SICK AHS36 CANopen, AHM36 CANopen, AHS36 CANopen Inox, AHM36 CANopen Inox Operating Instructions Manual
O P E R A T I NG I N S T R U CT I O NS
AHS/AHM36 CANopen
AHS/AHM36 CANopen Inox
Absolute Encoder
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OPERATING INSTRUC TIONS | AHS/AHM36 CANOP EN, AHS/AHM36 CANOPEN INOX 801 6869/1 2TG/2019-04-08 | SICK
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Described product
AHS/AHM36 CANopen
AHS/AHM36 CANopen Inox
Manufacturer
SICK STEGMANN GmbH
Dürrheimer Str. 36
78166 Donaueschingen
Germany
Legal information
This document is protected by the law of copyright. Whereby all rights established
therein remain with the company SICK STEGMANN GmbH. Reproduction of this
document or parts of this document is only permissible within the limits of the legal
determination of Copyright Law. Any modification, expurgation or translation of this
document is prohibited without the express written permission of SICK STEGMANN
GmbH.
The trademarks stated in this document are the property of their respective owner.
© SICK STEGMANN GmbH. All rights reserved.
Original document
This document is an original document of SICK STEGMANN GmbH.
CONTENTS
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Contents
1 About this document......................................................................... 6
1.1 Function of this document ..................................................................................6
1.2 Target group ..........................................................................................................6
1.3 Information depth.................................................................................................6
1.4 Scope .....................................................................................................................7
1.5 Abbreviations used...............................................................................................7
1.6 Symbols used ........................................................................................................8
2 On safety ........................................................................................... 9
2.1 Authorized personnel ...........................................................................................9
2.2 Intended use .........................................................................................................9
2.3 General safety notes and protective measures ............................................ 10
2.4 Environmental protection ................................................................................. 10
3 Quick start instructions on the AHS36/AHM36 CANopen ..............11
3.1 Node ID/Baud rate ............................................................................................ 11
3.2 Parameterization ............................................................................................... 12
3.2.1 EDS file............................................................................................. 12
3.2.2 Save or restore parameters .......................................................... 12
3.3 Process data objects (PDOs)............................................................................ 13
3.3.1 PDO communication ...................................................................... 13
3.3.2 PDO mapping .................................................................................. 14
4 Product description .........................................................................15
4.1 Special features................................................................................................. 15
4.2 Operating principle of the encoder.................................................................. 17
4.2.1 Scaleable resolution....................................................................... 17
4.2.2 Preset function................................................................................ 17
4.2.3 Round axis functionality ................................................................ 18
4.2.4 Electronic cam mechanism ........................................................... 20
4.3 Controls and status indicators......................................................................... 20
5 Integration in CANopen ...................................................................21
5.1 Communication profile...................................................................................... 21
5.1.1 CANopen in the OSI model ............................................................ 21
5.1.2 Communication channels.............................................................. 21
5.1.3 Topology ........................................................................................... 22
5.2 Node IDs and COB-IDs ...................................................................................... 23
5.3 Baud rate ............................................................................................................ 24
5.4 Layer Setting Services (LSS) ............................................................................ 24
CONTENTS
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5.5 Network management (NMT)........................................................................... 28
5.5.1 CANopen state machine ................................................................ 28
5.5.2 Network Management Services.................................................... 29
5.5.3 Boot-up message............................................................................ 30
5.5.4 Node Guarding and Heartbeat...................................................... 30
5.6 Service Data Objects (SDO).............................................................................. 31
5.7 Process Data Objects (PDO)............................................................................. 33
5.7.1 PDO mapping .................................................................................. 33
5.7.2 PDO data transmission .................................................................. 34
5.7.3 Asynchronous or synchronous formation of the position.......... 36
5.8 Configurable functions...................................................................................... 37
5.8.1 EDS file............................................................................................. 37
5.8.2 Scaling parameters ........................................................................ 38
5.8.3 Preset function................................................................................ 40
5.8.4 Cyclic process data......................................................................... 41
5.8.5 Speed measurement...................................................................... 42
5.8.6 Round axis functionality ................................................................ 43
5.8.7 Electronic cam mechanism ........................................................... 45
6 Object library ...................................................................................46
6.1 Nomenclature .................................................................................................... 46
6.2 Standard objects ............................................................................................... 47
6.2.1 Detailed information on the standard objects............................ 48
6.3 Process Data Objects ........................................................................................ 54
