User manual
Contents
1. pose Sub index 00h Description describes the number of entries present in sub index 1 Access ro Data type UNSIGNED 8 EEPROM no Default th Sub index Oth Description describes the behaviour of the encoder how parameters are stored in the EEPROM Access ro Data type UNSIGNED 32 EEPROM no Default 2h Data content Bit 31 2 0 Bit 1 0 encoder does not store parameters automatically 1 encoder stores parameters automatically following write access to relevant object Bit 0 0 encoder does not store parameter by command 1 encoder stores parameter after command Page 22 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme The following table represents the parameters stored in the EEPROM Object Sub index Description Default value 1005h Oh SYNC ID 80h 1014h Oh EMCY ID 80h Node ID 1017h Oh Producer Heartbeat Time Oh 1800h 1h PDO1 ID 40000180h Node ID 1800h 2h PDO1 Transmission Type FEh 254 1800h 5h PDO1 Event Timer Oh 1801h 1h PDO2 ID 80000280h Node ID 1801h 2h PDO2 Transmission Type th 2001h Oh Manufacturer Offset Oh 2800h Oh PDO1 send repeat counter Oh 2801h Oh PDO1 send repeat counter Oh 6000h Oh Operating Status Oh 6001h Oh Encoder resolution 10 bit encoder 1024 12 bit encoder 4096 6002h Oh Total measurement range 10 bit encoder 4194304 12 bit encoder 1677722. Wien N und Winkelmess Systeme jit S Ui i Zetan User manual Magnetic absolute value rotary encoders with CANopen interface WV58M WH58M intelligente Weg und Winkelmess Systeme Table of contents 1 General remarks 1 1 Definitions 1 2 Documentation 1 3 Intended use 2 Product Family of Magnetic Angle Encoders 3 General information on the CAN Bus 3 1 CAN bus features 3 2 CANopen 3 3 The Encoder Device Profile CiA Draft Standard 406 4 Data Transmission according to the CANopen Communication Model 4 1 CANopen message setup 4 1 1 Function code 4 1 2 Node number Node ID 4 2 Transmission of process data 4 2 1 Synchronous data transfer oO ODDN NOOO A OA a oO fF A 4 2 2 Asynchronous data transfer 4 3 Transmission of the SDO data parameterization 4 4 Emergency Service 4 5 Network management Services NMT 4 5 1 Description of the NMT commands 4 5 2 Command byte 4 5 3 NMT status 4 5 4 The individual NMT states 4 5 5 Status change 4 5 6 Heartbeat 5 Directory of objects 5 1 Overview of objects 5 2 Detailed description of objects 5 2 1 Object 1000h Device Type 5 2 2 Object 1001h Error Register 5 2 3 Object 1002h Manufacturer Status Register 5 2 4 Object 1003h Pre defined Error Field aa 5 2 5 Object 1005h COB ID SYNC message 5 2 6 Object 1008h Manufacturer Device
3. Object 6501h SingleTurn resolution Sub index 00h Description The object indicates the maximum possible encoder resolution Access ro Data type UNSIGNED 32 EEPROM no Default WV WH58M 10 12 bit 1024 WV WH58M WV WH58M 10 bit ST 1024 12 12 bit WV WH58M 12 bit ST 4096 4096 Object 6502h Number of distinguishable revolutions Sub index 00h Description The object indicates the maximum possible number of encoder revolutions Access ro Data type UNSIGNED 16 EEPROM no Default 4096 Object 6503h Alarms Sub index 00h Description In addition to the errors reported via the emergency messages this object provides further encoder specific error messages In the case of an error the associated bit is set to 1 Access ro Data type UNSIGNED 16 EEPROM no Default Oh Bit definition Bit Function Value 0 Value 1 0 position error no error position value invalid 1 11 not used 12 connection with basic card connection established no basic card recognised 13 timeout error in connection to basic card no fault connection failure 14 battery warning battery voltage OK battery voltage near lowest tolerable value 15 battery error battery OK or still in tol battery discharged erable range Page 34 of 41 Item no 83069 Revision status 78 07 5 2 32 Object 6504h
4. Sub index 00h Description This parameter sets the total number of measuring steps Access rw recordable in Pre operational and Operational states if the Scaling bit see object 6000h is set Data type UNSIGNED 32 EEPROM yes Default WV WH58M 10 bit 4194304 WV WH58M 12 bit 16777216 Value range 4096 4194304 WV WH58M 10 bit 4096 16777216 WV WH58M 12 bit Date 21 03 2007 Page 31 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme The configurable value Total of steps must meet the condition 2 Encoder resolution X 1 12 for 12bit encoder and 1 10 for 10bit encoder respectively Ho is changed Any attempt to write on this object in a SingleTurn encoder will result in an error message Any Preset and or ManufacturerOffset values are reset to 0 when the total number of steps error code 06040043h O The execution time of the Total Measuring Range command is approx 160ms The position value will not be updated during this processing period 5 2 25 Object 6003h Preset value Sub index 00h Description The position value of the encoder is set to this preset value Access rw recordable in Pre operational and Operational states if the Scaling bit see object 6000h is set Data type SIGNED 32 EEPROM yes Default Oh Value range The value range of the preset value depends on
