CAN RM7, RN7 User Manual

Device manual
Encoder
with CANopen interface
RM7
RN7
UK
706362/02 11/2020
CANopen encoder
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�2 Warning signs used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 CANopen technology � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1�1 Supported operating modes� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2 References � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 Bus connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 5�2 Setting the node number in the terminal cap � � � � � � � � � � � � � � � � � � � � � � � 8 5�3 Protocol definition � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 5�4 Baud rate setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6 Installation of the encoder� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�1 Settings of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 6�2 Signal assignment � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 6�3 Setting of the node number � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�3�1 Setting of the node number via SDO objects� � � � � � � � � � � � � � � � � � 10 6�3�2 Setting of the baud rate via SDO objects� � � � � � � � � � � � � � � � � � � � � 10 6�3�3 Setting the node number and the baud rate via LSS� � � � � � � � � � � � 10 6�3�4 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�4 LED indications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7 Configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7�1 Operating modes � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7�1�1 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 7�1�2 Preoperational mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 7�1�3 Start-operational mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12 7�1�4 Start/stop mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
7�1�5 Reinitialisation of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12 7�2 Standard operation (CAN transmission modes)� � � � � � � � � � � � � � � � � � � � 12 7�3 Storing parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
7�3�1 Object directory � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
7�3�2 Saving process � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
7�3�3 Storing without reset � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
7�3�4 Storing with reset � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
7�3�5 Restoring the parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
7�3�6 Layer Setting Service (LSS)� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
8 Programmable parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14
8�1 Object directory � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15 8�2 Programming example: preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
CANopen encoder
8�2�1 Set preset value (master to encoder with node number 1) � � � � � � � 15 8�3 Communication-specific objects of the DS301 from 1000h to 1FFFh (communication profile DS301 V4�02) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16 8�4 Manufacturer-specific objects from 2000h to 5FFFh � � � � � � � � � � � � � � � � 22 8�5 Device-profile-specific objects from 6000h to 9FFFF� � � � � � � � � � � � � � � � 26
9 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 33
UK
CANopen encoder

1 Preliminary note

1.1 Symbols used

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�
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
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�
Terminal Description
Ground
+ 24 V voltage supply
- 0 V voltage supply
G CAN Ground
L CAN low
H CAN high
G* CAN Ground
L* CAN low
H* CAN high
* are not connected, if the terminal resistor is ON
On
R
0
1
9
2
8
3
7
4
6
5
Bd x1x10
T
LG H G HL+ -
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
LG H G HL+ -
UK
Bus In Bus Out
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
Bd x1x10
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
x1 Set the CAN-node number
x10 Address reserved 90…99
xBd Set the baud rate

5.3 Protocol definition

x1 Device address 97
x10 Address reserved
x1 Device address 98
x10 Protocol selection according to DS301-V3
x1 Device address 99
x10 Protocol selection according to DS301-V4

5.4 Baud rate setting

Setting is done via baud rate switch (Bd)�
The following baud rates are adjustable:
Baud rate in kBit/s BCD rotary switch
20 0
50 1
100 2
125 3
250 4
500 5
800 6
1000 7
Reserved 8
Sets the SDO mode* 9
* SCO service data objects
CANopen encoder
UK
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

Signal 5-pole M12 connector
CAN GND pin 1
24 V supply voltage pin 2
GND (PE) pin 3
CAN high pin 4
CAN low pin 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

LED Status Description
red flashes, 1 Hz operating voltage OK,
red lights "BUS OFF" caused e�g� by short circuit, wire
green flashes, 2�5 Hz master failure,
green/red green flashing, 2�5 Hz
green flashes, 1 Hz bus stopped
green lights operating voltage OK, bus connection OK
green/red green 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:
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
11
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