10.1What to Do in Case of a Fault............................................................ 68
7
Absolute Rotary Encoder
Introduction
1Introduction
1.1Content of this Document
This document contains information that you need in order to use your product throughout the
applicable stages of the product life cycle. These can include the following:
■
Product identification
■
Delivery, transport, and storage
■
Mounting and installation
■
Commissioning and operation
■
Maintenance and repair
■
Troubleshooting
■
Dismounting
■
Disposal
Note!
For full information on the product, refer to the further documentation on the Internet at
www.pepperl-fuchs.com.
The documentation consists of the following parts:
■
Present document
■
Datasheet
Additionally, the following parts may belong to the documentation, if applicable:
■
EU-type examination certificate
■
EU declaration of conformity
■
Attestation of conformity
■
Certificates
■
Control drawings
■
Additional documents
1.2Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation,
commissioning, operation, maintenance, and dismounting of the product. The personnel must
have read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
1.3Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. It is mandatory
that you observe these warning messages for your personal safety and in order to avoid
property damage.
Depending on the risk level, the warning messages are displayed in descending order as
follows:
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Absolute Rotary Encoder
Introduction
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Informative Symbols
Note!
This symbol brings important information to your attention.
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
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Absolute Rotary Encoder
Declaration of conformity
2Declaration of conformity
2.1CE conformity
This product was developed and manufactured under observance of the applicable European
standards and guidelines.
Note!
A declaration of conformity can be requested from the manufacturer.
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Absolute Rotary Encoder
Safety
3Safety
3.1Symbols relevant to safety
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
3.2Intended Use
Absolute rotary encoders detect the rotation angle -and, in the case of a multiturn absolute
rotary encoder, the revolutions of the rotary encoder shaft- with high precision and resolution.
The absolute position value derived from this is provided by the rotary encoder via the
CANopen interface in accordance with the standard DS406. The rotary encoder is to be
integrated into a CANopen network and should be used only in this way. Typical applications
include positioning tasks and length measurement, for example for cranes, construction
machinery, elevators, and packaging machines.
Read through these instructions thoroughly. Familiarize yourself with the device before
installing, mounting, or operating.
Always operate the device as described in these instructions to ensure that the device and
connected systems function correctly. The protection of operating personnel and plant is only
guaranteed if the device is operated in accordance with its intended use.
3.3General safety instructions
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Installation and commissioning of all devices may only be performed by trained and qualified
personnel.
User modification and or repair are dangerous and will void the warranty and exclude the
manufacturer from any liability. If serious faults occur, stop using the device. Secure the device
against inadvertent operation. In the event of repairs, return the device to your local
Pepperl+Fuchs representative or sales office.
Note!
Disposal
Electronic waste is hazardous waste. When disposing of the equipment, observe the current
statutory requirements in the respective country of use, as well as local regulations.
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Absolute Rotary Encoder
General Information on System Integration
4General Information on System Integration
4.1Using this Manual
This manual explains how to install and configure the photoelectric and magnetic absolute
rotary encoders with CANopen interface applicable for industrial applications with CANopen
interface.
Magnetic absolute rotary encoders are fully compliant with standard DS406.
Photoelectric absolute rotary encoders are fully compliant with following CiA standards:
■
DS301V402 CANopen Application Layer
■
DR303-1 Cabeling and connector pin assignment
■
DR303-3 CANopen indicator specification
■
DS305V200 CANopen Layer Setting Service
■
DS306V1R3 Electronic datasheet specification
■
DS406V32 Device Profile for Encoders
Measuring System for Photoelectric Absolute Rotary Encoders
The measuring system consists of a light source, a code disc pivoted in a precision ball bearing
and an opto-electronic scanning device. A LED is used as a light source which shines through
the code disc and onto the screen behind. The tracks on the code disk are evaluated by an
optoarray behind the reticle.
With every position another combination of slashes in the reticle is covered by the dark spots
on the code disk and the light beam on the photo transistor is interrupted. That way the code on
the disc is transformed into electronic signals. Fluctuations in the intensity of the light source
are measured by an additional photo transistor and another electronic circuit compensates for
these. After amplification and conversion the electronic signals are available for evaluation.
Measuring System for Magnetic Absolute Rotary Encoders
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.
Note!
Further information on technical data, mechanical data, connection layouts, and available
connection lines for the relevant absolute rotary encoder types can be found in the
corresponding datasheet.
4.2General CANopen Information
CANopen system is used in industrial 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.
12
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Absolute Rotary Encoder
General Information on System Integration
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:
■
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 20 kBaud up to 1Mbaud (30 m cable for a maximum
speed of 1Mbaud, 1000 m 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
on the Pepperp+Fuchs internet page www.pepperl-fuchs.com
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
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
Note!
All datasheets and manuals can be downloaded for free from our website www.pepperlfuchs.com
We do not assume responsibility for technical inaccuracies or omissions. Specifications are
subject Note to change without notice.
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Absolute Rotary Encoder
ON
T
G
H-+G
x10Bd
x1
LLH
8
7
2
6
5
4
3
0
9 1
8
7
2
6
5
4
3
0
9 1
8
7
2
6
5
4
3
0
9 1
R
Te r m i n a t o r
Bus In
Bus Out
RS 485 Interface
Installation of Photoelectric Absolute Rotary Encoder
5Installation of Photoelectric Absolute Rotary Encoder
The following chapter describes all aspects helpful for installation of photoelectric absolute
rotary encoders with bus cover. Depending on the rotary encoder model there are the following
connection variants:
■
Rotary encoder with bus cover equipped with cable glands
■
Rotary encoder with bus cover equipped with a cable exit
■
Rotary encoder with bus cover equipped with one or two M12x1 connectors, 5-pin
Bus cover features like node number adressing, baud rate setting and activation of termination
resistor are identical for all these variants.
5.1Signal Assignment of Terminal Block
The rotary 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.
14
Figure 5.1
Te r m i na lDescription
Ground
+24 V Supply Voltage
-0 V Supply Voltage
GCAN Ground
LCAN Low (Bus In)
HCAN High (Bus In)
G*CAN Ground
L*CAN Low (Bus Out)
H*CAN High (Bus Out)
Table 5.1* are not connected, if terminator is ON
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Absolute Rotary Encoder
Installation of Photoelectric Absolute Rotary Encoder
Bus Connection
The bus cover fulfills the function of a T-coupler. From there the wiring must be done according
to figure you find before. Please note the assignment of incoming and outgoing bus signals.
Caution!
Activated bus termination separates "Bus in" and "Bus out"
Non-observance of separation of "Bus in" and "Bus out" causes interferences on the CANopen
bus.
If you activate the bus termination on the rotary encoder ensure that the rotary encoder is the
last CANopen bus participant in the bus line.
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Absolute Rotary Encoder
ON
T
G
H-+G
x10Bd
x1
LLH
8
7
2
6
5
4
3
0
9 1
8
7
2
6
5
4
3
0
9 1
8
7
2
6
5
4
3
0
9 1
R
Te r m i n a t o r
Bus In
Bus Out
RS 485 Interface
1
3
4
5
2
1
5
3
2
4
Installation of Photoelectric Absolute Rotary Encoder
5.2Signal Assignment of Connector and Cable Variants
The rotary encoders with cable- and connector-exit were designed in accordance to CiA
normative DR303-1 cabeling and connector pin assignment. They also have a removable bus
cover with all possibilities to set node number, baud rate and acitvate terminator.
Figure 5.2
The following table shows an assignment of the different connecting types (cable, connectors)
to the terminals of the bus cover.
Te r m i na lDescriptionCableM12 plug, 5-pinM12 socket, 5-pin
(-)- Power supply133
(+) + Power supply222
LCAN Low (Bus In)35
HCAN High (Bus In)44
GCAN Ground51
L*CAN Low (Bus Out)65
H*CAN High (Bus Out)74
G*CAN Ground81
Ground connection of
encoder housing
Table 5.2* are not connected, if terminator is ON
green/
yellow
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Absolute Rotary Encoder
Installation of Photoelectric Absolute Rotary Encoder
Caution!
Activated bus termination separates "Bus in" and "Bus out".
Non-observance of separation of "Bus in" and "Bus out" causes interferences on the CANopen
bus.
If you activate the bus termination on the rotary encoder ensure that the rotary encoder is the
last CANopen bus participant in the bus line.
5.3Activation of the Terminator
There is a terminator provided in the bus cover, which must be used as a line termination on the
last device. The terminator is switched on when the switch is in the "ON position" (see figure
before).
5.4Installation Hints for Cabling
Cable Connection with Cable Gland
1. Remove screw, sealing and cone from the cable gland.
Figure 5.3
2. Remove 55 mm of the sheath and 50 mm of the shielding. About 5 mm of the wires should
be de-isolated.
3. Put screw and sealing on the cable.
4. The cone should be mounted under the shielding according to the figure before. Put the
whole cable into the cable gland and tighten the screw.
Minimization of Signal Interferences
Both the cable shielding and the metal housings of rotary encoders and subsequent
electronics have a shielding function. The housing must have the same potential and be
connected to the main signal ground over the machine chassis or by means of a separate
potential compensating line. Potential compensating lines should have a minimum cross
section of 6 mm
Do not lay signal cable in the direct vicinity of interference sources (air clearance > 100 mm (4
in.))
A minimum spacing of 200 mm (8 in.) to inductors is usually required, for example in switchmode power supplies.
Configure the signal lines for minimum length and avoid the use of intermediate terminals.
Shielded fieldbus cables shall be used! The shield must be grounded according to EMI rules!
In metal cable ducts, sufficient decoupling of signal lines from interference signal transmitting
cable can usually be achieved with a grounded partition.
2
.
5.5Setting of Node Number and Baud Rate in the Bus Cover
Note!
Setting of node number and baud rate has to be done via software if Bd rotary switch is set to 9.
SDO objects and Layer Setting Services (LSS) are provided for this purpose.
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Absolute Rotary Encoder
ON
T
G
H-+G
x10Bd
x1
LLH
8
7
2
6
5
4
3
0
9 1
8
7
2
6
5
4
3
0
9 1
8
7
2
6
5
4
3
0
9 1
R
Te r m i n a t o r
Bus In
Bus Out
RS 485 Interface
Installation of Photoelectric Absolute Rotary Encoder
Setting Node Number
The setting of the node number is done by turning the BCD coded rotary switches x10 and x1
in the bus cover. Possible (valid) addresses lie between 0 and 89 whereby every address can
only be used once.
