ifm electronic RM9000 User Manual

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Device manual

Absolute magnetic encoder

with CANopen interface

RM8004 RM9000

704820/01 04/2015

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 Installation of the encoder� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

5�1 Settings of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 5�2 Signal assignment � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 5�3 Setting of the node number � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5�3�1 Setting of the node number via SDO objects� � � � � � � � � � � � � � � � � � � 7 5�3�2 Setting of the baud rate via SDO objects� � � � � � � � � � � � � � � � � � � � � � 7 5�3�3 Setting the node number and the baud rate via LSS � � � � � � � � � � � � � 7 5�3�4 Bus termination � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5�4 LED indications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

6 Configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

6�1 Operating modes � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

6�1�1 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 6�1�2 Preoperational mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 6�1�3 Start-operational mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 6�1�4 Start/stop mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

6�1�5 Reinitialisation of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 6�2 Standard operation (CAN transmission modes)� � � � � � � � � � � � � � � � � � � � � 9 6�3 Storing parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

6�3�1 Object directory � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

6�3�2 Saving process � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

6�3�3 Storing without reset � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

6�3�4 Storing with reset � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

6�3�5 Restoring the parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

6�3�6 Layer Setting Service (LSS)� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

7 Programmable parameters� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

7�1 Object directory � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 7�2 Programming example: preset value � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12

7�2�1 Set preset value (master to encoder with node number 1) � � � � � � � 12 7�3 Communication-specific objects of the DS301 from 1000h to 1FFFh (communication profile DS301 V4�02) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13 7�4 Manufacturer-specific objects from 2000h to 5FFFh � � � � � � � � � � � � � � � � 19 7�5 Device-profile-specific objects from 6000h to 9FFFF� � � � � � � � � � � � � � � � 23

CANopen encoder

8 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30

Licences and trademarks

Microsoft

Adobe

, Windows®, Windows XP® and Windows Vista® are registered trademarks of Microsoft Corporation�

and Acrobat® are registered trademarks of Adobe Systems Inc�

All trademarks and company names are subject to the copyright of the respective companies�

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�)�

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 Installation of the encoder

Attention: This product corresponds to the standard EN 61000-6-4� The unit may cause radio interference in domestic areas� Where applicable, the user has to take appropriate measures to avoid these�

5.1 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�

5.2 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�

CANopen encoder

5.3 Setting of the node number

5.3.1 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.

5.3.2 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.

5.3.3 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.

5.3.4 Bus termination

If the encoder is the last participant, an external terminating resistor or a terminating T connector has to be used�

5.4 LED indications

LED Status Description

red flashes, 1 Hz operating voltage OK,

faulty bus connection

red lights "BUS OFF" caused e�g� by short circuit, wire

break, faulty connector

green flashes, 2�5 Hz operating voltage OK, bus connection OK

green/red green flashing, 2�5 Hz

and red flashing 1x at each 3rd pulse of the green LED

green flashes, 1 Hz bus stopped

green lights master failure,

guarding error, either node guard or heartbeat

encoder remains in the preoperational operating status

> guard and heartbeat error are not indicated

green/red green lights/

red flashing, 2�5 Hz

non reproducible indication (no clear description of the indication)

CANopen encoder

6 Configuration

This chapter describes the configuration of the parameters of an absolute encoder with CANopen interface�

6.1 Operating modes

6.1.1 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�

6.1.2 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

It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the preoperational mode�

6.1.3 Start-operational mode

To set the encoder to the operational mode, the master must 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 (byte 1 = 0) or individual nodes (byte 1 NN) to the operational mode�

CANopen encoder

6.1.4 Start/stop mode

To set the encoder to the stop mode, the master must 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 (byte 1 = 0) or individual nodes (byte 1 NN) to the stop mode�

6.1.5 Reinitialisation of the encoder

► Carry out reinitialisation in the event of incorrect function�

Identifier Byte 0 Byte 1 Description

0 h 81 h 00 reset all nodes

0 h 81 h NN reset node

NN: node number

It is possible to reset all nodes (byte 1 = 0) or individual nodes (byte 1 NN)� After reinitialisation the device replies again in the preoperational mode�

