is
ON
6
On
R
0
1
9
2
8
3
7
4
6
5
Bdx1x10
T
LGH GHL+ -
0
0
1
1
9
9
2
2
8
8
3
3
7
7
4
4
6
6
5
5
CANopen encoder
The terminal cap contains a resistor which can be activated as terminating resistor
if necessary� The resistor is to be switched to ON at the ends of the bus line in the
device�
Participant X Last participant
R
On
T
R
On
T
Terminating resistor RT (resistor termination)
5.1 Bus connection
The terminal cap fulfils the function of a T-coupler� From there the wiring must be
done according to the drawing on the left side�
► Observe the assignment of the incoming and outgoing bus signals�
Terminal cap bus In and bus Out
R
T
On
LGH GHL+ -
UK
Bus InBus Out
7
CANopen encoder
5.2 Setting the node number in the terminal cap
► To set the node number remove the terminal cap for the installation�► Loosen both screws on the back of the encoder� ► Do not damage the seal since otherwise the protection rating will be lost�
The setting is done via coding switches: 0��9 (x1) or 10��90 (x10)�
0
1
9
8
7
2
3
4
6
5
0
1
9
8
7
2
3
4
6
5
0
1
9
8
7
2
3
4
6
5
Bdx1x10
Internally, 1 is always added to the node number to avoid setting of the node
number 0�
Example: The node number 10 has to be set via the coding switch with 0 9�
BCD-coded encoder (binary coded decimal number)
Device address 0���89
x1Set the CAN-node number
x10Address reserved 90…99
xBdSet the baud rate
5.3 Protocol definition
x1Device address 97
x10Address reserved
x1Device address 98
x10Protocol selection according to DS301-V3
x1Device address 99
x10Protocol selection according to DS301-V4
8
5.4 Baud rate setting
Setting is done via baud rate switch (Bd)�
The following baud rates are adjustable:
Baud rate in kBit/sBCD rotary switch
200
501
1002
1253
2504
5005
8006
10007
Reserved8
Sets the SDO mode*9
* SCO service data objects
CANopen encoder
UK
9
CANopen encoder
6 Installation of the encoder
6.1 Settings of the encoder
► Set the node address of the encoder, the baud rate and the bus termination
before set-up of the device via software�
6.2 Signal assignment
Signal5-pole M12 connector
CAN GNDpin 1
24 V supply voltagepin 2
GND (PE)pin 3
CAN highpin 4
CAN lowpin 5
► Use screened cable�
6.3 Setting of the node number
6.3.1 Setting of the node number via SDO objects
For devices without terminal cap the address can only be set via SDO objects� The
address of an encoder without terminal cap is set to 32 as standard� Details on
changing the node number → chapter 7.4.
6.3.2 Setting of the baud rate via SDO objects.
For devices without terminal cap the baud rate can only be changed via SDO
objects� The baud rate is set to 125 Kbits/s as default value� Details on changing
the baud rate → chapter 7.4.
6.3.3 Setting the node number and the baud rate via LSS
Another possibility of how to set the node number and the baud rate for encoders
is Layer Setting Services. Further information → chapter 6.3.6.
6.3.4 Bus termination
If the encoder is the last participant, an external terminating resistor or a
terminating T connector has to be used�
10
CANopen encoder
6.4 LED indications
LEDStatusDescription
redflashes, 1 Hz operating voltage OK,
redlights"BUS OFF" caused e�g� by short circuit, wire
greenflashes, 2�5 Hz master failure,
green/redgreen flashing, 2�5 Hz
greenflashes, 1 Hz bus stopped
greenlightsoperating voltage OK, bus connection OK
green/redgreen lights/
and red flashing 1x at each 3rd
pulse of the green LED
red flashing, 2�5 Hz
faulty bus connection
break, faulty connector
encoder remains in the preoperational
operating status
> guard and heartbeat error are not indicated
guarding error, either node guard or heartbeat
non reproducible indication (no clear
description of the indication)
7 Configuration
This chapter describes the configuration of the parameters of an absolute encoder
with CANopen interface�
UK
7.1 Operating modes
7.1.1 General information
In the preoperational mode the encoder replies to the CAN bus after sending its
boot up message�
Boot up message: 700 hex + node number (further details in the Communication
Profile chapter 7�3�)
► Change parameters only in the preoperational mode�
This mode decreases the bus load and simplifies the control of the messages sent
and received� It is not possible to send or receive PDO messages in this mode�
7.1.2 Preoperational mode
To set the encoder to the preoperational mode, the master must send the following
message:
IdentifierByte 0Byte 1Description
0 h80 h00NMT PreOp, all nodes
0 h80 hNNNMT PreOp, NN
NN: node number
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