Figure 5.4
Possible device address 0 ... 89.
Addresses 90 ... 99 are reserved.
BCD coded rotary switchDescription
x1single digits of address
X10tens of address
Note!
Internally the CANopen rotary encoder adds 1 to the adjusted device address.
Setting Baud Rate
The setting of the baud rate is done by turning the Bd rotary switch in the bus cover. The
following baud rates are possible:
BCD coded rotary switchBaudrate in kBit/s
020
150
2100
3125
4250
5500
6800
71000
8reserved
9Sets SDO and LSS mode
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Absolute Rotary Encoder
Installation of Photoelectric Absolute Rotary Encoder
5.6Status of the Bus Cover LEDs
The LED behaviour was designed in accordance to the CiA normative DR 303-3 CANopen
indicator specification.
Figure 5.5
CAN Run LEDStateDescription
FlickeringAutoBitrate / LSSAuto-bitrate detection is in progress or LSS
BlinkingPRE-OPERATIONALThe encoder is in state PRE-OPERATIONAL
Single flashSTOPPEDThe encoder is in state STOPPED
Double flashreserved
Triple flashProgram / Firmware
download
OnOPERATIONALThe encoder is in state OPERATIONAL
Err LEDStateDescription
OffNo errorThe encoder is in working condition
FlickeringAutoBitrate / LSSAuto-bitrate detection is in progress or LSS
Single flashWarning limit reachedAt least one of the error counters of the CAN
Double flashError control eventA guard event (NMT-slave or NMT-master) or a
services are in progress
A software download is running on the encoder
services are in progress
controller has reached or exceeded the warning
level (too many error frames)
heartbeat event (heartbeat consumer) has
occured
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Absolute Rotary Encoder
Installation of Photoelectric Absolute Rotary Encoder
Err LEDStateDescription
Tri pl e fl as hSync. errorThe sync. message has not been received within
Quadruple flash Error, event-timerAn expected PDO has not been received before
OnBus offThe CAN controller is bus off
the configured communication cycle period time
out (see objekt 1006h)
the even-timer elapsed
20
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Absolute Rotary Encoder
1
3
4
5
2
Installation of Magnetic Absolute Rotary Encoder
6Installation of Magnetic Absolute Rotary Encoder
The following chapter describes all aspects helpful for installation of magnetic absolute rotary
encoders. Depending on the rotary encoder model there are the following connection variants:
■
Rotary encoder with a cable exit
■
Rotary encoder with two M12x1 connectors, 5-pin
6.1Signal Assignment of Connector and Cable Variants
SignalWire end5-pin, M12 x 1 connector
CAN GNDgreen1
+U
b
GNDyellow3
CAN-Highwhite4
CAN-Lowbrown5
ShieldingShieldingHousing
Pinout
red2
6.2Activation of Terminator
Note!
The magnetic absolute rotary encoder is equipped with an internal terminator, which can be
used as a line termination. Be aware, that the terminator is only activated, when the encoder is
powered, because the microcontroller is internally needed to switch on the terminator.
If the rotary encoder is connected at the end or beginning of the bus using of the internal
terminator is possible by parameterization of SDO object "3002 h" The internal terminator is
acitvated by writing "01 h" into this object.
6.3Setting of Node Number and Baud Rate
Setting of the node number and baud rate has to be done by parameterization of the relevant
SDO objects or via LSS. Some absolute rotary encoders are provided with auto baud detection
(see relevant datasheet).
Default values are:
■
Baud rate 125 kBaud
■
Node number 32 decimal (20 h)
Setting Node Number via SDO Objects
The node number has to be adjusted via SDO objects. To set the node number, object 3000h
has to be written. For further information regard chapter "Object Descriptions".
Setting Baud Rate via SDO Objects
The baud rate has to be adjusted via SDO objects, if auto baud feature is not activated or is not
possible to use because of network start-up behavior. To set baud rate object 3001h has to be
written. For further information regard chapter "Object Descriptions".
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Absolute Rotary Encoder
Installation of Magnetic Absolute Rotary Encoder
Setting Node Number via LSS
The node number can also be adjusted via Layer Setting Services (LSS). For further
information regard chapter "Usage of Layer Setting Services (LSS)"
Setting Baud Rate via LSS
The baud rate can also be adjusted via Layer Setting Services (LSS). For further information
regard chapter "Usage of Layer Setting Services (LSS)"
6.4Status of the LEDs
The magnetic absolute rotary encoders are equipped with a dual color LED.
CAN Run
(green)
BlinkingPRE-OPERATIONALBoot up message is sent, device configuration is
Single flashSTOPPEDThe encoder is in CAN state STOPPED.
OnOPERATIONALThe encoder is in CAN state OPERATIONAL.
OffNo power supply
StateDescription
possible, encoder is in CAN state PREOPERATIONAL.
Err (red)StateDescription
OffNo errorThe encoder is in operatring mode.
FlickeringAutoBitrateAuto baud mode is active and the encoder tries
Single flashWarning limit reachedAt least one of the error counters of the CAN
Double flashError control eventA guard event (NTM slave or NTM master) or a
OnBus offThe CAN controller is in sate bus off. No
to find within the time-out period a valid CAN
message for baud rate measurement.
controller has reached or exceeded the warning
level (too many error frames).
heartbeat event has occurred.
communication possible anymore. Too many
error frames in the network.
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Absolute Rotary Encoder
Quick Start Guide
7Quick Start Guide
Intention of this chapter is to help the user getting a magnetic or photoelectric absolute rotary
encoder very easy and fast to operate. The user is still responsible to configure the absolute
rotary encoder in the right way and reading the whole manual carefully.
With the following sequence a normal procedure is described to configure a device for
standard applications. It shall guide you roughly through this process.
7.1Configure the Absolute Rotary Encoder for Integration into a CAN
Network
For this purpose you need to set up the node number and the baud rate first.
Depending on your absolute rotary encoder model there are different ways to do so.
■
Photoelectric absolute rotary encoder with bus cover: Setting is possible via BCD coded
rotary switches or if rotary switch Bd = 9 via SDO objects or Layer Setting Services (LSS).
■
Magnetic absolute rotary encoder: Default setting for node number is 32 decimal and
baud rate is 125 kBaud. If other settings are required setting is only possible via SDO
objects or Layer Setting Services (LSS). Some models have auto baud rate detection (see
relevant datasheet) which has to be checked if activated. If this feature is activated so only
node number has to be set.
Caution!
Check requirements of baud rate and node number of your network before configuration!
If your running network uses a different baud rate or the node number is already in use, then
you shall make a point-to-point connection to the encoder with a configuration tool to prevent a
crash of the different configured running network. If auto baud feature is used in the encoder it
simplifies installation.
First Steps of Configuration of a Magnetic Absolute Rotary Encoder
1. If the encoder has no active auto baud detection connect the encoder with a configuration
tool and set the baud rate to 125 kBd.
2. Power on the encoder.
You will see a boot up message in case of a trace tool is used. For devices equipped with
status LEDs a green colored LED is blinking to indicate the CAN state PREOPERATIONAL.
3. If necessary activate the terminator of the encoder by writing "01h" into object "3002 h".
4. Continue by reading and writing data into the relevant following objects in this chapter.
First Steps of Configuration of a Photoelectric Absolute Rotary Encoder
Note!
In case you want to set baud rate and node number via SDO objects rotary switch Bd has to be
in position 9.
1. Set the baud rate desired with rotary switch Bd (20 kBd factory default) and the node address you need with rotary switches x10 and x1 (32 factory default) . If Bd = 9 connect the
encoder with a configuration tool and set the baud rate desired.
2. Power on the encoder.
You will see a boot up message in case of a trace tool is used. For devices equipped with
status LEDs a green colored LED is blinking to indicate the CAN state PREOPERATIONAL.
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Absolute Rotary Encoder
Quick Start Guide
3. If necessary activate the terminator of the encoder by setting the relevant switch in the bus
cover.
4. If "Bd = 9" continue by reading and writing data into the relevant following objects.
For adaption of the encoder in your application you may use objects to configure the resolution
per revolution and the total resolution. Especially the preset value is relevant to adjust the
position value of the encoder to a desired value in the machine after mechanical installation. It
is useful to store the configuration in the device and not to re-configure the different parameters
after each power cycle or NMT reset. In the following tables the new configured node number is
assumed.
Configuration of Measuring Units per Revolution
Object 6001h
Example: 3600 dec >> 00000E10h
Explanation: The encoder will output 3600 steps per revolution that means 0.1° resolution.
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Absolute Rotary Encoder
Quick Start Guide
Message sent to Encoder
IdentifierDLC Command IndexSubindexService/Process data
NN = BhDownload6001h00hByte 4 Byte 5 Byte 6 Byte 7
600h + NN
= 60Bh
Ta b le 7. 8
Message received from Encoder
IdentifierDLC Command IndexSubindexService/Process data
NNDownload6001h00hByte 4 Byte 5 Byte 6 Byte 7
580h + NN
= 58Bh
Ta b le 7. 9
Configuration of total Measuring Range
8h22h01h60h00h10h0Eh00h00h
8h60h01h60h00h00h00h00h00h
Object 6002h
Example: 7200 dec >> 00001C20h
Explanation: The encoder will output 7200 steps within 2 revolution and starts again with 0.
There is no mechanical limitation, if the encoder is driven continuously in one direction. Value
must be lower or equal than given on the nameplate.
Message sent to Encoder
IdentifierDLC Command IndexSubindexService/Process data
NN = BhDownload6002h00hByte 4 Byte 5 Byte 6 Byte 7
600h + NN
= 60Bh
Ta b le 7. 1 0
Message received from Encoder
IdentifierDLC Command IndexSubindexService/Process data
NNDownload6002h00hByte 4 Byte 5 Byte 6 Byte 7
580h + NN
= 58Bh
Ta b le 7. 1 1
8h22h02h60h00h20h1Ch00h00h
8h60h02h60h00h00h00h00h00h
Configuration of Preset Value
26
Object 6003h
Example: 10 dec >> 0000000Ah
Explanation: You set the encoder output position value to a desired position value in your
machine. The value is set in the encoder, when the telegram is sent and confirmed. Do this
operation during standstill of the encoder shaft to increase the accuracy, because the device is
calculating itself an offset value. If you set the preset dynamically, which is not recommended,
then you have also to take bus latency time into consideration and encoder internal cycle time.