6.2 Standard operation (CAN transmission modes)

RTR mode The connected host requests the current position value via a remote

transmission request telegram� The encoder reads the current position, sets off set parameters (if applicable) and returns the position value via the same CAN identifier�

EVENT time The absolute encoder cyclically sends the current position value -

without any request by the host� The cycle time can be programmed in milliseconds for values between 1 ms and 65536 ms�

Sync Mode When the sync telegram has been received by the host, the encoder

transmits the current process value� If several nodes reply to the sync telegram, the individual nodes report one after the other according to their CAN identifier� The programming of an offset time is not necessary� A sync counter can be programmed so that the encoder does not send before a defined number of sync telegrams�

6.3 Storing parameters

6.3.1 Object directory

Object Index Object description

1005h COB ID Sync

100Ch guard time

100Dh life time factor

1016h consumer heartbeat time

CANopen encoder

Object Index Object description

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 (NN)

3001h baud rate

6000h operating parameter

6001h steps per revolution

6002h total resolution

6003h preset value

6200h EVENT

6.3.2 Saving process

The parameters are stored in a non-volatile EEPROM� The changes made are stored in the working memory of the encoder� Once all parameters have been checked, they can be transferred to the EEPROM in a write cycle�

The stored parameters are activated after a reset (power on, NMT reset)�

6.3.3 Storing without reset

Once the saving process is completed by using the object 1010, there will be no automatic reset to activate the parameters�

6.3.4 Storing with reset

The object 2300 from the manufacturer-specific directory carries out storage via an automatic reset� The parameters become active at once� This has to be taken into account when the node number or the baud rate are changed since there may be interference on the bus�

CANopen encoder

6.3.5 Restoring the parameters

The factory-set parameters can be restored� The settings stored in the EEPROM are not overwritten� Only after the storage command has been sent again will the default settings be stored in the EEPROM non-volatilely� The restored parameters are identical for each CANopen encoder of this type and may possibly not correspond to the original parameters� Please check the restored parameters with regard to their validity before you perform the storage process again�

6.3.6 Layer Setting Service (LSS)

To configure the encoder via LSS, the encoder is handled like a slave� The

controller must have LSS master functionality� The LSS master device requests the data of the encoder� The LSS master enquires the LSS information (vendor ID; product code, revision number, serial number) of the slave� In this case the slave is unambiguously recognised and the settings, node number and baud rate can be set�

7 Programmable parameters

The objects are based on the device profile CiA 406 DS V3�2: CANopen profile for encoders (www�can-cia�org)

Detailed description of the command byte

Command Data length Data type

43h 4 bytes unsigned 32

47h byte 3 unsigned 24

4Bh byte 2 unsigned 16

4Fh 1 byte unsigned 8

23h 4 bytes unsigned 32

27h byte 3 unsigned 24

2Bh byte 2 unsigned 16

2Fh 1 byte unsigned 8

7.1 Object directory

Data is transferred according to CAL exclusively via object-oriented message telegrams� These objects are classified into groups via an index register� Each index entry can be further subdivided via a sub index� The complete overview of the standard object directory is shown in the following table�

Index (hex) Object

0000 not used

0001-001F static data types

0020-003F complex data types

CANopen encoder

Index (hex) Object

0040-005F manufacturer-specific data types

0060-0FFF reserved

1000-1FFF area of the communication profile

2000-5FFF manufacturer-specific area

6000-9FFF device-specific area

A000-FFFF reserved

7.2 Programming example: preset value

The receipt of the SDO answer is to be monitored in the program since the request is sent permanently without confirmation of receipt�

If a CANopen device is connected to the bus and configured with correct baud rate and node number, it replies to the bus with a boot up message�

7.2.1 Set preset value (master to encoder with node number 1)

Set preset value (value 1000)