6.3.1 Basic PDO structure ....................................................................... 54
6.3.2 Parameter of the Receive PDO ..................................................... 55
6.3.3 Parameter of the Transmit PDOs.................................................. 56
6.3.4 Transmission types......................................................................... 58
6.3.5 Objects and their subindices that can be mapped .................... 60
6.4 Encoder profile specific objects....................................................................... 61
6.4.1 Encoder parameters....................................................................... 62
6.4.2 Objects for the electronic cam mechanism (CAM)..................... 65
6.4.3 Objects for diagnostics .................................................................. 69
6.5 Manufacturer-specific objects ......................................................................... 74
6.5.1 Objects for the encoder configuration ......................................... 75
6.5.2 Objects that provide status information ...................................... 81
7 Commissioning ...............................................................................89
7.1 Electrical installation......................................................................................... 89
7.1.1 Connection of the AHS36/AHM36 CANopen.............................. 89
7.2 Settings on the hardware ................................................................................. 90
7.3 Configuration...................................................................................................... 91
7.3.1 Default delivery status ................................................................... 91
7.3.2 System configuration ..................................................................... 91
7.4 Tests before the initial commissioning ........................................................... 95
CONTENTS
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8 Fault diagnosis ................................................................................96
8.1 In the event of faults or errors ......................................................................... 96
8.2 SICK STEGMANN support................................................................................. 96
8.3 Error and status indications on the LED......................................................... 96
8.3.1 Meaning of the LED displays......................................................... 97
8.4 Diagnostics via CANopen.................................................................................. 97
8.4.1 Emergency Messages .................................................................... 97
8.4.2 Alarms, warnings and status......................................................... 98
8.4.3 Error during the SDO transfer ....................................................... 99
9 Annex ........................................................................................... 100
9.1 Conformity with EU directives ....................................................................... 100
10 List of illustrations........................................................................ 101
11 List of tables................................................................................. 103
1 ABOUT THIS DOCUMENT
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1 About this document
Please read this chapter carefully before working with this documentation and the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder.
1.1 Function of this document
These operating instructions are designed to address the technical personnel of the
machine manufacturer or the machine operator in regards to correct configuration,
electrical installation, commissioning, operation and maintenance of the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder.
1.2 Target group
The operating instructions are addressed at the planners, developers and operators of
systems in which one or more AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox
Absolute Encoders are to be integrated. They also address people who initialize the use
of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox or who are in charge of
servicing and maintaining the device.
These instructions are written for trained persons who are responsible for the
installation, mounting and operation of the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox in an industrial environment.
1.3 Information depth
These operating instructions contain information on the AHS/AHM36 CANopen and
AHS/AHM36 CANopen Inox Absolute Encoder on the following subjects:
product features
electrical installation
commissioning and configuration
fault diagnosis and troubleshooting
conformity
These operating instructions do not contain any information on the mounting of the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. You will find this information in
the mounting instructions included with the device.
They also do not contain any information on technical specifications, dimensional
drawings, ordering information or accessories. You will find this information in the
product information for the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.
Planning and using measurement systems such as the AHS/AHM36 CANopen and
AHS/AHM36 CANopen Inox also requires specific technical skills beyond the
information in the operating instructions and mounting instructions. The information
required to acquire these specific skills is not contained in this document.
When operating the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox , the
national, local and statutory rules and regulations must be observed.
Additional information
You will find additional information at www.can-cia.org.
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1.4 Scope
NOTE
These operating instructions apply to the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox Absolute Encoder with the following type codes:
Singleturn Encoder Basic = AHS36B-xxCx004096
Multiturn Encoder Basic = AHM36B-xxCx012x12
Singleturn Encoder Advanced = AHS36A-xxCx016384
Multiturn Encoder Advanced = AHM36A-xxCx014x12
Singleturn Encoder Inox = AHS36I-xxCx016384
Multiturn Encoder Inox = AHM36I-xxC-x014x12
1.5 Abbreviations used
Controller Area Network
CANopen is a registered trademark of CAN in Automation e.V.
Counts per Measuring Range
Customized Number of Revolutions, Divisor = divisor of the customized number of
revolutions
Customized Number of Revolutions, Nominator = nominator of the customized number
of revolutions
Communication Object Identifier = address of the communication object
Change of State
Counts Per Revolution = resolution per revolution
Electronic Data Sheet
Electrically Erasable Programmable Read-only Memory
Emergency Message
Layer Setting Services = services for the configuration of Node ID and baud rate
Network Management
Node Identifier = node address
Process Data Object
Programmable Logic Controller
Physical Measuring Range
Physical Resolution Span (per revolution)
Remote Transmission Request = request telegram for PDOs
Service Data Object
CAN
CANopen®
CMR
CNR_D
CNR_N
COB-ID
CoS
CPR
EDS
EEPROM
EMGY
LSS
NMT
Node ID
PDO
PLC
PMR
PRS
RTR
SDO
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1.6 Symbols used
NOTE
Refer to notes for special features of the device.
LED symbols describe the state of a diagnostics LED. Examples:
The LED is illuminated constantly.