5. NMT service for device control serves for initialising starting and stopping of the encoder NMT service connection monitoring Heartbeat 4 5 1 Description of the NMT commands The commands are transmitted as unconfirmed objects broadcast messages and are set up as follows COB ID Byte 1 Byte 2 Oh Command byte Node number node ID The COB ID for NMT commands is always zero highest priority The node ID is transmitted in byte 2 of the NMT command The node number corresponds with the node ID of the desired station With node number 0 all bus stations are addressed 4 5 2 Command byte Operational or Stopped to Operational Command eee State transition see byte Ise tel Status diagram fig 1 Oth Start_Remote_Node change from state Pre 1 02h Stop_Remote_Node change to state Stopped 2 80h Enter_PRE OPERATIONAL_ State change to state 3 Pre Operational 81h Re initialization of CAN parameters 82h Reset of CAN card 4 5 3 NMT status After initialising the encoder is in the Pre Operational state SDO parameters can be read and written in this state To request PDOs the encoder must first be switched to the Opera tional state Date 21 03 2007 Page 14 of 41 Item no 83069 Revision status 78 07 4 5 4 4 5 5 Date 21 03 2007 intelligente Weg und Winkelmess Systeme Power on or Software Rese
6. Access rw recordable in the Pre Operational state only Data type UNSIGNED 32 EEPROM yes Default 80h Node ID Data content Bit 31 0 EMCY object exists is valid 1 EMCY object does not exists is invalid Bit 30 always 0 Bit 29 0 11 bit identifier CAN 2 0A 1 29 bit identifier CAN 2 0B Bit 28 11 0 if bit 29 0 X if bit 29 1 bits 28 11 of the 29 bit EMCY COB ID Bit 10 0 0 X bits 10 0 of the EMCY COB ID Object 1017h Producer Heartbeat Time Sub index 00h Description defines the cycle time of the heartbeat monitoring service Access rw recordable in the Pre Operational and Operational states Data type UNSIGNED 16 EEPROM yes Default Oh Value range 10 65535 Ah FFFFh the numerical value corresponds with a multiple of ims The service is disabled by writing the value 0 The writing of values in the range of 1 9 trigger an error message Item no 83069 Revision status 78 07 Page 24 of 41 intelligente Weg und Winkelmess Systeme 5 2 13 Object 1018h Identity Object 5 2 14 Date 21 03 2007 Sub index 00h Description number of entries Access ro Data type UNSIGNED 8 EEPROM no Default 2h Sub index Oth Description The manufacturer identification number vendor ID for the company SIKO GmbH allocated by the CiA see www can cia
7. Default th PDO has synchronous characteristics Value range 1h n FOh 240 The PDO is sent after every nth SYNC command also depending on the value in object 2801h FDh 253 encoder responds to RTR request Sub index 03h is not used access attempt generates error message Sub index 04h is not used access attempt generates error message Sub index 05h is not used access attempt generates error message Object 1A00h Transmit PDO1 Mapping Parameter Sub index 00h Description number of objects mapped Access ro Data type UNSIGNED 8 EEPROM no Default th Sub index Oth Description writes in the content of the PDO1 message Access ro Data type UNSIGNED 32 EEPROM no Default 60040020h Page 27 of 41 Item no 83069 Revision status 78 07 5 2 17 intelligente Weg und Winkelmess Systeme Object 1A01h Transmit PDO2 Mapping Parameter Sub index 00h Description number of objects mapped Access ro Data type UNSIGNED 8 EEPROM no Default 1h Sub index Oth Description Writes in the content of the PDO2 message Access ro Data type UNSIGNED 32 EEPROM no Default 60040020h 5 2 18 Object 2001h Manufacturer Offset Sub index 00h Description The offset enables the shifting of the scaled value range The offset value is added to the position value in the encoder Positive as well as negative values are permitte