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Absolute Rotary Encoder
Quick Start Guide
Message sent to Encoder
IdentifierDLC Command IndexSubindexService/Process data
NN = BhDownload6003h00hByte 4 Byte 5 Byte 6 Byte 7
600h + NN
= 60Bh
Ta b l e 7 . 1 2
Message received from Encoder
IdentifierDLC Command IndexSubindexService/Process data
NNDownload6003h00hByte 4 Byte 5 Byte 6 Byte 7
580h + NN
= 58Bh
Ta b l e 7 . 1 3
If preset value is used, then please execute the store configuration, otherwise you will see a
position jump after power cycle. It is in general recommended to store after a changed
configuration.
8h22h03h60h00h20h1Ch00h00h
8h60h03h60h00h00h00h00h00h
Transmission of Position Value: cyclic
If you want, that the encoder transmits its position value cyclically without request from the
PLC/CAN master, then configure the following object used for TPDO1. Remark: By default the
value is set to 0, that means the value is not transmitted.
Object 1800h, Subindex 5h
Example: 100 dec >> 0064h
Explanation: The encoder will end each 100 ms its position value after receiving a NMT start
command in status operational.
Message sent to Encoder
IdentifierDLC Command IndexSubindexService/Process data
NN = BhDownload1800h05hByte 4 Byte 5 Byte 6 Byte 7
600h + NN
= 60Bh
Ta b l e 7 . 1 4
Message received from Encoder
IdentifierDLC Command IndexSubindexService/Process data
NNDownload1800h05hByte 4 Byte 5 Byte 6 Byte 7
580h + NN
= 58Bh
Ta b l e 7 . 1 5
8h22h00h18h05h64h00h00h00h
8h60h00h18h05h00h00h00h00h
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Absolute Rotary Encoder
Quick Start Guide
Store Configuration
Object 1010h, Subindex 01
Signature "save" >> "73617665"
Message sent to Encoder
IdentifierDLC Command IndexSubindexService/Process data
NN = 20hDownload1010h00hByte 4 Byte 5 Byte 6 Byte 7
600h + NN
= 620h
Ta b le 7. 1 6
Message received from Encoder
IdentifierDLC Command IndexSubindexService/Process data
NNDownload1010h01hByte 4 Byte 5 Byte 6 Byte 7
580h + NN
= 5A0h
Ta b le 7. 1 7
8h22h10h10h01h73h61h76h65h
8h60h10h10h01h00h00h00h00h
The new network configuration of the encoder will be activated with a power cycle or NMT
reset.
End of basic Configurations
Add the encoder to the network.
The encoder is now configured for standard applications. Further and more specific
configuration is possible. Regard for this chapter "Configuration".
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Absolute Rotary Encoder
Configuration
8Configuration
The following chapter describes the configuration of photoelectric and magnetic absolute
rotary encoders with CANopen interface.
8.1Operating Modes
8.1.1General
The rotary encoder accesses the CAN network after power-up in preoperational mode: Bootup
message: 700 hex + node number
It is recommended that the parameters can be changed by the user when the rotary encoder is
in pre-operational 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.
8.1.2Mode: Pre-operational
To set a node to pre-operational mode, the master has to send the following message:
IdentifierByte 0Byte 1Description
0h80h00hNMT-PreOp, all nodes
0h80hNNNMT-PreOp, NN
Ta b l e 8 . 1
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.3Mode: Start - Operational
To put one or all nodes in the operational state, the master has to send the following message:
IdentifierByte 0Byte 1Description
0h01h00hNMT-PreOp, all nodes
0h01hNNNMT-PreOp, NN
Ta b l e 8 . 2
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.4Mode: Stopped
To put one or all nodes in the stopped state, the master has to send the following message:
IdentifierByte 0Byte 1Description
0h02h00hNMT-PreOp, all nodes
0h02hNNNMT-PreOp, NN
Ta b l e 8 . 3
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
8.1.5Reinitialization of the Rotary Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
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Absolute Rotary Encoder
Configuration
IdentifierByte 0Byte 1Description
0h82h00hReset communication
0h81hNNReset node
Ta b le 8. 4
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
Note!
After reinitialization, the encoder accesses the bus in pre-operational mode.
8.2Normal Operating
CAN Transmission Mode Description
ModesDescription
Polled Modes By a remote-transmission-request telegram the connected host calls for the
Cyclic ModeThe encoder transmits cyclically – without being called by the host – the
Sync ModeAfter receiving a sync telegram by the host, the encoder answers with the
Ta b le 8. 5
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.
current process value. The cycle time can be programmed in milliseconds for
values between 1 ms and 65536 ms.
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.
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Absolute Rotary Encoder
Configuration
8.3Storing Parameter
8.3.1List of storable Parameters
Object
Index
1005hCOB-ID Syncxx
100ChGuard Timexx
100DhLife Time Factorxx
1016hConsumer Heartbeat Timexx
1017hProducer Heartbeat Timexx
1020hVerify configurationxx
1800hCommunication parameter
1801hCommunication parameter
1A00hTransmit PDO1 Mapping
1A01hTransmit PDO2 Mapping
2100hOperating Parametersxx
2101hResolution per Revolutionxx
2102hTotal Resolutionxx
2103hPreset Valuexx
2104hLimit Switch, min.xx
2105hLimit Switch, max.xx
2160hCustomer Storagexx
2200hCyclic Timerxx
3000hNode Numberxx
3001hBaud ratexx
3002hTermination Resistorxx
3003hAuto Baud Detectionx
3005hAuto Boot Upx
3030hBackward Compatibility Mode x
4010hPPR Incremental Encoderx
4020hA/B Phase Shiftx
6000hOperating Parameterxx
6001hSteps per Revolutionxx
6002hTotal Resolutionxx
6003hPreset Valuexx
6200hCyclic Timerxx
Object Description
PDO 1
PDO 2
Parameter
Parameter
Magnetic Absolute
Rotary Encoder
xx
xx
xx
xx
Photoelectric Absolute
Rotary Encoder
8.3.2Storing Procedure
The parameter settings can be stored in a non-volatile E2PROM. The parameter settings are
stored in RAM when being programmed. When all the parameters are set and proved, they can
be transferred in one burn cycle to the E
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PROM by the parameter memory transfer.
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Absolute Rotary Encoder
Configuration
Note!
The stored parameters are copied after a RESET (Power on, NMT-Reset) from the E
the RAM (volatile memory).
Storing without Reset
By using the object 1010h from the communication profile-related object dictionary you can
store the parameters into the non-volatile memory without a reset.
Sto ring with Reset
By using the object 2300h from the manufacturer-specific object dictionary you can store the
parameters into the non-volatile memory. After storing the parameters a reset of the device is
performed.
8.4Restoring Parameters
The default parameters can be restored by using the object 1011h from communication profilerelated 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 nonvolatile memory. To restore the default 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.
2
PROM to
8.5Usage of Layer Setting Services (LSS)
LSS with photoelectric rotary encoders
The integrated Layer Setting Service functionality is designed according to the CiA normative
DS305V200 CANopen Layer Setting Service: General Description: These services and
protocols can be used to inquire or to change settings of several parameters of the physical,
data link layer, and application layer on a CANopen device with LSS slave capability by a
CANopen device with LSS master capability via the CAN network. In case of the OCD-II-series,
the encoder will be the LSS slave device and the PLC (control) has to support LSS master
device functionality. The LSS-functionality of the OCD-II-series is limited to the following
parameters of the application layer, namely node number and baud rate.
Object 1018h: Indentify Object (LSS-adress)
SubindexDescriptionData Type
0Number of entriesUnsigned 84hrono
1Vend or IDUnsigned 3242hrono
2Product CodeUnsigned 3243h 41hrono
3Revision NumberUnsigned 3210000hrono
4Serial NumberUnsigned 32rono
Ta b le 8. 6
The LSS master device requests services that are performed by the encoder (LSS slave
devices). The LSS master device requests the LSS address from the LSS slave device. The
LSS address is defined in object 1018h Identity Object - it consists of vendor-id, product-code,
revision-number and serial-number as shown in Table 10. After receiving this information the
control can unequivocally identify the encoder and the node number and baud rate can be set.
The exact procedure varies in detail, coursed by the different PLC tools.
Default
Value
Access
Restore after
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Configuration
LSS with magnetic rotary encoders
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, revisionnumber, serial-number) from the LSS slave device.
After receiving this information the control can unequivocally identify the encoder and the node
number and baud rate can be set.
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Programmable Parameters
9Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org)
General Command Byte Description
CommandFunctionTe l e g r a mDescription
22hDomain DownloadRequestParameter to Encoder
23h, 27h,
2Bh, 2Fh (*)
60hDomain DownloadConfirmation Parameter received
40hDomain UploadRequestParameter request
43h, 47h,
4Bh, 4Fh (*)
80 hWarningReplyTransmission error
Ta b le 9. 1
Domain DownloadRequestParameter to Encoder (Bytes indicated)
Domain UploadReplyParameter to Master (Bytes indicated)
Recommended Method
Recommended Method
(*)The value of the command byte depends on the data length of the called parameter:
Detailed Command Byte Description
Comman
d
43h4 ByteUnsigned 3223h4 ByteUnsigned 32
47h3 ByteUnsigned 2427h3 ByteUnsigned 24
4Bh2 ByteUnsigned 162Bh2 ByteUnsigned 16
4Fh1 ByteUnsigned 82Fh1 ByteUnsigned 8
Ta b le 9. 2
Data lengthData type
Comman
d
Data lengthData type
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 below:
Overview Object Dictionary
Index (hex)Object
0000not used
0001-001FStatic Data Types
0020-003FComplex Data Types
0040-005FManufacturer Specific Data Types
0060-0FFFReserved for further use
1000-1FFFCommunication Profile Area
2000-5FFFManufacturer Specific Profile Area
6000-9FFFStandardized Device Profile Area
A000-FFFFReserved for further use
Ta b le 9. 3
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Programmable Parameters
9.1Programming example: Preset Value
If a CANopen device is connected and configured with the right baud rate and also configured
to an unused node number, it will start up into the pre-operational mode and send a bootup
massage to the master.