The LED flashes evenly.
The LED flashes with a short duty cycle.
The LED is off.
Take action …
Instructions for taking action are shown by an arrow. Read carefully and follow the
instructions for action.
WARNING
Warning!
A warning notice indicates an actual or potential risk or health hazard. They are
designed to help you to prevent accidents.
Read carefully and follow the warning notices.
ON SAFETY 2
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2 On safety
This chapter deals with your own safety and the safety of the equipment operators.
Please read this chapter carefully before working with the AHS/AHM36 CANopen
and AHS/AHM36 CANopen Inox or with the machine or system in which the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is used.
2.1 Authorized personnel
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder must
only be installed, commissioned and serviced by authorized personnel.
NOTE
Repairs to the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox are only allowed
to be undertaken by trained and authorized service personnel from SICK STEGMANN
GmbH.
The following qualifications are necessary for the various tasks:
Activity
Qualification
Mounting
Basic technical training
Knowledge of the current safety regulations in the
workplace
Electrical installation and
replacement
Practical electrical training
Knowledge of current electrical safety regulations
Knowledge on the use and operation of devices in the
related application (e.g. industrial robots, storage and
conveyor technology)
Commissioning, operation
and configuration
Knowledge on the current safety regulations and the use
and operation of devices in the related application
Knowledge of automation systems
Knowledge of CANopen
®
Knowledge of automation software
Table 1: Authorized personnel
2.2 Intended use
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder is a
measuring device that is manufactured in accordance with recognized industrial
regulations and meets the quality requirements as per ISO 9001:2008 as well as those
of an environment management system as per ISO 14001:2009.
An encoder is a device for mounting that cannot be used independent of its foreseen
function. For this reason an encoder is not equipped with immediate safe devices.
Measures for the safety of persons and systems must be provided by the constructor of
the system as per statutory regulations.
Due to its design, the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox can only
be operated within an CANopen network. It is necessary to comply with the CANopen
specifications and guidelines for setting up a CANopen network.
In case of any other usage or modifications to the AHS/AHM36 CANopen and
AHS/AHM36 CANopen Inox, e.g. opening the housing during mounting and electrical
installation, or in case of modifications to the SICK software, any claims against SICK
STEGMANN GmbH under warranty will be rendered void.
2 ON SAFETY
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2.3 General safety notes and protective measures
WARNING
Please observe the following procedures in order to ensure the correct and safe use
of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox!
The encoder is to be installed and maintained by trained and qualified personnel with
knowledge of electronics, precision mechanics and control system programming. It is
necessary to comply with the related standards covering the technical safety
stipulations.
All safety regulations are to be met by all persons who are installing, operating or
maintaining the device:
The operating instructions must always be available and must always be followed.
Unqualified personnel are not allowed to be present in the vicinity of the system
during installation and maintenance.
The system is to be installed in accordance with the applicable safety stipulations
and the mounting instructions.
All work safety regulations of the applicable countries are to be followed during
installation.
Failure to follow all applicable health and work safety regulations may result in
injury or damage to the system.
The current and voltage sources in the encoder are designed in accordance with
all applicable technical regulations.
2.4 Environmental protection
Please note the following information on disposal.
Assembly
Material
Disposal
Packaging
Cardboard
Waste paper
Shaft
Stainless steel
Scrap metal
Flange
Aluminium / Stainless steel
Scrap metal
Housing
Aluminium die cast with Zinc
nickel coating / stainless
steel
Scrap metal
Electronic assemblies
Various
Electronic waste
Table 2: Disposal of the assembli es
QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN
INOX 3
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3 Quick start instructions on the AHS/AHM36 CANopen and
AHS/AHM36 CANopen Inox
3.1 Node ID/Baud rate
The following prerequisites must be met for the communication with the master:
A correct node ID must be set on the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox. Correct is:
○ a node ID that is not in use in the CANopen network
○ a node ID that the master expects
The same baud rate must be set on the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox as on the master.
The following parameters are set on the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox in the factory:
Node ID: 5
Baud rate: 125 kbit/s
Figure 1: Encoder in the CANopen network
The following communication parameters can be assigned to the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox:
Node ID: 1 to 127 (as a rule 0 is assigned to the master)
Baud rate: 10 kbit/s, 20 kbit/s, 50 kbit/s, 100 kbit/s, 125 kbit/s, 250 kbit/s,
500 kbit/s, 800 kbit/s, 1,000 kbit/s
Set the node ID and the baud rate as follows:
using the manufacturer-specific object 2009h
using Layer Setting Services (see section 5.4 on page 24)
Changing node ID and/or baud rate using the object 2009h
To change the node ID and/or the baud rate using the object 2009h, proceed as
follows:
Entering the access code in object 2009.1h: 98127634h
Change node ID and/or baud rate in the objects 2009.2h and 2009.3h
Save parameters with the aid of object 1010.1h: 65766173h (corresponds to
“save” in ASCII)
LSS, NMT
SDO, PDO, EMGY
Master
Node ID = 0
Slave
Node ID = 1 … 127
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INOX
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NOTE
The changes will only be active after restarting the encoder (switch off and on again the
supply voltage).