8. 0003h Single turn angle encoder absolute with battery buffered electronic revolution counter multi turn 0001h Single turn angle encoder absolute 5 2 2 Object 1001h Error Register Sub index 00h Description device errors occurring are indicated here Access ro Data type UNSIGNED 8 EEPROM no Default no Data content Bit Meaning 0 set bit indicates the occurrence of any error condition 4 set bit indicates communication error on the CAN bus acknowl edgement form CRC and stuffbit 1 3 5 7 not used Date 21 03 2007 Page 19 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 5 2 3 Object 1002h Manufacturer Status Register Sub index 00h Description The counts of the registers Transmit Error Counter and Receive Er ror Counter can be read via this object The contents of these registers provide information on the transmission faults present at the mounting site of the encoder Additionally the version status of the basic card firmware is output Access ro Data type UNSIGNED 32 EEPROM no Default multi turn encoder 02070000h Default single turn encoder 02080000h Data content Byte 0 Byte 1 Byte 2 Byte 3 Receive Error Transmit Error Firmware status Firmware status Counter Counter basic card LOW basic card HIGH For details on the above mentioned counters refer
9. Alarms indication of error states 34 6504h Supported Alarms indicates which alarm messages are supported 35 6505h Warnings indication of warnings 35 6506h Supported Warnings _ indicates which warnings are supported 36 6507h Profile and Software indicates the version number of the device profile used 36 Version and the version number of the encoder s firmware 6508h Operating Time outputs the value FFFFFFFFh function is not yet 36 supported at present Date 21 03 2007 Page 18 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Index Name Description see page 6509h Offset Value corresponds with the encoder s zero point value 37 650Ah_ Module Identification device specific parameters Manufacturer Offset 37 Manufacturer min position value Manufacturer max position value can be represented via sub indexes 650Bh Serial Number outputs the value FFFFFFFFh function is not yet 38 supported at present 5 2 Detailed description of objects 5 2 1 Object 1000h Device Type Sub index 00h Description Information on device type and device profile Access ro Data type UNSIGNED 32 EEPROM no Default Multiturn 00030196h Singleturn 00010196h Data content Device profile number Encoder type Byte 0 Byte 1 Byte 2 Byte 3 96h Oth 03h 00h 0196h 406 CANopen Device Profile for Encoders version 3 01
10. Change to the Pre Operational status COB ID Command byte Node number Oh 80h Oh 1Fh 0 31 Re initialisation of CAN parameters 4 COB ID Command byte Node number Oh 81h Oh 1Fh 0 31 Re initialisation of the CAN card 5 COB ID Command byte Node number Oh 82h Oh 1Fh 0 31 Heartbeat There are two optional monitoring mechanisms intended for ensuring proper functioning of the CANopen network nodes Each network node can be monitored by a higher order mas ter via the so called Node Guard or alternatively announce its ability to communicate by cyclic sending of a so called Heartbeat message With the WV WH58 M the Heartbeat method is used exclusively This message can be received by one or several network subscribers and thus monitor the assigned subscriber In object 1017h Producer Heartbeat Time the time of the heartbeat interval can be depos ited The value 0 disables heartbeat The heartbeat message consists of the COB ID and an additional byte In this byte the cur rent NMT state is deposited COB ID 700h Node ID Byte 0 NMT status NMT status 0 a 4 5 127 Boot Up Stopped Operational Pre Operational Page 16 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 5 Directory
11. as long as a 0 is written in object 2801h If the object 2800h has been parameterised with the value 4 the PDO2 is still sent following each third SYNC telegram but only four times in all Accordingly the 12 SYNC telegram is followed by the last PDO2 The counter for the amount of PDOs to be transmitted is reset in case of position change or by the Reset NMT command i e if the position does not change it will be sent 4 times If the position changes it will be sent 4 times again Another possibility of transmitting the PDO2 consists in the response to a RTR request For this purpose the value 253 FDh must be written to object 1801 sub index 2 7 3 Stopping Transmission of the Position Value To stop data transmission from the encoder the encoder can be switched back to the Stopped Mode or to the Pre Operational Mode Stop Mode command COB ID Command byte Node number Oh 2h Oh 1Fh 0 31 Pre Operational Mode command COB ID Command byte Node number Oh 80h Oh 1Fh 0 31 All devices connected to the bus are addressed via node address 0 Date 21 03 2007 Page 41 of 41 Item no 83069 Revision status 78 07
