RM9000
Table of contents
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Device manual
Absolute magnetic encoder
with CANopen interface
RM8004
RM9000
704820/01 04/2015
UK
CANopen encoder
2
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
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8 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30
Licences and trademarks
Microsoft
®
, Windows
®
, Windows XP
®
and Windows Vista
®
are registered trademarks of Microsoft Corporation�
Adobe
®
and Acrobat
®
are registered trademarks of Adobe Systems Inc�
All trademarks and company names are subject to the copyright of the respective companies�
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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�
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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
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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�
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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
guarding error, either node guard or heartbeat
green flashes, 1 Hz bus stopped
green lights master failure,
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)
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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�
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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
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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�
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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
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