Integration of several encoders
Integrate encoder 1 in the network and change the node ID (e.g. node ID 4).
Then integrate encoder 2 in the network and change the node ID if necessary.
NOTE
It is imperative you ensure there are not several encoders or other bus users with an
identical node ID in the same network.
3.2 Parameterization
3.2.1 EDS file
An EDS file is available for the straightforward interfacing of the AHS/AHM36 CANopen
and AHS/AHM36 CANopen Inox to a CANopen master. This file contains, amongst
others, the default parameters of the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox and the default configuration of the process data.
You can download the EDS file from www.sick.com:
Enter the seven-digit part number of your encoder directly in the Find field on the
homepage.
Click the related search result.
A page with all the information and files for your device will open.
Download the EDS file.
Integrate the EDS file in the engineering tool for your control.
3.2.2 Save or restore parameters
Saving modified parameters in the EEPROM – Save command
All parameters configured in the encoder’s EEPROM are saved using object 1010h.
For this purpose enter the command 65766173h (corresponds to “save” in ASCII)
in object 1010.1h.
NOTE
If the Save command is not run, the previous parameters will be loaded from the
EEPROM the next time the encoder is started.
Resetting encoders to default factory settings – Load command
The parameters are reset to the default factory settings using the object 1011h.
For this purpose enter the command 64616F6Ch (corresponds to “load” in ASCII)
in the object 1011.1h.
QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN
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NOTE
The node ID and baud rate set are not in general reset to the default factory settings.
The Save command must be run after the Load command. If the Save command is not
run, the previous parameters will be loaded from the EEPROM the next time the
encoder is started.
3.3 Process data objects (PDOs)
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox supports four Transmit
PDOs and one Receive PDO.
Transmit PDOs
Data are sent by the encoder to the PLC using the four Transmit PDOs.
The four Transmit PDOs are defined by the following objects:
The objects 1800h … 1803h contain the communication parameters.
The objects 1A00h … 1A03h contain the mapping of the objects.
The mapping is variable and can be modified.
Receive PDO
Data are received from the PLC by the encoder using the Receive PDO. The mapping for
this Receive PDO is fixed and cannot be modified.
3.3.1 PDO communication
In the factory the transmission type for the Transmit PDOs is set to 255 in the objects
1800h … 1803h. This corresponds to the device-specific triggering.
NOTE
As an event timer is not configured, the Transmit PDOs are only transferred once on
changing to the Operational status!
Changing factory setting for transmission type
For the cyclic or acyclic output of the Transmit PDOs by the encoder, there are the
following options:
Change the event timer in the objects 1800h … 1803h (see Table 63 ff. from
page 56).
Configure a trigger event using the CoS event handling configuration (see
Table 119 on page 80).
Change the transmission type in the objects 1800h … 1803h (see Table 63 ff.
from page 56).
Pay attention to the inhibition time
The inhibition time for the PDOs (configured in the objects 1800.3h … 1803.3h) in
principle limits the communication of a device on the CANopen bus. It always has a
higher priority than the event timer, the CoS events and the sync triggering.
If, e.g., the event timer is set to 100 ms and the inhibition time is set to 1 s, the
corresponding PDO is only sent every second.
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INOX
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3.3.2 PDO mapping
You will find which objects are mapped by default in the related transmit PDOs in
section 6.3.3 on page 56.
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4 Product description
This chapter provides information on the special features and properties of the
Absolute Encoder AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. It describes
the construction and the operating principle of the device.
Please read this chapter before mounting, installing and commissioning the
device.
4.1 Special features
Figure 2: Connection types
With male connector
With cable outlet
4 PRODUCT DESCRIPTION
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Properties
Singleturn Encoder
Basic
Multiturn Encoder
Basic
Singleturn Encoder
Advanced
Multiturn Encoder
Advanced
Singleturn Encoder
Inox
Multiturn Encoder
Inox
CANopen interface
Supports the encoder profile CiA DS-406
Diagnostic functions via CANopen
–
–
12 bit singleturn resolution
(1 to 4,096 steps)
– – –
–
14 bit singleturn resolution
(1 to 16,384 steps)
–
–
12 bit multiturn resolution
(1 to 4,096 revolutions)
– – –
24 bit total resolution
– – – –
–
26 bit total resolution
– – – –
Round axis functionality
– – – –
Absolute Encoder in 36 mm design
Electro-sensitive, magnetic scanning
Flexible cable outlet/M12 male connector
Large number of mechanical adaptation options
Compact design
Face mount flange, servo flange, blind hollow
shaft
Stainless steel variant
– – –
–
Enclosure rating IP69K
– – –
–
Table 3: Special features of the encoder variants
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4.2 Operating principle of the encoder
The sensing system in the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox
Absolute Encoder is based on absolute acquisition of revolutions without an external
voltage supply or battery. As a consequence the encoder can immediately output its
absolute position again after switching off and switching back on.