12. 100 64h Value 0 Repeat counter is switched off Object 6000h Operating Parameters Sub index 00h Description This object influences the encoder s code sequence and the scaling function Access rw recordable in the Pre operational and Operational states Data type UNSIGNED 16 EEPROM yes Default Oh Bit definition Bit 14 Bit 3 Bit 2 Bit 1 Bit 0 Function not used Scaling not used Code sequence Bit 0 disabled Sense of rot CW Bit 1 enabled Sense of rot E CCW Explanation of the functions Sense of rotation I ascending position values with clockwise CW encoder rotation look at the encoder shaft Sense of rotation E ascending position values with counter clockwise CCW encoder rotation look at the encoder shaft Scaling disabled The encoder works with its full resolution 1024 steps revolution and 4096 revolutions or 4096 steps revolution and 4096 revolutions respectively Scaling enabled The encoder can be parameterised via objects 6001h Measuring units per revolution 6002h Total Measuring range 6003h Preset and 2001h Manufacturer Offset Setting the scaling bit results in resetting the preset and the manufacturer offset values to 0 The scaling bit is stored non volatilely Thus all settings are still present after restarting the encoder If the scaling bit is reset from 1 to 0 settings made with object
13. 6001h and 6002h are over written by the default values resolution 1024 or 4096 steps revolution and 4096 revolu tions The values for Preset and ManufacturerOfffset remain unchanged Page 30of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Pa S T The execution time of the Operating Parameters command depends on the combination of the above mentioned bits write Bit0 0 Bit2 0 approx 190ms write Bit0 1 Bit2 0 approx 190ms o write Bit0 0 Bit2 1 approx 77ms write Bit0 1 Bit2 1 approx 77ms The position value will not be updated during this processing period 5 2 23 Object 6001h Measuring Units per Revolution Encoder Resolution Sub index 00h Description This parameter sets the desired resolution per revolution Access rw recordable in Pre operational and Operational states if the Scaling bit see object 6000h is set Data type UNSIGNED 32 EEPROM yes Default WV WH58M 10bit 1024 WV WH58M 12bit 4096 Value range 1 1024 WV WH58M 10 bit 1 4096 WV WH58M 12 bit Any Preset and or ManufacturerOffset values are reset to 0 when the resolution is changed o O The execution time of the Measuring Units per Revolution command is approx 160ms The position value will not be updated during this processing period 5 2 24 Object 6002h Total Measuring Range Total Step Number
14. interface will be described 3 General information on the CAN Bus Originally the CAN bus CAN Controller Area Network was developed by Bosch and Intel for fast and low cost data transmission in the car industry Nowadays the CAN bus is also used in industrial automa tion The CAN bus is a field bus the standards are defined by the association CAN in Automation CiA which enables communication of devices actuators and sensors of different manufacturers Date 21 03 2007 Page 5of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 3 1 CAN bus features Bus medium is a shielded twisted pair cable The CAN bus is a multi master bus i e several CAN stations can request the bus at the same time The message with the highest priority determined by the identifier prevails Data rate up to 1Mbit s permissible with 40m network range Closed network on both sides Theoretically up to 127 stations possible on one bus however practically only up to 32 stations due to the driver Message oriented communication The message is marked with message identification identi fier By means of the identifier all bus stations check whether the message is relevant for each of them All bus stations receive each message at the same time Therefore synchronization is possible The identifier determines the priority of the message The lower the value of the identifier the higher i