9.1.1Set Encoder Preset Value
Master to Encoder with Node Number 1.
Setting Preset Value (Value 1000h)
IdentifierDLC Command IndexSubindexService/Process data
NN = 1hDownload 6003hByte 4 Byte 5 Byte 6 Byte 7
601h8h22h03h60h00h00h10h00h00h
Ta b l e 9 . 4
Answer of the Encoder
IdentifierDLC Command IndexSubindexService/Process data
9.2Communication Profile DS301 specific objects from 1000h – 1FFFh
In this manual we refer to the communication profile DS301 V4.02.
Object Dictionary 1000h - 1FFFh
Magnetic Absolute
ObjectObject Description
1000hDevice Typexx
1001hError Registerxx
1003hPre-Defined Error Fieldxx
1005hCOB-ID SYNCxx
1006hComCyclePeriodexx
1008hDevice Namexx
1009hHardware Versionxx
100AhSoftware Versionxx
100ChGuard Timexx
100DhLife Time Factorxx
1010hStore parametersxx
1011hRestore default parametersxx
1012hCOB-ID Time Stampxx
1013hHigh Resolution Time Stampxx
1014hCOB-ID Emergencyxx
1016hConsumer Heartbeat Timexx
1017hProducer Heartbeat Timexx
1018hIdenty Objectxx
1020hVerify Configurationxx
1029hError Behaviorxx
1800hCommunication Parameter
PDO 1
1801hCommunication Parameter
PDO 2
1A00hTransmit PDO1 Mapping
Parameter
1A01hTransmit PDO2 Mapping
Parameter
1F50hDownload Program Areaxx
1F51hProgram Controlxx
Ta b le 9. 9
Rotary Encoder
xx
xx
xx
xx
Photoelectric Absolute
Rotary Encoder
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Programmable Parameters
9.3Manufacturer specific objects from 2000h – 5FFFh
Object Dictionary 2000h - 5FFFh
Magnetic Absolute
ObjectObject Description
2000hPosition Valuexx
2100hOperating Parametersxx
2101hResolution per Revolutionxx
2102hTotal Resolutionxx
2103hPreset Valuexx
2104hLimit Switch, min.xx
2105hLimit Switch, max.xx
2160hCustomer Storagexx
2200hCyclic Timer PDO1xx
2300hSave Parameter with resetxx
2600hRaw Position Value (identical
with 6008h)
3000hNode Numberxx
3001hBaudratexx
3002hTe r m i n a t o rxx
3003hAuto Baud Detectionx
3005hAuto Boot Upx
3010hSpeed Controlxx
3011hSpeed Valuexx
3020hAcceleration Controlxx
3021hAcceleration Value (not
supported)
3030hBackward Compatible Modex
3040hLife Cycle Counterx
3050hTime Stamp Position Valuex
4000hBootloader Controlxx
Ta b l e 9 . 1 0
Rotary Encoder
x
xx
Photoelectric Absolute
Rotary Encoder
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Programmable Parameters
9.4Application specific objects from 6000h – 67FEh
Object Dictionary 6000h - 6FFFh
Magnetic Absolute
ObjectObject Description
6000hOperating Parametersxx
6001hMeasuring Units per
Revolution
6002hTotal Measuring Range in
6003hPreset Valuexx
6004hPosition Valuexx
6008hHigh Precision Positon Valuex
6030hSpeed Valuexx
6040hAcceleration Valuexx
6200hCyclic Timerxx
6300hCam State Registerxx
6301hCam Enable Registerxx
6302hCam Polarity Registerxx
6310h 6317h
6320h 6327h
6330h 6337h
6400hArea State Registerxx
6401hWork Area Low Limitxx
6402hWork Area High Limitxx
6500hOperating Statusxx
6501hSingleturn Resolutionxx
6502hNumber of Distinguishable
6503hAlarmsxx
6504hSupported Alarmsxx
6505hWarningsxx
6506hSupported Warningsxx
6507hProfile and Software Versionxx
6508hOperating Timexx
6509hOffset Valuexx
650AhModule Identificationxx
650BhSerial Numberxx
Ta b le 9. 1 1
Measuring Units
Cam 1-7 Low Limitxx
Cam 1-7 High Limitxx
Cam 1-7 hysteresisxx
Revolutions
Rotary Encoder
xx
xx
xx
Photoelectric Absolute
Rotary Encoder
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Programmable Parameters
9.5Object Descriptions
In the following chapter you will find detailed information of the object dictionary related to the
encoder device.
To provide a brief and clear presentation the objects are discribed in object tables containing
the following abbreviations:
AbbreviationDescription
roread only: Parameter that is only accessible in read mode.
romapread only mapable: Parameter that can be polled by the PDO.
rwread/write: Parameter that can be accessed in read or write mode.
wowrite only: Parameter that is only accessible in write mode.
9.5.1Object 1000h: Device Type
The object at index 1000h describes the type of device and its functionality. It is composed of a
16-bit field which describes the device profile that is used and a second 16-bit field which gives
additional information about optional functionality of the device. The additional information
parameter is device profile specific.
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 32N/Arono
Ta b l e 9 . 1 2
Absolute rotary encoder single turn: 10196h
Absolute rotary encoder multi turn: 20196h
9.5.2Object 1001h: Error Register
This object is used by the device to display internal faults. When a fault is detected, the
corresponding bit is therefore activated.
BitDescriptionComments
0Ge ne r i c E r r o rThe generic error is signaled at any error situation.
Ta b l e 9 . 1 3
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 8N/Arono
Ta b l e 9 . 1 4
Restore after
Boot up
Restore after
Boot up
9.5.3Object 1003h: Pre-Defined Error Field
The object holds the errors that have occurred on the device and have been signaled via the
Emergency Object.
■
The error code is located in the least significant word.
■
Additional information is located in the most significant word.
■
Subindex 0 contains the number of recorded errors.
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Absolute Rotary Encoder
Programmable Parameters
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of recorded
errors
1hMost recent errorsUnsigned 32-rono
2hSecond to last errorUnsigned 32 -rono
...
10h
Ta b le 9. 1 5
Clearing Error Log
The error log can be cleared by writing 0 to subindex 0 of object 1003h.
9.5.4Object 1005h: COB-ID Sync
This object contains the synchronization message identifier.
Restore after
Boot up
Unsigned 80rwno
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 32 80000080hrwno
Ta b le 9. 1 6
9.5.5Object 1008h: Manufacturer Device Name
This object contains the device name.
SubindexDescriptionData TypeDefault ValueAccess
0h-String-rono
Ta b le 9. 1 7
9.5.6Object 1009h: Manufacturer Hardware Version
This object contains the article name of the circuit board.
SubindexDescriptionData TypeDefault ValueAccess
0h-String-rono
Ta b le 9. 1 8
Restore after
Boot up
Restore after
Boot up
Restore after
Boot up
9.5.7Object 100Ah: Manufacturer Software Version
This object contains the manufacturer software version. Currently the version is as data type
string “1.xx”, whereby x stands as place holder.
SubindexDescriptionData TypeDefault ValueAccess
0h-Stringrono
Ta b le 9. 1 9
40
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Absolute Rotary Encoder
Programmable Parameters
9.5.8Object 100Ch: Guard Time
This object contains the guard time in milliseconds.
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 160rwyes
Ta b l e 9 . 2 0
9.5.9Object 100Dh: Life Time Factor
This object contains the life time factor parameters. The life time factor multiplied with the guard
time gives the life time for the node guarding protocol.
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 80rwyes
Ta b l e 9 . 2 1
Restore after
Boot up
Restore after
Boot up
9.5.10Object 1010h: Store Parameters
This object is used to store device and CANopen related parameters to non volatile memory.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of sub
indices
1hStore all parametersUnsigned 32"save"rwno
Ta b l e 9 . 2 2
Stor i n g procedu re
To save the parameters to non volatile memory the access signature “save” has to be sent to
the corresponding subindex of the device.
Most significant wordLeast significant word
ASCIIevas
Hex Value65h76h61h73h
Note!
The restoration of parameters will only be taken into account after a power up or reset
command. Please check all parameters before you store them to the non volatile memory.
Unsigned 82rono
Restore after
Boot up
9.5.11Object 1011h: Restore Parameters
This object is used to restore device and CANopen related parameters to factory settings.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of sub
indices
1hStore all parametersUnsigned 32"load"rwno
Ta b l e 9 . 2 3
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Unsigned 82rono
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41
Absolute Rotary Encoder
Programmable Parameters
Storing procedure
To save the parameters to non volatile memory the access signature “load” has to be sent to
the corresponding subindex of the device.
Most significant wordLeast significant word
ASCIIdaol
Hex Value64h61h6Fh6Ch
Note!
The restoration of parameters will only be taken into account after a power up or reset
command. Please check all parameters before you store them to the non volatile memory.
9.5.12Object 1012h: COB-ID Time Stamp Object
This object contains the COB-ID of the Time Stamp object.
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 32 100hrwno
Ta b le 9. 2 4
Restore after
Boot up
9.5.13Object 1013h: High Resolution Time Stamp
This object contains a time stamp with a resolution of 1µs.
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 32 0rwno
Ta b le 9. 2 5
9.5.14Object 1014h: COB-ID Emergency Object
This object contains the EMCY emergency message identifier.
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 32 80h + Node ID rwno
Ta b le 9. 2 6
9.5.15Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can
only monitor one corresponding device. If the time is set to 0 the monitoring is not active. The
value of this object must be higher than the corresponding time (object 1017) of the monitored
device.
Restore after
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Restore after
Boot up
42
Restore after
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of indicesUnsigned 81rono
1hConsumer heartbeat
time
Ta b le 9. 2 7
Unsigned 32 0rwyes
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Absolute Rotary Encoder
Programmable Parameters
The context of subindex 1 is as follows:
Bit31 to 2423 to 1615 to 0
Val ue0h (reserved)Address of monitored
device
Ta b l e 9 . 2 8
9.5.16Object 1017h: Producer Heartbeat Time
The object contains the time intervall in milliseconds in which the device has to produce the a
heartbeat message.