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox acquires the position of
rotating axes and outputs the position in the form of a unique digital numeric value.
The highest reliability is achieved by means of electro-sensitive, magnetic scanning.
The AHS36 CANopen and AHS36 CANopen Inox is a singleturn encoder.
Singleturn encoders are used if absolute acquisition of the rotation of a shaft is
required.
The AHM36 CANopen and AHM36 CANopen Inox is a multiturn encoder.
Multiturn encoders are used if more than one shaft revolution must be acquired
absolutely.
4.2.1 Scaleable resolution
The resolution per revolution and the total resolution can be scaled and adapted to the
related application.
The resolution per revolution can be scaled in integers from 1 … 4,096 (Basic) or from
1 … 16,384 (Advanced / Inox).
The total resolution of the AHM36 CANopen and AHM36 CANopen Inox must be 2ⁿ
times the resolution per revolution. This restriction is not relevant if the round axis
functionality is activated.
4.2.2 Preset function
The position value for an encoder can be set with the aid of a preset value. I.e. the
encoder can be set to any position within the measuring range. In this way, e.g., the
encoder’s zero position can be adjusted to the machine’s zero point.
On switching off the encoder, the offset, the difference between the real position value
and the value defined by the preset, is saved. On switching back on the new preset
value is formed from the new real position value and the offset. Even if the position of
encoder changes while it is switched off, this procedure ensures the correct position
value is still output.
Figure 3: Saving the offset
= on switching off
= on switching back on
Offset
Encoder housing
Preset value
Difference
after switch-
ing back on
Offset
Encoder shaft
4 PRODUCT DESCRIPTION
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4.2.3 Round axis functionality
The encoder supports the function for round axes. The steps per revolution are set as a
fraction. As a result, the total resolution does not have to be configured to 2ⁿ times the
resolution per revolution and can also be a decimal number (e.g. 12.5).
NOTE
The output position value is adjusted with the zero point correction, the counting
direction set and the gearbox parameters entered.
Example with transmission ratio
A rotating table for a filling system is to be controlled. The resolution per revolution is
pre-defined by the number of filling stations. There are nine filling stations. For the
precise measurement of the distance between two filling stations, 1,000 steps are
required.
Figure 4: Example position measurement on a rotating table with transmission ratio
The number of revolutions is pre-defined by the transmission ratio = 12.5 of the
rotating table gearing.
The total resolution is then 9 × 1,000 = 9,000 steps, to be realized in 12.5 revolutions
of the encoder. This ratio cannot be realized via the resolution per revolution and the
total resolution, as the total resolution is not 2ⁿ times the resolution per revolution.
The application problem can be solved using the round axis functionality. Here the
resolution per revolution is ignored. The total resolution as well as the nominator and
divisor for the number of revolutions are configured.
9,000 steps are configured as the total resolution.
For the nominator for the number of revolutions 125 is configured, 10 as the divisor
(
125
/10 = 12.5).
After 12.5 revolutions (that is after one complete revolution of the rotating table) the
encoder reaches the total resolution of 9,000.
125
10
Rotating table with
nine filling
stations
Encoder
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Example without transmission ratio
Figure 5: Example position measurement on a rotating table without transmission ratio
The encoder is mounted directly on the rotating table. The transmission ratio is 1:1.
The rotating table has 9 filling stations. The encoder must be configured such that it
starts to count with 0 at one filling station and counts to 999 on moving to the next
filling station position.
1,000 steps are configured as the total resolution.
For the nominator for the number of revolutions 1 is configured, 9 as the divisor (1/9
revolutions = 1,000).
After 1/9 revolutions of the encoder shaft there are 1,000 steps, then the encoder
starts to count at 0 again.
1,000 steps
Rotating table with nine filling stations
Encoder
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4.2.4 Electronic cam mechanism
An electronic cam mechanism can be configured using the encoder. Two so-called CAM
channels with up to eight cam switching positions are supported . This is a limit
switch for the position.
Figure 6: Example electronic cam mechanism
Among other parameters, each cam has parameters for the lower switching point
and the upper switching point , which can be configured via CANopen (see section
6.4.2 on page 65).
4.3 Controls and status indicators
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder has one
status LED.