15. of objects In the directory of objects of a CANopen device all features and parameters of the respective device are deposited O Specific parameters of the directory of objects are deposited in a power failure safe memory of the encoder and are copied into the main memory during power on or re initialization The directory of objects is accessed via the SDO services described in chapter 4 3 Transmission of the SDO data Parameterization The directory of objects is subdivided into three separate areas Standard objects applicable to all CANopen instruments 1h 1FFFh CiA DS 301 Manufacturer specific objects 2000h 5FFFh Device specific objects 6000h BFFFh CiA DS 406 The address index pointing to each entry in the directory of objects is also standardised in the profiles except for the manufacturer specific area This fact ensures that all instruments always provide the func tions described in the profile standard and optional functions under the same index This is a pre condition of an open system and of exchangeability of the instruments The entries of the directory of objects are addressed by a 16 bit index Each index can be further subdi vided by a sub index 5 1 Overview of objects Index Name Description see page 1000h Device Type indicates the device profile and the encoder type 19 1001h Error Register indicates error states of the encoder 1
16. rate The CAN baud rate is set via DIP switches 2 and 3 Four different baud rates can be selected The following table shows the allocation Switch 2 Switch 3 Baudrate ON ON 125 Kbit s ON OFF 250 Kbit s OFF ON 500 Kbit s OFF OFF 1000 Kbit s The DIP switch settings are only read when the encoder is started power on or during new ini oO tialization via an NMT command Changing the switch position during operation of the encoder lL has no effect Exception DIP switch 1 The ex works standard setting is baud rate 125 Kbit s A DIP switch 1 is exclusively intended for service purposes and must remain at the ON position 6 3 Diagnosis LEDs Beside the DIP switch there is each a green and yellow LED They serve for signalling different operational states LED Meaning OFF voltage supply missing Power green ON voltage supply is OK blinking pulse duty factor 1 4 encoder is in the Pre Operational Mode Status yellow ON encoder is in the Operational Mode fast blinking pulse duty factor 1 1 encoder is in the Stopped Mode Date 21 03 2007 Page 39of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 7 Commissioning Prio 7 1 Ho 7 2 r to commissioning of the encoder the following work should be performed Setting of the Node ID must be present in the system only once setting of the CAN baud rate valid for the sy
17. to the relevant CAN bus publications 5 2 4 Object 1003h Pre defined Error Field Date 21 03 2007 The object stores the 8 error states that have occurred last the entry under sub index 0 indicates the number of errors stored Each newly added error state is stored under sub index 1 Previous error messages slip down ward in their position by one digit The whole error list is deleted by writing the value 0 at sub index 0 The entries in the error list have the format described in chapter 4 4 Emergency Service Sub index 00h Description number of error messages stored Access rw recordable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM no Default 0 Value range 0 8 Sub index 01h 08h Description error messages that occurred Access ro Data type UNSIGNED 32 EEPROM no Default 0 Page 20 of 41 Item no 83069 Revision status 78 07 5 2 5 Object 1005h COB ID SYNC message intelligente Weg und Winkelmess Systeme Sub index 00h Description Defines the COB ID of the synchronization object SYNC Access rw recordable in the Pre Operational state only Data type UNSIGNED 32 EEPROM yes Default 80h Data content Bit 31 not defined Bit 30 0 encoder generates no SYNC message 1 encodes generates SYNC messages Bit 29 0 11 bit identifier CAN 2 0A 29 bit identifier CAN
18. 16 6003h Oh Preset value Oh 6200h Oh PDO1 Event Timer see object 1800 5 5 2 10 Object 1011h Load Default Parameters This object serves for setting the encoder to its default values see 5 2 9 To be safe guarded against unintended loading of the default values the string load must be written in sub index 1h Index Index Data 0 Data 3 COB ID Command LA High Sub index LSB Data 1 Data 2 MSB 600h i i py rii Nod D 23h 11h 10h Oth I 6Ch o 6Fh a 61h d 64h A read access to the respective sub indexes results in the values represented below Sub index 00h Description indicates the largest supported sub index Access ro Data type UNSIGNED 8 EEPROM no Default 1h Date 21 03 2007 Page 23 of 41 Item no 83069 Revision status 78 07 5 2 11 5 2 12 Date 21 03 2007 intelligente Weg und Winkelmess Systeme Sub index Oth Description all default values are loaded Access rw recordable in the Pre Operational and Operational states Data type UNSIGNED 32 EEPROM no Default Oh Data content Bit 31 1 0 Bit 0 0 encoder does not permit loading of default parameters 1 encoder permits loading of default parameters Object 1014h COB ID Emergency Object Sub index 00h Description defines the COB ID of the Emergency object EMCY