SubindexDescriptionData TypeDefault ValueAccess
0h-Unsigned 160rwyes
Ta b l e 9 . 2 9
9.5.17Object 1018h: Identity Object
Monitoring time (ms)
Restore after
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This object contains the device information.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of entriesUnsigned 84rono
1hVe n d o r I DUnsigned 3242hrono
2hProduct CodeUnsigned 32rono
3hRevison NumberUnsigned 32rono
4hSerial NumberUnsigned 32rono
Ta b l e 9 . 3 0
9.5.18Object 1020h: Verify Configuration
This object indicates the downloaded configuration date and time.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of entriesUnsigned 84hrono
1hConfiguration dateUnsigned 32rwno
2hConfiguration timeUnsigned 32rwno
Ta b l e 9 . 3 1
Restore after
Boot up
Restore after
Boot up
9.5.19Object 1029h: Error Behavior
This object indicates the error behavior.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of entriesUnsigned 81hrono
1hCommunication error Unsigned 8rwno
Ta b l e 9 . 3 2
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Absolute Rotary Encoder
Programmable Parameters
9.5.20Object 1800h: 1
This object contains the communication parameter of the 1st transmit PDO.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of sub
indices
1hCOB-IDUnsigned 32 180h + Node IDrwyes
2hTransmission ModeUnsigned 8FEhrwyes
3hInhibit TimeUnsigned 320rwyes
4hNot available
5hEvent TimerUnsigned 32 0rwyes
Ta b le 9. 3 3
st
Transmit PDO Communication Parameter
Unsigned 85royes
Restore after
Boot up
9.5.21Object 1801h: 2nd Transmit PDO Communication Parameter
This object contains the communication parameter of the 2nd transmit PDO
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of sub
indices
1hCOB-IDUnsigned 32 280h + Node IDrwyes
2hTransmission ModeUnsigned 81rwyes
3hInhibit TimeUnsigned 320rwyes
4hNot available
5hEvent TimerUnsigned 32 0rwyes
Ta b le 9. 3 4
Unsigned 85royes
Restore after
Boot up
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Absolute Rotary Encoder
Programmable Parameters
Tra n s m i s s i o n M o d e
The transmission mode can be configured as described below:
Transmission Mode
Transfer Value
(decimal)
0xxSend PDO on first Sync
1-240xxSend PDO every x Sync
241-251reserved
252xxReceive SYNC message
253xUpdate data and send
254xSend PDO on event
255xSend PDO on event
RTR
only
NotesCyclicAcyclic Synchr. Asynchr.
message following an
event
messages
and send PDO on remote
request
PDO on Remote Request
Inhibit Time
For "Transmit PDOs", the "inhibit time" for PDO transmission can be entered in this 16-bit field.
If data is changed, the PDO sender checks wether an "inhibit time" has expired since the last
transmission. A new PDO transmission can only take place if the "inhibit time" has expired. The
"inhibit time" is useful for asynchronous transmission (transmission mode 254 and 255) to
avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and
255). If the data changes before the "event timer" expires, a temporary telegram is sent. If a
value > 0 is written in this 16-bit field, the transmit PDO is always sent after the "event timer"
expires. The value is written in subindex 5 of a transmit PDO. The data transfer also takes place
with no change to data. The range is between 1 - 65536 ms.
This object contains the mapping parameter of the 2nd transmit PDO.
Restore after
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Absolute Rotary Encoder
Programmable Parameters
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of sub
indices
1h2nd mapped objectUnsigned 32 60040020hrwyes
Ta b le 9. 3 6
9.5.24Object 1F50h: Download Program Area
This is a special object that has functionality for the bootloader feature (see Bootloader
chapter).
Use this entry to download your Intel hex file with the programming data. Detailed information
about Domain download and Block transfer in CiA Draft Standard 301 Application Layer and
communication Profile.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of entriesUnsigned 82hroyes
1hDOMAINwoyes
Ta b le 9. 3 7
Unsigned 82royes
Restore after
Boot up
Restore after
Boot up
9.5.25Object 2000h: Position Value
This object contains the position value.
SubindexDescriptionData TypeDefault ValueAccess
0hPosition ValueUnsigned 32ron. a.
Ta b le 9. 3 8
9.5.26Object 2100h: Operating Parameters
As operating parameters the code sequence (complement) can be selected and the limit
switches can be turned on or off.
SubindexDescriptionData TypeDefault ValueAccess
0hOperating
Parameters
Ta b le 9. 3 9
The parameter code sequence (complement) determines the counting direction, in which the
output process value increases or decreases (CW = clockwise, CCW = counterclockwise). The
code sequence is determined by Bit 0 in Index 2100h. Additionally, the two limit switches, Min.
and Max. can be turned on or off in Index 2100h.
Unsigned 80hrwyes
Restore after
Boot up
Restore after
Boot up
46
Code
Bit 0
0CWincreasing0off0off
1CCWincreasing1on1on
sequence
CodeBit 1
Limit switch,
min.
Bit 2
Limit switch,
max.
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Absolute Rotary Encoder
Programmable Parameters
Calculation Example: Target: Absolute rotary encoder with direction CCW increasing, limit
switch min enabled and limit switch max disabled.
Bitmatrix:
■
Bit 0 = 1 Direction increasing CCW
■
Bit 1 = 1 Limit switch min. enabled
■
Bit 2 = 0 Limit swtich max. disabled
Result = 011b = 3h
9.5.27Object 2101h: Resolution per Revolution
This object contains the desired steps per revolution of the encoder.
SubindexDescriptionData TypeDefault ValueAccess
0hResolution per
Revolution
Ta b l e 9 . 4 0
Unsigned 32see type lablerwyes
Restore after
Boot up
If the desired value exceeds the hardware resolution of the encoder, it will be out of range
andthe error code is used "06090030h: Value range of parameter exceeded" will appear.
9.5.28Object 2102h: Total Resolution
This object contains the desired total resolution of the encoder.
SubindexDescriptionData TypeDefault ValueAccess
0hTotal ResolutionUnsigned 32see type lablerwyes
Ta b l e 9 . 4 1
This parameter is used to program the desired number of measuring units over the total
measuring range. This value must not exceed the total resolution of the absolute rotary
encoder, which is printed on the type sign of the encoder.
Attention
Following formula letters will be used:
■
PGA Physical total resolution of the encoder >> (see type sign)
■
PAU Physical resolution per revolution >> (see type sign)
■
GA Total resolution (customer parameter)
■
AU Resolution per revolution (customer parameter)
Please use the following formula to calculate the total resolution of the encoder:
Restore after
Boot up
GA = (PGA * AU)/ PAU AU PAU
k = PGA/Ga k = positive integer
If the desired resolution per revolution is less than the really physical resolution per revolution of
the encoder, then the total resolution must be entered as follows:
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Absolute Rotary Encoder
Programmable Parameters
Total resolution
Calculation example:
■
Customer handicap: AU = 2048
■
Encoder type sign: PGA = 24 bit, PAU = 12 bit
GA = (167772216 * 2048) / 4096 >> GA = 8388608
If the total resolution of the encoder is less than the physical total resolution, the parameter total
resolution must be a multiple of the physical total resolution.
9.5.29Object 2103h: Preset Value
The preset value is the desired position value, which should be reached at a certain physical
position of the axis. The position value is set to the desired process value by the parameter
preset. The preset value must not exceed the parameter total resolution to avoid run-time
errors.If the parameter value exceeds the total resolution of the encoder a SDO “Out of range”
message is generated.
SubindexDescriptionData TypeDefault ValueAccess
0hPreset ValueUnsigned 320hrwyes
Ta b le 9. 4 2
Restore after
Boot up
9.5.30Object 2104h: Limit Switch, min.
Two position values can be programmed as limit switches. By reaching this value, one bit of the
32 bit process value is set to high. Both programmed values must not exceed the parameter
total resolution to avoid run-time errors.If the parameter value exceeds the total resolution of
the encoder a SDO "Out of range" message is generated.
Bit 30 = 1 Limit Switch, minimum reached or passed under
SubindexDescriptionData TypeDefault ValueAccess
0hLimit Switch, min.Unsigned 320hrwyes
Ta b le 9. 4 3
The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value
reaches or passes under the value of the limit switch:
FunctionStatus bi tsProcess value
Bit313029 ... 0
01x ... x
9.5.31Object 2105h: Limit Switch, max.
Two position values can be programmed as limit switches. By reaching this value, one bit of the
32 bit process value is set to high. Both programmed values must not exceed the parameter
total resolution to avoid run-time errors.If the parameter value exceeds the total resolution of
the encoder a SDO "Out of range" message is generated.
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48
Bit 31 = 1 Limit Switch, maximum reached or passed under
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Absolute Rotary Encoder
Programmable Parameters
SubindexDescriptionData TypeDefault ValueAccess
0hLimit Switch, max.Unsigned 320hrwyes
Ta b l e 9 . 4 4
The limit switch, max sets Bit 31=1 with the next message telegram, if the process value
reaches or passes under the value of the limit switch:
FunctionStatus bitsProcess value
Bit313029 ... 0
10x ... x
9.5.32Object 2160h: Customer Storage
This object provides for the customer the possibility to store any value.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of sub
indices
1hCustomer Storage 1Unsigned 32rw
2hCustomer Storage 2Unsigned 32rw
3hCustomer Storage 3Unsigned 32rw
4hCustomer Storage 4Unsigned 32rw
Ta b l e 9 . 4 5
Unsigned 84hro
Restore after
Boot up
Restore after
Boot up
9.5.33Object 2200h: Cyclic Timer PDO
This object contains cyclic time of the event timer in ms (of PDO 1).
SubindexDescriptionData TypeDefault ValueAccess
0hEvent Time in msUnsigned 160hroyes
Ta b l e 9 . 4 6
The object 2200h is hard-wired to the objects 1800h subindex 5h and 6200h and provide the
cycle time for the cyclic mode. (See chapter Cycle Timer and Event Timer)
9.5.34Object 2300h: Save Parameter with Reset
With this object all parameters can be stored in the non volatile memory. After storing the
parameters a reset is executed.