Figure 7: Position of the LED
The LED is multi-colored. Table 138 on page 97 shows the meaning of the signals.
LED
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5 Integration in CANopen
5.1 Communication profile
The CANopen communication protocol (documented in CiA DS-301) defines how the
devices exchange data with each other in a CANopen network.
5.1.1 CANopen in the OSI model
The CANopen protocol is a standardized layer-7 protocol for the CAN bus. This layer is
based on the CAN Application Layer (CAL).
The relevant objects in the encoder profile DS-406 are implemented in the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox (see section 6.4 on page 61).
Figure 8: CANopen i n the OSI model
NOTE
Layers 3 … 6 are not used with CANopen.
5.1.2 Communication channels
CANopen has various communication channels (SDO, PDO, Emergency Messages).
These channels are formed with the aid of the Communication Object Identifier
CAN Application Layer (CAL), defined by DS-301
Bit transport layer
Data link layer
E.g. DS 401
E.g. DS 402
DS 406
Encoder
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(COB-ID). The COB-IDs are based on the node IDs for the individual devices on the
CANopen bus (see section 5.2 on page 23).
Figure 9: Communication channels
To set the encoder’s node ID, so-called Layer Setting Services (LSS) are used (see
section 5.4 on page 24).
Then communication with the encoder via the Network Management Services
(NMT) is possible (see section 5.5 on page 28) and its CANopen state machine
can be switched to the required status (Pre-operational, Operational or Stopped)
by the master.
In the Pre-operational status, Service Data Objects (SDO) can be used for commu-
nication and configuration (see section 5.6 on page 31). In the Operational status,
Process Data Objects (PDO) and Emergency Messages (EMGY) can also be used
for communication (see section 5.7 on page 33).
5.1.3 Topology
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is integrated in the
CANopen trunk using T-connectors (the T-connectors are available as accessories). The
trunk must be terminated at the end using a 120-Ohm terminator. In this way
reflections are prevented. This action is not necessary on the stubs to the encoders.
Figure 10: AHx36 in the CANopen topologie
Table 137 on page 90 shows the maximum length of the stubs for different baud rates.
LSS, NMT
SDO, PDO, EMGY
Master
Node ID = 0
Slave
Node ID = 1 … 127
Trunk
Stubs
Termination
PLC
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5.2 Node IDs and COB-IDs
The encoder’s node ID can be configured with the aid of the following methods:
SDO access to the manufacturer-specific object 2009h – Network Configuration
(see Table 122 on page 81)
access via Layer Setting Services (see section 5.4 on page 24)
There can be a maximum of 128 devices in a CANopen network, one master and up to
127 slaves. Each device is given a unique node ID (node address).
The COB-IDs (Communication Object Identifier) derive the communication channels
from this ID.
COB-ID calculation
[Dec]
[Hex]
ID ranges
[Dec]
[Hex]
Function
Direction as seen
from the encoder
0 0 Network management
Receive
128 + Node ID
0080h + Node ID
129 … 255
0081h … 00FFh
Emergency Message
Send
384 + Node ID
0180h + Node ID
385 … 511
0181h … 01FFh
Transmit PDO 1
Send
512 + Node ID
0200h + Node ID
513 … 639
0201h … 027Fh
Receive PDO 1
Receive
640 + Node ID
0280h + Node ID
641 … 767
0281h … 02FFh
Transmit PDO 2
Send
896 + Node ID
0380h + Node ID
897 … 1023
0381h … 03FFh
Transmit PDO 3
Send
1152 + Node ID
0480h + Node ID
1153 … 1279
0481h … 04FFh
Transmit PDO 4
Send
1408 + Node ID
0580h + Node ID
1409 … 1535
0581h … 05FFh
Transmit SDO
Send
1536 + Node ID
0600h + Node ID
1537 … 1663
0601h … 067Fh
Receive SDO
Receive
1792 + Node ID
0700h + Node ID
1793 … 1919
0701h … 077Fh
Node Guarding,
Heartbeat, Boot-Up
Send
2020
07E4h
2020
07E4h
Transmit LSS
Send
2021
07E5h
2021
07E5h
Receive LSS
Receive
Table 4: Communication object i dentifier for the encoder
Example:
The encoder is given the node ID = 5, it then sends emergency messages via the
ID 133, Transmit PDOs via the ID 389, 645, 901 as well as 1157 and the Transmit
SDO via the ID 1413.
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5.3 Baud rate
The transmission speed on the CANopen bus is defined using the baud rate. Pay
attention to the following criteria:
The same baud rate must be set on the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox as on the master.
The higher the baud rate in the CANopen network, the lower the bus load.
The longer the cables used, the lower the possible baud rate. Pay attention to the
maximum lenghts of the stubs depending on the baud rate (see Table 137 on
page 90).