19. 2 EEPROM no Default FFFFFFFFh function is not implemented 6 Setting and diagnosing elements 6 1 Setting of the Node Identifier Node ID After removing the screw cap on the encoder hood an 8 pin DIP switch as well as two diagnosis LEDs yellow and green are visi ble Switches 4 to 8 serve for setting the Node Identifier The adjustable range is between 1 and 31 Although switches 4 to 8 can be set to ON the setting is converted to Node ID 1 encoder internally since the identifier 0 is illegal The Node ID via switches 4 to 8 is encoded in the binary format Fig 2 DIP switches and diagnosis LEDs This is illustrated in the following table Switch 4 Switch 5 Switch 6 Switch 7 Switch 8 Node ID set ON ON ON ON ON 1 ON ON ON ON OFF 1 ON ON ON OFF ON ON ON ON OFF OFF Date 21 03 2007 Page 38 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Switch 4 Switch 5 Switch 6 Switch 7 Switch 8 Node ID set OFF OFF OFF ON OFF 29 OFF OFF OFF OFF ON 30 OFF OFF OFF OFF OFF 31 The DIP switch settings are only read when the encoder is started power on or during new ini O tialization via an NMT command Changing the switch position during operation of the encoder Il has no effect Exception DIP switch 1 The ex works standard setting is Node ID 1 DIP switch 8 OFF 6 2 Setting the baud
20. 2 0B Bit 28 11 0 if bit 29 0 X if bit 29 1 bits 28 11 of the 29 bit SYNC COB ID Bit 10 0 0 X bits 10 0 of the SYNC COB ID 5 2 6 Object 1008h Manufacturer Device Name Sub index 00h Description short encoder designation in ASCII Access const Data type Visible_String EEPROM no Default W58M Data content Byte 0 Byte 1 Byte 2 Byte 3 57h W 35h 5 38h 8 4Dh M 5 2 7 Object 1009h Manufacturer Hardware Version Sub index 00h Description hardware version in ASCII Access const Data type Visible_String EEPROM no Default 1 00 Data content Byte 0 Byte 1 Byte 2 Byte 3 31h 1 2Ehh 30h 0 30h 0 Date 21 03 2007 Revision status 78 07 Page 21 of 41 Item no 83069 intelligente Weg und Winkelmess Systeme 5 2 8 Object 100Ah Manufacturer Software Version Sub index 00h Description software version in ASCII Access const Data type Visible_String EEPROM no Default 3 00 Data content Byte 0 Byte 1 Byte 2 Byte 3 33h 3 2Eh 30h 0 30h 0 5 2 9 Object 1010h Store Parameters Date 21 03 2007 This object serves exclusively for information that the encoder automatically stores specific parameters in the EEPROM The Store Parameter command is not required for this pur
21. 5 has been written in there the PDO2 is sent after every third telegram as above but only 5 times altogether Accordingly the 15 SYNC telegram is followed by the last PDO Date 21 03 2007 Page 9of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme The counter for the amount of PDOs to be transmitted is reset in case of position change or by the NMT reset command i e if the position does not change it will be sent 5 times If the position changes it will be sent 5 times again In synchronous operation the PDO2 is requested by a master via the SYNC telegram SYNC COB ID 80h If the PDO2 is to be requested via an RTR telegram then the value 253 FDh must be written in object 1801h sub index 2 4 2 2 Asynchronous data transfer If a PDO is to be sent cyclically then the cycle time must be entered into object 1800h sub index 5 in milliseconds The PDO will not be sent if the value Oms is written The function is disabled The minimum value to be set is 1 1ms Object 2800h offers another possibility Cyclic sending is as described above if the value is 0 If the value is 1 then cyclic checking occurs whether the position value has changed If not nothing will be sent For example if the value is 4 the PDO1 will be sent four times with every cycle if a change has occurred O Sending the PDO1 due to a change in the position value works only when the timer IL controlled transmission has