Identifier DLC Command Index Sub index Service data

NN 1 download 6003h byte 4 byte 5 byte 6 byte 7

601 8 23h 03h 60h 00h 00h 10h 00h 00h

Response from the encoder

Identifier DLC Command Index Sub index Service data

NN 1 download 6003h byte 4 byte 5 byte 6 byte 7

581 8 60h 03h 60h 00h 00h 00h 00h 00h

Read preset value from the encoder

Identifier DLC Command Index Subindex Service data

NN 1 download 6003h byte 4 byte 5 byte 6 byte 7

601 8 40h 03h 60h 00h 00h 00h 00h 00h

Response from the encoder

Identifier DLC Command Index Sub index Service data

NN 1 download 6003h byte 4 byte 5 byte 6 byte 7

581 8 43h 03h 60h 00h 00h 10h 00h 00h

CANopen encoder

Non-volatile storage of the preset value

Identifier DLC Command Index Sub index Service data

NN 1 download 1010h byte 4 byte 5 byte 6 byte 7

601 8 23h 10h 10h 01h 73h 61h 76h 65h

Response from the encoder

Identifier DLC Command Index Sub index Service data

NN 1 download 6003h byte 4 byte 5 byte 6 byte 7

581 8 60h 10h 10h 00h 00h 00h 00h 00h

7.3 Communication-specific objects of the DS301 from 1000h to 1FFFh (communication profile DS301 V4.02)

Index S-Idx Name Type,

access

1000 0 Device type u32, ro N/A Device type and device profile

1001 0 Error register u8, ro N/A Indication internal device error

1003 0 Pre-defined

error field

1��10 Error history u32, ro S-Idx 1 last error

1005 0 COB ID sync

object

1006 0 Com cycle

period

1007 0 Synchronous

window length

u8, ro 0 An error list with 10 entries is supported

u32, rw 80h The object contains the identifier for the

u32, rw 0h The object defines the communication

u32, rw 0h The object contains the sync windows

default value Description

0b 0000 0000 generic error

S-Idx 2 second but last error ��

Deleting the error memory

The error memory is deleted by writing a zero to the sub index 0�

SYNC object�

cycle (SYNC producer) in μs (max. time

between 2 sync objects)�

length for synchronous PDOs in μs.

1008 0 Manufacturer

device name

1009 0 Manufacturer

hardware version

100A 0 Manufacturer

software version

str, ro RM9000 Device designation

str, ro x�x Hardware version

str, ro x�x Software version

CANopen encoder

Index S-Idx Name Type,

default value Description

access

100C 0 Guard time u16, rw 0 This object contains the 'guard time' in

milliseconds�

100D 0 Life time factor u8, rw 0 This object contains the life time factor

parameter� The life time factor multiplied with the guard time results in the life time for the guarding protocol�

1010 Store

parameters

0 Number of sub

u8, ro 1

This object is used to write the parameters to the non-volatile memory�

indices

1 Store all

parameters

u32, rw "save" To write the parameters to the non-

volatile memory the word "save" has to be sent to the corresponding node�

Most significant word Least significant word

ASCII e v a s

Hex value 65h 76h 61h 73h

1011 Restore

parameters

0 Number of sub

indices

1 Restore all

parameters

ASCII d a o l

Hex value 64h 61h 6Fh 6Ch

The object is used to restore the factory settings�

u8, ro 1

u32, rw "load" To restore the factory settings the

word "load" has to be sent to the corresponding node� When the parameters have been restored, please check the parameters before the store command is executed again� The restored parameters only become active after a reset or power up�

Most significant word Least significant word

CANopen encoder

Index S-Idx Name Type,

access

1012 0 COB ID time

stamp object

1013 0 High resolution

time stamp

1014 0 COB ID

emergency object

1016 Consumer

heartbeat time

0 Number of sub

indices

1 Consumer

heartbeat time

u32, rw 100h The object contains the COB ID of the

u32, rw 0 The object contains a time stamp with a

u32, rw 80h + node ID The object contains the EMCY

u8, ro 1

u32, rw 0

default value Description

time stamp object�

resolution of 1 µs�

emergency message identifier�

The consumer heartbeat time defines the heartbeat cycle time to be expected in ms� The encoder can only monitor one device� When the time is set to zero, this service is not activated� The set time must be higher than the corresponding time (object 1017) of the device to be monitored�

The contents of the sub index 1 is composed as follows:

Bit 31 to 24 23 to 16 15 to 0

value 0h (reserved) address of the

device to be monitored

1017 0 Producer

heartbeat time

1018 Identity object This object contains the device

0 Number of

entries

1 Vendor ID u32, ro 0x0069666D

2 Product code u32, ro 0x43 0x41

3 Revision

number

4 Serial number u32, ro see type label

u16, rw 0 This object contains the time interval in

milliseconds during which it has to send the message�

information

u8, ro 1

u32, ro 0x10000

monitoring time (ms)

CANopen encoder

Index S-Idx Name Type,

access

1020 Verify

configuration

0h Number of

entries

1h Configuration

date

2h Configuration

time

1029 Error behaviour The object shows the error behaviour�

0h Number of

entries

1h Communication

error

1800 1st transmit

PDO communication parameter

u8, ro 2h

u32, rw 0x0

u8, ro 1h

u8, rw 0x0

default value Description

The object indexes the loaded configuration, date and time�

This object contains the communication parameters of the first transmit PDO�

0 Number of sub

indices

1 COB ID u32, rw 180h +

2 Transmission

mode

3 Inhibit time u32, rw 0

4 not available

5 Event timer u32, rw 0x64 or 0

u8, ro 5

node number

u8, rw FE

CANopen encoder

Index S-Idx Name Type,

access

1801 2nd transmit

PDO communication parameter

0 Number of sub

indices

1 COB ID u32, rw 280h

2 Transmission

mode

3 Transmission

mode

4 not available

5 Event timer u32, rw 1

The transmission mode is set and configured as follows:

u8, ro 5

u8, rw 1

u32, rw 0

default value Description

The object contains the communication parameters of the second transmit PDO� Please note! This object is only activated with C6 CANopen encoders�

node number

Transmission mode

Value

(decimal)

0 x x Transmit PDO to first

1��240 x x Transmit PDO every xth

241��251 reserved

252 x x Receive SYNC message

253 x Data update and transmit

254, 255 x Transmit PDO with event

Cyclical Acyclical Synchro-

nous

Asynchronous

Only RTR

Description

sync messsage after an event

sync message

and transmit PDO on remote request

PDO on remote request

Inhibit time

For "transmit PDOs"� The "inhibit time" for PDO transmissions can be set as a 16-bit value� If data changes, the PDO checks if the inhibit time has elapsed since its last data transmission� Another data transmission is only possible once the inhibit time has elapsed� It is useful to set a time with asynchronous transmission (transmission modes 254 and 255) to avoid overlaods on the bus�

Event time

The "event timer" only works in asynchronous transmission modes (transmission modes 254 and 255)� If the data changes before the event timer elapses, a temporary telegram is sent� If the value of the timer is >0, the data will be sent

CANopen encoder

after the timer has elapsed� The value of the timer is written in subindex 5 of the respective PDO� The data is also transferred without any changes to the data� The value range is between 1-65536 ms�

Index S-Idx Name Type,

access

1A00 1st transmit

PDO mapping parameter

0 Number of sub

indices

1 1st mapped

object

1A01 2nd transmit

PDO mapping parameter

0 Number of sub

indices

1 2nd mapped

object

1F50 Download

program area

u8, ro 2

u32, rw -

u8, ro 2

u32, rw -

default value Description

The object contains the mapping parameters of the 1st transmit PDO

The object contains the mapping parameters of the 2nd transmit PDO�

This is a special object for the boot loader functionality�

Use this entry to read the Intel hex file with the program data� For detailed information about the domain download and the block transfer see CiA Draft Standard 301 application layer and communication profile�

0h Number of sub

indices

1h Domain,

1F51 Program

Control

0h Number of

program control entries

1h u32, rw The sub index 1h and higher verifies

u8, ro 2h

This is a special bootloader object to update the firmware�

This data area controls the program in the index 0X1F50�

u8, ro

the storage block functionality� They can have the following values:

write: 1 - start downloading the program 4 - delete flash memory

7.4 Manufacturer-specific objects from 2000h to 5FFFh

CANopen encoder

Index S-Idx Name Type,

access

2000 0 Position value u32, ro

2100 0 Operating

parameters

u16, rw 0h The counting direction of the encoder as

default value Description

an operating parameter can be changed and the two limit switches can be switched on or off�

The parameter counting direction (complement) determines the counting direction of the encoder� With the same direction of rotation the value can be indicated either adding or substracting� The counting direction is set by bit 0 of the object to 2100h� In addition the two limit switches can be switched on or off� Bit 1 and bit 2 are used for this purpose� Note: The counting direction is always seen looking at the shaft� With clockwise direction of the shaft (CW) the counting direction is increasing�

Calculation example:

Goal: encoder with counting direction decreasing (CCW) and both limit switches off

Bit matrix:

bit 0 = 1 direction decreasing (CCW)

bit 1 = 0 limit switch min� disabled

bit 2 = 0 limit switch max�disabled

result = 01h

2101 0 Resolution per

revolution

0 Resolution per

revolution

u16, rw Requested steps per revolution

(single turn resolution up to 12 bits)

u32, rw Requested steps per revolution

(single turn resolution > 12 bits)

If the requested resolution per revolution exceeds the physical resolution, the set value is not transmitted�

► Set correct resolution�

CANopen encoder

Index S-Idx Name Type,

access

2102 0 Total

u32, rw 0x1000000 Total resolution of the encoder

resolution

default value Description

This parameter is used to set the requested total resolution� The parameter must not exceed the physical measuring range of the encoder� The total resolution and the resolution per revolution must be entered using the following formula:

GA = (PGA x AU) / PAU

PGA total physical resolution of the encoder (see type label)

PAU physical resolution per revolution of the enocder (see type label)

GA total resolution (customer-specific)

AU resolution per revolution (customerspecific)

If the requested total resolution is lower than the total physical resolution, the total resolution parameter must be a multiple of the physical resolution per revolution�

2103 0 Preset value u32, rw 0 The preset value is a position value which

is to be indicated at a certain physical position of the axis� The preset value must not exceed the total physical resolution to avoid runtime errors�

2104 0 Limit switch,

min�

u32, rw 0 Two position vaues can be programmed as

limit switch positions� When one of these values has been reached, one of the 32-bit position values is set� Both values must not exceed the total physical resolution of the encoder to avoid runtime errors�

The limit switch (min) sets bit 30 = 1 with the next telegram transmitted when the set position value has been reached or fallen below�

Function Status bit Process value

Bit 31 30 29 28 27 26 25��0

0 1 X X X X X

CANopen encoder

Index S-Idx Name Type,

access

2105 0 Limit switch,

max�

The limit switch (max) sets bit 31 = 1 with the next telegram transmitted when the set position value has been reached or fallen below�

Function Status bit Process value

Bit 31 30 29 28 27 26 25��0

1 0 X X X X X

2160 Customer

storage

0h Number of sub

indices

1h Customer

storage 1

u32, rw 0 Two position vaues can be programmed as

u8, rw 4h The object enables the user to store any

u32, rw 0x0

default value Description

value�

2h Customer

storage 2

3h Customer

storage 3

4h Customer

storage 4

2200 0 Cyclic timer

PDO

2300 0 Save

parameter with reset

3000 0 Node number u8, rw - The object contains the node number of

3001 0 Baud rate u8, rw 0x3 The object contains the baud rate of the

u32, rw 0x0

u16, ro 0 The object contains the value of the event

timer in ms�

u32, wo 55AAAA55h With this object the set parameters can be

written to the non-volatile memory� After successful transmission of the access code a reset will be made�

the device�

The node number must be ≠ 0.