The encoder supports the following baud rates:
Baud rate
Supported by the AHS/AHM36 CANopen and
AHS/AHM36 CANopen Inox
1,000 kbit/s
Yes
800 kbit/s
Yes
500 kbit/s
Yes
250 kbit/s
Yes
125 kbit/s
Yes
100 kbit/s
Yes
50 kbit/s
Yes
20 kbit/s
Yes
10 kbit/s
No
Automatic detection
No
Table 5: Supported baud rates
The encoder’s baud rate can be configured with the aid of the following methods:
SDO access to the manufacturer-specific object 2009h – Network Configuration
(see Table 122 on page 81)
access via Layer Setting Services (see section 5.4 on page 24)
5.4 Layer Setting Services (LSS)
To set the node ID and the baud rate of the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox, the Layer Setting Services are supported.
The LSS slave is accessed via its LSS address (identity object), which is saved in object
1018h (see Table 57 on page 53). The LSS address comprises:
manufacturer ID
product Code
revision number
serial number
Via the LSS the master requests the individual services that are then executed by the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. The communication between
the LSS master and LSS slave is undertaken using the LSS telegrams.
The following COB-IDs are used:
07E4h = LSS slave to LSS master
07E5h = LSS master to LSS slave
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Format of an LSS telegram
NOTE
An LSS telegram is always 8 bytes long. Byte 0 contains the Command Specifier (CS),
followed by 7 bytes for the data. All unused bytes must be set to zero.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
CS
Data
Table 6: Format of an LSS telegram
Switch Mode Global
The Switch Mode Global command switches on or off the configuration mode. The
command is not acknowledged, the AHS/AHM36 CANopen and AHS/AHM36 CANopen
Inox does not respond.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E5h
04h
Mode
00h
00h
00h
00h
00h
00h
Table 7: Format of the Switch Mode Global command
Byte 1 mode:
00h = switches off the LSS configuration mode
01h = switches to the LSS configuration mode
Configure Node ID
The node address is configured with the aid of this command.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E5h
11h
Node ID
00h
00h
00h
00h
00h
00h
Table 8: Format of the Configure Node ID command
Byte 1 node ID:
01h = node address 1
…
7Fh = node address 127
Response:
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E4h
11h
Error
code
Error
extend
00h
00h
00h
00h
00h
Table 9: Response to the Configure Node ID command
Byte 1 error code:
00h = parameterization successful
01h = parameter invalid
FFh = contains a specific error code
Byte 2 error extend:
The error extension is manufacturer-specific and always 00h on the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.
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Configure Bit Timing Parameters
The baud rate is configured based on a baud rate table using this command.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E5h
13h
00h
Table
index
00h
00h
00h
00h
00h
Table 10: Format of the Configure Bit Timing Parameters command
Byte 1 table index from the baud rate table:
Table index
Baud rate
Supported by the
AHS/AHM36 CANopen and
AHS/AHM36 CANopen Inox
0
1,000 kbit/s
Yes 1 800 kbit/s
Yes
2
500 kbit/s
Yes
3
250 kbit/s
Yes 4 125 kbit/s
Yes
5
100 kbit/s
Yes
6
50 kbit/s
Yes
7
20 kbit/s
Yes
8
10 kbit/s
No
9
Automatic detection
No
Table 11: Baud rate table
Response:
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E4h
13h
Error
code
Error
extend
00h
00h
00h
00h
00h
Table 12: Response to the Configure Bit Timing Parameters command
Byte 1 error code:
00h = parameterization successful
01h = parameter invalid
FFh = contains a specific error code
Byte 2 error extend:
The error extension is manufacturer-specific and always 00h on the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.
Store Configuration
This command saves the configuration.
NOTE
However, the configuration is not saved in non-volatile memory (EEPROM). This action
must be undertaken using the object 1010h – Save Parameters (see Table 50 on
page 51).
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COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E5h
17h
00h
00h
00h
00h
00h
00h
00h
Table 13: Format of the Store Config uration command
Response:
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E4h
17h
Error
code
Error
extend
00h
00h
00h
00h
00h
Table 14: Response to the Store Configuration command
Byte 1 error code:
00h = save successful
01h = Store Configuration command is not supported
02h = memory error occurred
FFh = contains a specific error code
Byte 2 error extend:
The error extension is manufacturer-specific and always 00h on the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.
Inquire LSS address service
Using this command the encoder’s node ID and the manufacturer ID, the product code,
the revision number and the serial number can be read from object 1018h (see
Table 57 on page 53).