22. 9 1002h Manufacturer Status indicates the contents of the CAN bus specific Trans 20 Register mitErrorCounter or ReceiveErrorCounter respec tively and the firmware version of the basic card 1003h Pre Defined Error the object stores the 8 error states that have oc 20 Field curred last 1005h COBID SYNC message setting of the COB ID of the SYNC object 21 1008h Manufacturer Device short designation of the device type 21 Name 1009h Manufacturer Hard hardware version of the encoder 21 ware Version 100Ah Manufacturer Soft software version of the encoder 22 ware Version 1010h Store Parameters the object indicates non volatile storage of parame 22 ters by the encoder with no user input 1011h Restore Parameters the object indicates that the encoder automatically 23 loads parameters from the non volatile memory 1014h COB ID Emergency COB ID of the Emergency object 24 Object Date 21 03 2007 Page 17 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Index Name Description see page 1017h Producer Heartbeat setting of the cycle time of the heartbeat timer 24 Time 1018h Identity Object contains the manufacturer number assigned by CiA 25 1800h Transmit PDO1 Transmit PDO for the asynchronous operation mode 25 Communication Pa timer or position value controlled ramet
23. Calculation scaling factor encoder resolution 1024 10 bit Calculation scaling factor encoder resolution 4096 12 bit see Object 6300h see Object 2100h With the WV WH58 M the total measuring range is subdivided into a negative and positive value range 1 2 total measuring range 0 1 2 total measuring range 1 Therefore the representation of the position value is in the 2 complement format in a signed 32 bit number Object 6200h Cycle Timer Sub index 00h Description Defines the cycle time with which the PDO1 is output The value is fixed linked identical with the value indicated under object 1800h sub index 5 The timer controlled output is activated as soon as a cycle time was para meterised within the value range and the encoder switched over to the Opera tional Mode Access rw recordable in the Pre operational and Operational states Data type UNSIGNED 16 EEPROM no Default Oh Value range 0 Cycle timer is disabled 1 65535 Cycle time in ms Object 6500h Operating Status Sub index 00h Description The object indicates the settings programmed with object 6000h Access ro Data type UNSIGNED 16 EEPROM yes Default no Bit definition see Object 6000h Page 33 of 41 Item no 83069 Revision status 78 07 5 2 29 5 2 30 5 2 31 Date 21 03 2007 intelligente Weg und Winkelmess Systeme
24. N bus see description Error Codes The encoder has en tered the Error Passive state If the interference load on the CAN bus decreases then the encoder will return automatically to the normal state called Error Active If however the interference load continues to in crease then the encoder changes to the Bus Off state and performs a restart which is characterized by a boot up message and an additional Emergency Message byte3 and byte4 0 Emergency message in case of bus errors COB ID ByteO Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h Error Code Error Transmit Receive 00h 00h 00h Node ID Register Error Error Counter Counter As with the SDO error messages pre defined error messages are assigned to the EMERGENCY object as well The WV WH58M uses a subset of these error codes as described in the CAN Appli cation Layer DS301 They are contained in the table below Date 21 03 2007 Page 12o0f 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Byte 0 Byte 1 Error Code Error Codes Description 0000h no error 8001h CANbus communication error Acknowledgement Error 8002h CANbus communication error Form Error 8003h CANbus communication error CRC Error 8004h CANbus communication error Stuff Error 8120h encoder is in the Error Passive Mode 8140h r
25. Name 5 2 7 Object 1009h Manufacturer Hardware Version _ _ 5 2 8 Object 100Ah Manufacturer Software Version 5 2 9 Object 1010h Store Parameters 5 2 10 Object 1011h Load Default Parameters 5 2 11 Object 1014h COB ID Emergency Object 5 2 12 Object 1017h Producer Heartbeat Time aaa NO i 5 2 13 Object 1018h Identity Object Date 21 03 2007 Page 2of 41 Item no 83069 Revision status 78 07 5 2 14 5 2 15 5 2 16 5 2 17 5 2 18 5 2 19 5 2 20 5 2 21 5 2 22 5 2 23 5 2 24 5 2 25 5 2 26 5 2 27 5 2 28 5 2 29 5 2 30 5 2 31 5 2 32 5 2 33 5 2 34 5 2 35 5 2 36 5 2 37 5 2 38 5 2 39 intelligente Weg und Winkelmess Systeme Object 1800h Object 1A00h Transmit PDO1 Mapping Parameter Object 1A01h Transmit PDO2 Mapping Parameter Object 2001h Manufacturer Offset Transmit PDO1 Parameter asynchronous operation mode Object 1801h Transmit PDO12 parameter synchronous operation mode Object 2002h Zeroing of encoder value Object 2800h Send repeat counter for PDO1 Object 2801h Send repeat counter for PDO2 Object 6000h Operating Parameters Object 6001h Measuring Units per Revolution Encoder Resolution Object 6002h Total Measuring Range Total Step Number Object 6003h Preset value Object 6004h Position value Object 6500h Operating Status Object 6501h SingleTurn resolution Obje