► Always add a 1 to the node number�

Example: 1Fh+1h = 20h = 32 (dec)

device�

CANopen encoder

Index S-Idx Name Type,

access

Eight different baud rates are supported� Only one byte is used to set the baud rate�

Baud rate [kbits/s]

20 0x00

50 0x01

100 0x02

125 0x03

250 0x04

500 0x05

800 0x06

1000 0x07

3010 Speed control Speed measurement, the measurement is

0h Number of sub

indices

Byte

u8, ro 2h

default value Description

switched off in the factory setting�

1h Enable speed u8, rw 0h

2h Speed mode u8, rw 0h

3011 0h Speed value u8, romap Speed value

4000 0h Bootloader

control

u32, wo The object controls the bootloader

functionality� If the security code is written to the object, the EEprom and the information in the flash memory are deleted� Furthermore the device is subjected to a reset� After another set-up, the bootloader verifies the user application and does not find any other information� The bootloader starts with a predefined CANopen node number (0x1) and a fixed baud rate of 125 Kbits�

Activation of the bootloader entails an erasing process� Afterwards only a small number of objects are available� The encoder is waiting for new programming� Due to this behaviour the security code for prevention is not published in this manual but is only available from ifm on request�

7.5 Device-profile-specific objects from 6000h to 9FFFF

CANopen encoder

Index S-Idx Name Type,

access

6000 Operating

parameters

Scaling function:

Using the scaling function the position value provided can be adapted to the requirements of the application via the software� The objects 6001 and 6002 of the device profile are scaling parameters� When the scaling bit has been set to zero, scaling is switched off�

Bit structure

Bit 15 14 13 12 11��4 3 2 1 0

Description MS MS MS MS R MD SFC CD CS

Abbreviations:

MS = manufacturer-specific function (not available)

R = reserved

MD = measurement direction (not available)

SFC = scaling function (0 = off, 1 = on)

CD = commissioning diagnostic control (not available)

CS = counting direction 0 = CW (clockwise); 1 = CCW (counter-clockwise)

u16, rw 1h The object sets the counting direction,

default value Description

the diagnostic function and the scaling function�

Note: The counting direction is always seen looking at the shaft� With clockwise direction of the shaft (CW) the counting direction is increasing�

6001 0 Measuring

units per revolution

6002 0 Total

measuring range in measuring units

6003 0 Preset value u32, rw 0 Setting the preset value for the encoder

6004 0 Position value u32,

6030 Speed value

0h Number of sub

indices

1h Speed value

channel 1

u32, rw see

type label

u32, rw see

type label

- The object gets the position value

romap

u8, ro 1h

integer 16, romap

Setting steps per revolution

Setting the total resolution of the measuring range

If the max� possible value is exceeded, the value stops there� The user can use the object 3010 (32 bits)�

CANopen encoder

Index S-Idx Name Type,

access

6200 0 Event time u16, rw 0x64 This object contains the value of the

6300 Cam state

0h Number of sub

indices

1h Cam state

channel 1

6301 Cam enable

0h Number of sub

indices

1h Cam enable

channel 1

u8, ro 1h

u8, romap 4h

u8, ro 1h

u8, rw

default value Description

event timer of the corresponding PDOs� The value can be set between 1 and 65538 ms�

The object describes the cam state register� The object contains the current position of the cam from 1 to 8�

The object describes the cam state�

6302 Cam polarity

0h Number of sub

indices

1h Cam polarity

channel 1

u8, ro 1h

u8, rw 0h

List of cam objects

6310h Cam 1 low limit

0h VA R Highest sub-index supported u32 ro 0x1

1h VA R Cam 1 low limit channel 1 u32 rw 0x0

6311h Cam 2 low limit

0h VA R Highest sub-index supported u32 ro 0x1

1h VA R Cam 2 low limit channel 1 u32 rw 0x0

6312h Cam 3 low limit