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E5h
CMD
00h
00h
00h
00h
00h
00h
00h
Table 15: Format of the Inqui re LSS address servi ce command
Byte 1 CMD from the command table:
CMD
Parameter
Subindex of object 1018h
5Eh
Node ID
5Dh
Serial Number
.4
5Ch
Revision Number
.3
5Bh
Product Code
.2
5Ah
Vendor ID
.1
Table 16: Command table
Response
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E4h
CMD
Data-X
{LsB}
Data-X
Data-X
Data-X
{MsB}
00h
00h
00h
Table 17: Response to the Inqui re LSS address service command
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NOTE
The data are 4 bytes long, in the byte order “Little Endian”. If the data read are shorter
than 4 bytes, the remaining bytes are filled with 0.
Identify Non-Configured Slave Device
Devices that have not been configured can be identified by with the aid of this
command.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E5h
4Ch
00h
00h
00h
00h
00h
00h
00h
Table 18: Format of the Identify Non Configured Slave Device command
Response
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E4h
50h
00h
00h
00h
00h
00h
00h
00h
Table 19: Response to the Identify Non-Configured Slave Device command
5.5 Network management (NMT)
The Network Management (NMT) has the task of initializing users on a CANopen
network, adding the users to the network, stopping and monitoring them.
In a CANopen network there is always only one NMT master (Network Management
Master), all other devices, that is also the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox, are NMT slaves. The NMT master has control of all devices and can
change their status.
Typically an NMT master is realized by a PLC or a PC.
5.5.1 CANopen state machine
As in every CANopen slave, a so-called CANopen state machine is implemented in the
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. A differentiation is made
between the following statuses:
Status
Description
Initializing
The initialization starts. The device application and the device
communication are initialized. Then the node switches automatically to
the Pre-operational status.
Pre-operational
The encoder is ready for configuration, acyclic communication can take
place via SDO. However, the encoder is not yet able to participate in
PDO communication and also does not send any emergency messages.
Operational
In this status the encoder is fully operational and can transmit
messages independently (PDOs, emergency messages).
Stopped
In this status the encoder is disabled for communication (active
connection monitoring via node guarding remains active).
Table 20: Status of the CANopen state machine
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5.5.2 Network Management Services
The specific status of the CANopen state machine is changed via the NMT services. The
NMT telegrams for device control use the COB-ID 0 and are given the highest priority.
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
00h
CCD
Node ID
00h
00h
00h
00h
00h
00h
Table 21: Format of the NMT telegram
Byte 0, CCD
Parameter
01h
Start Remote Node
Places the encoder in the Operational status.
02h
Stop Remote Node
Places the encoder in the Stopped status and stops its communication
(active connection monitoring via node guarding remains active).
80h
Enter Pre-operational
Places the encoder in the Pre-operational status. All communication
channels except the PDOs can be used.
81h
Reset node
Resets the value for the profile parameters to the default value. Then
the encoder changes to the Reset Communication status.
82h
Reset communication
Places the encoder in the Reset Communication status. Then the
encoder changes to the Initialization status.
Table 22: Meaning of byte 0
Transitions between the individual operating statuses
Figure 11: Transitions between the operating statuses
Initialization
Power-up or reset
Pre-operational
Operational
Stopped
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Transition
Description
1
After power-up the encoder enters the Initialization status.
2
After initialization the encoder automatically switches to the
Pre-operational status.
3 and 8
The encoder switches to the Operational status with the Start Remote
Node command.
4 and 7
The encoder switches back to the Pre-operational status with the Enter
Pre-operational State command.
5 and 6
The encoder switches to the Stopped status with the Stop Remote Node
command.
9, 10 and 11
The encoder switches to the Initialization status with the Reset Node
command.
12, 13 and 14
The encoder switches to the Initialization status with the Reset
Communication command.
Table 23: Transitions between the operating statuses
5.5.3 Boot-up message
To signal that a device is ready for operation after switching on, a so-called boot-up
message is sent. This message uses the ID from the NMT Error Control protocol and is
permanently linked to the device address set (700h + node ID).
5.5.4 Node Guarding and Heartbeat
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox can be monitored
permanently using the Node Guarding protocol or the Heartbeat protocol.
NOTE
It is not possible to use the Node Guarding protocol and the Heartbeat protocol on one
node. If the Heartbeat Time parameter in the object 1017h is not equal to 0 (see
Table 56 on page 53), the Heartbeat protocol is used.
Node guarding
The status of the encoder is checked at regular intervals using the Node Guarding
telegram. The encoder responds within the response time configured in the objects
100Ch and 100Dh (see Table 48 on page 50).
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
700h +
Node ID
Status
00h
00h
00h
00h
00h
00h
00h
Table 24: Format of the Node Guarding telegram
Byte 0, status
Parameter
Bit 7
0
Bit 6 … 0
Operating status of the encoder:
127 = Pre-operational
5 = Operational
4 = Stopped
0 = boot up
Table 25: Meaning of byte 0
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