SubindexDescriptionData TypeDefault ValueAccess
0hAcess codeUnsigned 3255AAAA55hwono
Ta b l e 9 . 4 7
Restore after
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Restore after
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Absolute Rotary Encoder
Programmable Parameters
9.5.35Object 2600h: High-Resolution Postion Value
This object contains a high-resolution position value up to 16 bit for single-turn and 31 bit for
multi-turn measurement. See type label to get the information about the maximum resolution of
your device.
Mutliturn encoder with resolution 32 Bits is available upon request at Pepperl+Fuchs GmbH but
there are the following functional restrictions: Preset function and scaling function are not
possible.
Note!
The object 2600h is not influenced by the object 2102h total resolution or object 6002h Total
measuring range, because of their limited data type of unsigned 32 bit.
But object 2101h resolution per revolution and object 6001h measuring units per revolution will
affect the high-resolution position value
SubindexDescriptionData TypeDefault ValueAccess
0hHigh Resolution
Postion Value
Ta b le 9. 4 8
Unsigned 64romap
Restore after
Boot up
9.5.36Object 3000h: Node Number
This object contains the node number of the device. The Pepperl+Fuchs standard node
number is 32 decimal.
Note!
Ensure, that the node number exist unique in the network, otherwise unexpected behavior of
the devices will occur. This conflict can’t be detected in a CAN network by protocol. This is valid
for all CANopen devices!
SubindexDescriptionData TypeDefault ValueAccess
0hNode NumberUnsigned 81Fhrwno
Ta b le 9. 4 9
Note!
To avoid the node number 0, one will be added to the value of this object!. For example: 1Fh
+1h = 20 h = 32 dec
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Absolute Rotary Encoder
Programmable Parameters
9.5.37Object 3001h: Baud Rate
This object contains the baud rate of the device.
SubindexDescriptionData TypeDefault ValueAccess
0hBaud rateUnsigned 81Fhrwno
Ta b l e 9 . 5 0
Eight different baud rates are provided. To adjust the baud rate only one byte is used.
Baud rate kBit/sByte
2000h
5001h
10002h
12503h
25004h
50005h
80006h
100007h
Restore after
Boot up
9.5.38Object 3002h: Terminator
SubindexDescriptionData TypeDefault ValueAccess
0hTe r m i n a t o rUnsigned 8rwno
Ta b l e 9 . 5 1
By writing 01h to this object the internal galvanic isolated terminator is activated.
Note!
Note that the terminator is only activated when the device is powered. If you have more CAN
nodes on the bus be sure to power them approx. 700ms after the device with the programmed
terminator. Otherwise reflections could occur and network quality is probably reduced.
9.5.39Object 3003h: Auto Baud Detection
This object controls the baud rate measurement of the device after power-up or NMT reset.
With this feature the user can add the encoder to a network without knowing the baud rate. Just
the specified baud rates in CANopen are supported and also 100 kBbd as listed in object
3001h baud rate.
If the auto baud detection is enabled, then after power-up the encoder is just listening to the
network and tries to identify within the Time Out (3003h, 2h) a valid CAN message. When this
is done successfully, then the device is sending the boot up message and enters the preoperational state.
Restore after
Boot up
For devices with LED in the M12 connector the active auto baud mode is indicated by flickering
alternative a red and green LED.
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Absolute Rotary Encoder
Programmable Parameters
Reason for non successful baud rate detection
■
Time out: Within the time-out period no valid CAN message is sent.
Corrective action: increase the time-out value to a value that for minimum 1 message is
sent or better more. Check, if power-up time of the other devices is synchronously
switched on like for the encoder. Perhaps you have to take this different power-up time
also into consideration.
■
EMC effects: If a non valid CAN frame is detected, then the encoder retries to measure a
valid CAN frame within the time-out period.
Corrective action: check the shielding of the cables, connections, termination in the CAN
network. If no improvement is realized, then deactivate temporary the auto baud detection
and set the baud rate by use of object 3001h. Then further investigations are possible to
find the root cause in combination with a trace tool.
■
Errorframes: Disturbances in the CAN network communication.
Corrective action: Find the communication problem in the network by selective use of
nodes and consecutive adding further one.
Reaction in case of non-successful baud rate detection
When the baud rate can’t be measured within the time-out period, then the encoder is using the
last "known" baud rate:
■
If the encoder is used out of the box, then the value is 125 kBbd.
■
If the encoder was already in use, then the last successful baud rate is stored
automatically in object 3001h and taken in this case.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of sub
indices
1hEnableUnsigned 81hrwyes
2hEnableUnsigned 82BF20rwyes
Ta b le 9. 5 2
Subindex 1: Enable
■
Value 0h: Auto Baud Mode is disabled.
■
Value 1h: Auto Baud Mode is enabled
Subindex 2: Time Out:
Value in ms defines the time period after power-up or NMT reset for finding a valid CAN
message to measure the baud rate. If the value 0 is used, then an infinite time period is used.
9.5.40Object 3005h: Auto Boot up
Restore after
Boot up
Unsigned 82hro
52
With this flag the start-up behavior of the encoder is defined.
Restore after
SubindexDescriptionData TypeDefault ValueAccess
Boot up
0hAuto Boot UpBoolean0hrwyes
Ta b le 9. 5 3
True: Encoder enters after power-up autonomously the state operational without receiving an
NMT start command.
False: Encoder enters after power-up the state Pre-Operational. This is the standard behavior
of CANopen devices.
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Absolute Rotary Encoder
Programmable Parameters
9.5.41Object 3010h: Speed Control
This object contains the speed control. The speed measurement is disabled by default.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 82hro
1hSpeed UnitUnsigned 80hrwyes
2hSpeed FilterUnsigned 80hrwyes
Ta b l e 9 . 5 4
Subindex 1: Speed Unit
■
Value 0h: Disabled, no measurement
■
Value 1h: Speed measurement enabled and unit in steps per second
■
Value 2h: Speed measurement enabled and unit in RPM
■
Value 3h, 4h: rese r ve d .
Subindex 2: Speed Filter
Restore after
Boot up
■
Value 0h: Filter mode is moving average filter with length of 10 values
■
Value 1h: Filter mode is moving average filter with length of 100 values
■
Value 2h: Filter mode is moving average filter with length of 1000 values
9.5.42Object 3011h: Speed Value
This object contains the speed value.
SubindexDescriptionData TypeDefault ValueAccess
0hSpeed ValueInteger 32romapno
Ta b l e 9 . 5 5
9.5.43Object 3020h: Acceleration Control
This object contains the acceleration control. Acceleration output is not supported by this
device. This object is present only for compatibility reasons.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 82hro
1hEnable AccelerationUnsigned 80hrwyes
2hAcceleration modusUnsigned 80hrwyes
Ta b l e 9 . 5 6
Restore after
Boot up
Restore after
Boot up
9.5.44Object 3021h: Acceleration Control
Acceleration output is not supported by this device. This object is present only for compatibility
reasons.
SubindexDescriptionData TypeDefault ValueAccess
0hAcceleration ValueInteger 320hromap
Ta b l e 9 . 5 7
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Absolute Rotary Encoder
Programmable Parameters
9.5.45Object 3030h: Backward Compatible Mode
This object contains the acceleration control. Acceleration output is not supported by this
device. This object is present only for compatibility reasons.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 82hro
1hSecurity CodeUnsigned 320hrwyes
2hMCD ModeUnsigned 320hrwyes
Ta b le 9. 5 8
Note!
Security Code
A specific signature has to be written first to this subindex to access 2nd subindex MCD Mode.
■
Sequence is used to prevent misusage by unintended access.
■
Signature = "MBYT" (high >> low byte)
Restore after
Boot up
MCD Mode
In the MCD mode new objects implemented in UCD can’t be accessed and will be responded
withabort code "object does not exist".
Signature = "BCM" (high >> low byte)
Singature +"0": UCD mode with all features accessible
Singature +"1": MCD mode with old features available.
Example: BCD + "1" >> 0x42434D01 , MCD mode is active
Example for accessing object 3030h
Setting Security Code (Value “MBYT” -> 4D425954h)
Te l e g r a m m a s t e r t o E n c o d e r
IdentifierDLC Command IndexSubindexService/Process data
NN =1h
Download 3030hByte 4 Byte 5 Byte 6 Byte 7
600h + NN
= 601h
Ta b le 9. 5 9
Setting MCD Mode (Value “BCM”+1 -> 42434D01h)
Te l e g r a m m a s t e r t o E n c o d e r
IdentifierDLC Command IndexSubindexService/Process data
8h22h30h30h01h54h59h42h4Dh
54
NN =1h
600h + NN
= 601h
Ta b le 9. 6 0
Download 3030hByte 4 Byte 5 Byte 6 Byte 7
8h22h30h30h02h01h4Dh43h42h
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Absolute Rotary Encoder
Programmable Parameters
9.5.46Object 3040h: Life Cycle Counter
Diagnostic value to monitor, if the position value is updated compared to last transmission. This
feature is interesting for safety applications to detect for example, if the value in the CAN
controller is frozen. The value starts at power up with 0 and is continuously incremented. When
overflow is reached, then it starts again with 0. It is not expected, that the transmitted value is
incremented, because the life cycle counter is handled in the function when the position value
is measured and this process is asynchronous to the CAN communication.
SubindexDescriptionData TypeDefault ValueAccess
0hLife Cycle CounterUnsigned 32romapo
Ta b l e 9 . 6 1
9.5.47Object 3050h: Time Stamp Position Value
This time stamp is generated when the position value is measured. Like the life cycle counter
this value can be used for safety purposes to detect stuck at effects. Another feature is to
calculate the velocity on PLC side with accurate time stamp values to achieve high accuracy for
individual requirements. It offers more flexibility than the encoder internal pre-defined velocity
measurement.
Restore after
Boot up
Time resolution is 1 µs.
SubindexDescriptionData TypeDefault ValueAccess
0hTime Stamp Postion
Val ue
Ta b l e 9 . 6 2
Unsigned 32romap
9.5.48Object 4000h: Bootloader Control
This object controls the Bootloader functionality (see Bootloader chapter). Writing the security
code to this object causes erasing the EEPROM and application information in the flash
memory and resets the device. After a power-up, the Bootloader checks the user application
and detects no more information. The Bootloader starts up with a pre-defined CANopen node
ID of 1 (0x1) and a fixed CAN baud rate of 125 kbits.
SubindexDescriptionData TypeDefault ValueAccess
0hBootloader ControlUnsigned 32wo
Ta b l e 9 . 6 3
Note!
Activating the Bootloader courses a deep reset of the device. After this only a few objects are
still available, the device does not behave like an encoder and waits for new programming. That
is the reason why the security code is not published in this document. Please contact
Peppel+Fuchs to obtain the code.
Restore after
Boot up
Restore after
Boot up
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Absolute Rotary Encoder
Programmable Parameters
9.5.49Object 4010h: PPR Incremental Encoder
This object controls the incremental resolution per revolution as pulses per channel for A and
B.
SubindexDescriptionData TypeDefault ValueAccess
0hPPR Incremental
Encoder
Ta b le 9. 6 4
If a value of 400h is configured, then you will see 1024 decimal pulses on each channel A and
B per revolution. Maximum possible value is 14 bit, which means 16384 pulses per revolution
PPR. The type key specifies different physical level of the incremental interface.
Note!
The configuration of this object is overtaken regarding output signals only after NMT reset or
power cycle.
Unsigned 16 400hrwyes
Restore after
Boot up
9.5.50Object 4020h: A/B Phase Shift
This object controls the incremental resolution per revolution as pulses per channel for A and
B.
SubindexDescriptionData TypeDefault ValueAccess
0hA/B Phase ShiftUnsigned 8400hrwyes
Ta b le 9. 6 5
Value 0: Channel A before B
Value 1: Channel B before A
9.5.51Object 6000h: Operating Parameters
This object shall indicate the functions for code sequence, commissioning diagnostic control
and scaling function control.
SubindexDescriptionData TypeDefault ValueAccess
0hOperating Parameter Unsigned 16 0hrwyes
Ta b le 9. 6 6
Code sequence: The code sequence defines, whether increasing or decreasing position
values are output, in case the encoder shaft rotates clockwise or counter clockwise as seen
from the point of view of the shaft.
Restore after
Boot up
Restore after
Boot up
56
Scaling function control: With the scaling function the encoder numerical value is converted in
software to change the physical resolution of the encoder. The measuring units per revolution
(object 6001h) and total measuring range in measuring units (object 6002h) are the scaling
parameters. The scaling function bit is set in the operating parameters. If the scaling function bit
is set to zero, the scaling function is disabled.
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Absolute Rotary Encoder
Programmable Parameters
Bit1514131211109876543210
Use MS MS MS MS RRRRRRRRMD SFC CD CS
MSManufacturer Specific Function (not available)
RReserved for future use
MDMeasuring direction (not available)
SFC Scaling function (0 = disable, 1 = enable)
CDCommissioning diagnostic control (not available)
CSCode sequence (0 = CW Up, 1 = CCW Up)
Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h.
9.5.52Object 6001h: Measuring Units per Revolution
This object shall indicate the number of distinguishable steps per revolution.
SubindexDescriptionData TypeDefault ValueAccess
0hMeasuring Units per
Revolution
Ta b l e 9 . 6 7
Unsigned 32See nameplate rwyes
9.5.53Object 6002h: Total Measuring Range in Measuring Units
This object shall indicate the number of distinguishable steps over the total measuring range.
This object indicates the preset value for the output position value.
Restore after
Boot up
Restore after
Boot up
SubindexDescriptionData TypeDefault ValueAccess
0hPreset ValueUnsigned 320hrwyes
Ta b l e 9 . 6 9
9.5.55Object 6004h: Position Value
This object contains the process value of the encoder.
This object is hardwired with Object 2000h.
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57
Absolute Rotary Encoder
Programmable Parameters
SubindexDescriptionData TypeDefault ValueAccess
0hProcess ValueUnsigned 32romapyes
Ta b le 9. 7 0
9.5.56Object 6008h: High Resolution Position Value
This object contains a high-resolution position value up to 16 bit for single-turn and 31 bit for
multi-turn measurement. See nameplate to get the information about the maximum resolution
of your device.
Mutliturn encoder with resolution 32 bits is available upon request at Pepperl+Fuchs GmbH but
there are the following functional restrictions: Preset function and scaling function are not
possible.
Note!
The object 6008h is not influenced by the object 2102h total resolution or object 6002h Total
measuring range, because of their limited data type of unsigned 32 bit.
But object 2101h resolution per revolution and object 6001h measuring units per revolution will
affect the high-resolution position value. With object 2103h / 6003h Preset value a desired
position can be also set for the high-resolution position value, but only within the value range of
unsigned 32 bit. With this method the user has a downward compatible device, but also in
parallel a device with higher capability of resolution and the existing software in the PLC can be
kept.
Restore after
Boot up
SubindexDescriptionData TypeDefault ValueAccess
0hHigh Resolution
Position Value
Ta b le 9. 7 1
9.5.57Object 6030h: Speed Value
This object contains the speed value of the encoder.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 81hro
1hSpeed value channel 1Integer 16romapyes
Ta b le 9. 7 2
If the velocity exceeds the data type, the speed value is frozen to the maximal possible value.
The customer can use the 3010h (32 bit) object.
How to map speed into TPDO2
Tip
SDO: 0x600 + node number. The following values are all in hex and the node number is "1"
DLC (Data length) = 8, 22 means "write", This example is written in intel-format (LSB ... MSB).
Depending on your tool, it could be, that the Motorola-format (MSB ... LSB) is used and the
direction of the bytes has to be changed.
Restore after
Boot up
Unsigned 64romap
Restore after
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58
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Absolute Rotary Encoder
Programmable Parameters
1. Enable the TPDO2 by setting the transmission type (1801Sub2) to FE: 601 8 22 01 18 02 FE
00 00 00
2. Change the Event Timer from 0x00 to the desired value (e.g.: 100 ms -> 0x64) 601 8 22 01
18 05 64 00 00 00
3. Disable the TPDO mapping parameter 0 (1A01) by setting the number of entries
(1A01Sub0) to 0: 601 8 22 01 1A 00 00 00 00 00
4. Then write the disabled TPDO mapping parameter 0 subindex 1, namely mappedObj1. The
speed value is object 6030Sub1 and the data length is 16Bit -> 10: 601 8 22 01 1A 01 10 01
30 60
5. Enable the TPDO mapping parameter 0 (1A01) by setting the Number of entries
(1A01Sub0) to 1, again: 601 8 22 01 1A 00 01 00 00 00
7. To save this configuration write 73 61 76 65 to 1010: 601 8 22 10 10 01 73 61 76 65
8. Send the NMT-message, to get into "Operational Mode": 00 2 01 00
Summarization
601 8 22 01 18 02 FE 00 00 00
601 8 22 01 18 05 64 00 00 00
601 8 22 01 1A 00 00 00 00 00
601 8 22 01 1A 01 10 01 30 60
601 8 22 01 1A 00 01 00 00 00
601 8 22 10 30 01 01 00 00 00
601 8 22 10 10 01 73 61 76 65
00 2 01 00
9.5.58Object 6040h: Acceleration Value
This object contains the acceleration value of the encoder.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 81hro
1hAcceleration value
channel 1
Ta b l e 9 . 7 3
Integer 16romapyes
9.5.59Object 6200h: Cyclic Timer
Restore after
Boot up
This object contains the value of the event timer of the corresponding TPDOs. The value can
be changed between 1-65538 ms.
The object 6200h is hardwired to the objects 1800h subindex 5h and 2200h and provide the
cycle time for the cyclic mode. (See chapter Cycle Time and Event Timer)
Restore after
SubindexDescriptionData TypeDefault ValueAccess
0hCyclic TimerUnsigned 1664hrwyes
Ta b l e 9 . 7 4
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59
Absolute Rotary Encoder
Programmable Parameters
9.5.60Object 6300h: Cam State Register
This object contains the cam state register. The subindices 1h to FEh contain the cam state of
channel 1 to 254.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 81hro
1hCam state channel 1 Unsigned 84hromapyes
Ta b le 9. 7 5
9.5.61Object 6301h: Cam Enable Register
This object contains the cam enable register.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 81hro
1hCam enable channel 1Unsigned 8rwyes
Restore after
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Restore after
Boot up
Ta b le 9. 7 6
9.5.62Object 6302h: Cam Polarity Register
This object contains the cam polarity register.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 81hro
1hCam polarity channel 1Unsigned 80hrwyes
Ta b le 9. 7 7
List of Cam Objects
IndexSubindexTy p eDescriptionData TypeAccessValue
6310hCam1 low limitrw
0hVA RHighest subindex
supported
1hVA RCam1 low limit
channel 1
6311hCam2 low limitrw
0hVA RHighest subindex
supported
1hVA RCam2 low limit
channel 1
6312hCam3 low limitrw
0hVA RHighest subindex
supported
1hVA RCam3 low limit
channel 1
6313hCam4 low limitrw
Restore after
Boot up
Unsigned 32 ro1h
rw
Unsigned 32 ro1h
rw
Unsigned 8ro1h
rw
60
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Absolute Rotary Encoder
Programmable Parameters
IndexSubindexTy p eDescriptionData TypeAccessValue
6314hCam5 low limitrw
6315hCam6 low limitrw
6316hCam7 low limitrw
6317hCam8 low limitrw
6320hCam1 high limitrw
6321hCam2 high limitrw
6322hCam3 high limitrw
6323hCam4 high limitrw
6324hCam5 high limitrw
2017-04
0hVARHighest subindex
supported
1hVARCam4 low limit
channel 1
0hVARHighest subindex
supported
1hVARCam5 low limit
channel 1
0hVARHighest subindex
supported
1hCam6 low limit
channel 1
0hVARHighest subindex
supported
1hVARCam7 low limit
channel 1
0hVARHighest subindex
supported
1hVARCam8 low limit
channel 1
0hHighest subindex
supported
1hCam1 high limit
channel 1
0hVARHighest subindex
supported
1hVARCam2 high limit
channel 1
0hVARHighest subindex
supported
1hCam3 high limit
channel 1
0hVARHighest subindex
supported
1hVARCam4 high limit
channel 1
0hVARHighest subindex
supported
1hVARCam5 high limit
channel 1
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
rw
Unsigned 8ro1h
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Absolute Rotary Encoder
Programmable Parameters
IndexSubindexTy p eDescriptionData TypeAccessValue
6325hCam6 high limitrw
0hVA RHighest subindex
1hCam6 high limit
6326hCam7 high limitrw
0hVA RHighest subindex
1hVA RCam7 high limit
6327hCam8 high limitrw
0hVA RHighest subindex
1hVA RCam8 high limit
6330hCam1 hysteresisrw
0hVA RHighest subindex
1hVA RCam1 hysteresis
6331hCam2 hysteresisrw
0hVA RHighest subindex
1hVA RCam2 hysteresis
6332hCam3 hysteresisrw
0hVA RHighest subindex
1hVA RCam3 hysteresis
6333hCam4 hysteresisrw
0hVA RHighest subindex
1hVA RCam4 hysteresis
6334hCam5 hysteresisrw
0hVA RHighest subindex
1hVA RCam5 hysteresis
6335hCam6 hysteresisrw
0hVA RHighest subindex
1hVA RCam6 hysteresis
6336hCam7 hysteresisrw
0hVA RHighest subindex
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
rw
channel 1
Unsigned 8ro1h
supported
62
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Programmable Parameters
IndexSubindexTy p eDescriptionData TypeAccessValue
1hVARCam7 hysteresis
channel 1
6337hCam8 hysteresisrw
0hVARHighest subindex
supported
1hVARCam8 hysteresis
channel 1
Ta b l e 9 . 7 8
9.5.63Object 6400h: Area State Register
This object contains the area state register. The object provides the actual area status of the
encoder position.
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Unsigned 81hro
1hCam state channel 1 Unsigned 84hromapyes
Ta b l e 9 . 7 9
rw
Unsigned 8ro1h
rw
Restore after
Boot up
The following 2 tables specify the object structure and the value definition.
76543210
resresresresresRange
underflow
MSBLSB
SignalValueDefinition
Out of range0h
1h
Range overflow0h
1h
Out of range0h
1h
res0hreserved
9.5.64Object 6401h: Work Area Low Limit
Range overflow Out of range
Position between low and high
limit
Position out of range (refer to
module identification object,
650Ah) is reached
No range overflow
Position is lower than the
position value set in object
6402h "work area low limit"
No range underflow
Position is higher than the
position value set in object
6401h "work area high limit"
This object indicates the position value, at which bit 2 of the according work area state channel
in object 6400h shall flag the underflow of the related work area.
This object is hardwired with 2104h (Limit Switch Min).
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63
Absolute Rotary Encoder
Programmable Parameters
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Integer 321hro
1hWork area low limit
channel 1
Ta b le 9. 8 0
9.5.65Object 6402h: Work Area High Limit
This object indicates the position value, at which bit 1 of the according work area state channel
in object 6400h shall flag the overflow of the related work area.
This object is hardwired with 2105h (Limit Switch Max).
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of subindices Integer 321hro
1hWork area high limit
channel 1
Ta b le 9. 8 1
Integer 320hrwyes
Integer 320hrwyes
Restore after
Boot up
Restore after
Boot up
9.5.66Object 6500h: Operating Status
This object shall provide the operating status of the encoder. It gives information on encoder
internal programmed parameters.
The operating status object corresponds to the value of the object 6000h and 2100h.
SubindexDescriptionData TypeDefault ValueAccess
0hOperating statusUnsigned 16rono
Ta b le 9. 8 2
9.5.67Object 6501h: Singleturn Resolution
The object contains the physical measuring steps per revolution of the absolute rotary encoder.
SubindexDescriptionData TypeDefault ValueAccess
0hSingleturn Resolution Unsigned 32 See nameplate rono
Ta b le 9. 8 3
9.5.68Object 6502h: Number of Distinguishable Revolutions
This object contains number of revolutions of the absolute rotary encoder.
Restore after
Boot up
Restore after
Boot up
64
SubindexDescriptionData TypeDefault ValueAccess
0hNumber of
Revolutions
Ta b le 9. 8 4
Unsigned 16 See nameplate rono
Restore after
Boot up
2017-04
Absolute Rotary Encoder
Programmable Parameters
9.5.69Object 6503h: Alarms
Additionally to the emergency messages in CiA301, this object shall provide further alarm
messages. An alarm shall be set if a malfunction in the encoder could lead to incorrect position
value. If an alarm occurs, the according bit shall indicate the alarm til the alarm is cleared and
the encoder is able to provide an accurate position value.
SubindexDescriptionData TypeDefault ValueAccess
0hAlarmsUnsigned 16romapno
Ta b l e 9 . 8 5
Bit structure of the alarms
Bit1514131211109876543210
Use MS MS MS MS RRRRRRRRRRCD PE
MSManufacturer Specific Function (not available)
Restore after
Boot up
RReserved for future use
CDCommissioning diagnostic control (not supported)
PEPosition Error (not supported)
CDCommissioning diagnostic control (not available)
CSCode sequence (0 = CW Up, 1 = CCW Up)
Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h.
9.5.70Object 6504h: Supported Alarms
The object shall provide the supported alarms of the device. Please refer to the bit structure
table to find more details about the supported alarms.
The CA-encoder supports the position error alarm.
SubindexDescriptionData TypeDefault ValueAccess
0hSupported alarmsUnsigned 161000hrono
Ta b l e 9 . 8 6
Restore after
Boot up
9.5.71Object 6505h: Warnings
This object shall provide the warnings. Warnings indicate that tolerance for certain internal
parameters of the encoder have been exceeded. In contrast to alarm and emergency
messages warnings do not imply incorrect position values. All warnings shall be cleared if the
tolerances are again within normal parameters.
SubindexDescriptionData TypeDefault ValueAccess
0hWarningsUnsigned 16rwyes
Ta b l e 9 . 8 7
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Restore after
Boot up
65
Absolute Rotary Encoder
Programmable Parameters
Bit structure of the warnings
Bit1514131211109876543210
Use MS MS MS MS RRRRRRRPBCOTCPLCFE
MSManufacturer Specific Function (not available)
RReserved for future use
RPReference point reached/not reached (not supported)
BCBattery charge (not supported)
OTOperating Time limit (not supported)
CPCPU watchdog status (not supported)
LCLight control reserve (not supported)
FEFrequency warning (not supported)
9.5.72Object 6506h: Supported warnings
The object provides the supported warnings of the device. Please refer to the bit structure table
to find more details about the supported warnings.
SubindexDescriptionData TypeDefault ValueAccess
0hSupported warningsUnsigned 16 1000hrono
Ta b le 9. 8 8
Currently there are not supported warnings available for an optocode absolute rotary encoder.
The CA-encoder supports the manufacture specific warning (Bit 12).
9.5.73Object 6507h: Profile and Software Version
This object provides the implemented encoder device profile version and the manufacturerspecific software version.
SubindexDescriptionData TypeDefault ValueAccess
0hProfile and Software
Ver sion
Ta b le 9. 8 9
Unsigned 32 04040302hrono
Restore after
Boot up
Restore after
Boot up
66
The value is divided into the profile version part and the Software version part. Each part is
divided in upper version and lower version.
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Absolute Rotary Encoder
Programmable Parameters
MSBLSB
Software Version 4.4Profile Version 3.2
Upper Software
Version
04040302
9.5.74Object 6508h: Operating Time
This object indicates the operating time of the device. Currently the operating time is not
supported and the value of this object will always be FFFFFFFFh.
SubindexDescriptionData TypeDefault ValueAccess
0hOperating timeUnsigned 32FFFFFFFFhrono
Ta b l e 9 . 9 0
Lower Software
Version
Upper Profile Version Lower Profile Version
Restore after
Boot up
9.5.75Object 6509h: Offset Value
This object contains the offset value. It is been calculated by the preset function and shifts the
physical position value with the desired value.
SubindexDescriptionData TypeDefault ValueAccess
0hOffset valueInteger 32rono
Ta b l e 9 . 9 1
9.5.76Object 6509h: Module identification
This object shall provide the manufacturer-specific offset value, the manufacturer-specific
minimum and maximum position value.
SubindexDescriptionData TypeDefault ValueAccess
0hHighest supported
subindex
1hManufacturer offset
value
2hMan. min. position
value
3hMan. max. position
value
Ta b l e 9 . 9 2
Integer 323rono
Integer 32rono
Integer 32rono
Integer 32rono
Restore after
Boot up
Restore after
Boot up
9.5.77Object 650Bh: Serial Number
This object contains the serial number of the device. The serial number is also supported in
object 1018h subindex 4h.
SubindexDescriptionData TypeDefault ValueAccess
0hSerial numberUnsigned 32see nameplate rono
Ta b l e 9 . 9 3
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Restore after
Boot up
67
Absolute Rotary Encoder
Troubleshooting
10Troubleshooting
10.1What to Do in Case of a Fault
In case of a fault, check whether a encoder fault can be remedied according to the following
checklist.
Checklist
ProblemDescriptionPossible Solution
Power on –encoder doesn’t
respond
Malfunction of the position
value during transmission
Too m u c h E R R O R -F r am e sThe bus load is too high in
Limit switches without function The encoder didn’t transmit
The bus is active but the
installed encoder transmitted
no boot up message.
During the transmission of the
position value occasional
malfunction occurs. The CAN
bus can be temporary in the
bus off state also.
case of too much error frames.
the bits for the limit switches.
■
The encoders have the
default baud rate 125
kBaud. Adapt your PLC
setting accordingly.
■
Reprogram the encoders
baud rate
■
Restart encoder so the
new baud rate setting will
be valid.
Check, if the last bus node
has switched on the
terminator.
Check if all bus node has the
same baud rate. If one node
has another baud rate error
frames are produced
automatically.
The limit switch functionality
has to be activated once.
Please follow the description
you can find at capter "Usage
of Layer Setting Services
(LSS)".
68
Note!
Baud rate and node number changes
The changing of baud rate and node number are only valid after a new power-up, NMT Reset or
the store parameters command.
2017-04
Subject to modifications
Copyright PEPPERL+FUCHS • Printed in Germany