26. Supported Alarms 5 2 33 Date 21 03 2007 intelligente Weg und Winkelmess Systeme Sub index 00h Description The object indicates which alarm messages are supported Access ro Data type UNSIGNED 16 EEPROM no Default F001h Bit 0 Position error Bit 12 Connection with basic card Bit 13 Communication error with basic card timeout Bit 14 Battery warning Bit 15 Battery alarm Object 6505h Warnings Sub index 00h Description Warnings indicate that tolerances of internal encoder parameters have been exceeded However unlike with alarm messages the position value can be valid in case of a warning Access ro Data type UNSIGNED 16 EEPROM no Default Oh Bit definition Bit Function Value 0 Value 1 0 3 not used 4 battery warning battery voltage OK battery voltage near lowest tolerable value 5 11 not used 12 faults in data traffic with no faults checksum error oc the basic card curred 13 switch position of DIP switch is at OFF switch is at ON com switch 1 munication with basic card was interrupted manually 14 15 not used Page 35of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 5 2 34 Object 6506h Supported Warnings 5 2 35 5 2 36 Date 21 03 2007 Sub index 00h Description The object indicates which warnings are su
27. Wx58MCAN_1012 eds EDS file for 10 12Bit Multiturn Wx58MCAN_1212 eds EDS file for 12 12Bit Multiturn Wx58MCAN_10ST eds EDS file for 10Bit Singleturn Wx58MCAN_12ST eds EDS file for 12Bit Singleturn 3 3 The Encoder Device Profile CiA Draft Standard 406 This profile describes a manufacturer independent and mandatory specification of the interface for rotary encoders The profile defines which CANopen functions are used and how they should be used This standard enables the creation of an open and manufacturer independent bus system The device profile is divided into two object classes The standard class C1 describes all basic functions which the encoder must contain The extended class C2 contains a wide range of additional functions that must either be sup ported by these encoders mandatory or are optional Thus devices of the C2 class contain all the C1 and C2 mandatory functions as well as manufacturer dependent additional optional functions Additionally an addressing range is defined in the profile for assignment of special proprietary func tions The WV WH58M supports class C2 4 Data Transmission according to the CANopen Communication Model The communication model underlying CANopen provides two types of communication mechanisms Unconfirmed transmission of data having a length of 4bytes Process Data Objects PDO These data is transmitted with high priority low COB identifier PDOs are br
28. ay result in failures of functioning of the rotary encoder or its environment This symbol indicates instructions for actions CAN Application Layer Application layer layer 7 in the CAN communication model Controller Area Network CAN in Automation International Associatioon of Users and Producers of CAN products Communication Object Transport unit in the CAN network CAN message Data is sent within a COB via the network COB Identifier Unambiguous identification of a CAN message The identifier determines the priority of the COB in the network Identifier see COB ID Least significant bit byte Most significant bit byte Network Management Service element of CAL responsible for initialization configura tion and error handling in the network Process Data Object Object for exchanging process data Remote Transmission Request data request telegram Service Data Object communication object that enables the master to access the direc tory of objects of a node Synchronization telegram Bus stations respond to the SYNC command by sending their process values if not explicitly stated otherwise decimal values are given as figures without an extension e g 1234 binary values are marked with a b after the figure e g 10011b hexadecimal values with an h e g 280h Page 4of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 1 2 Documentation This user manual is valid for t
29. been disabled that means when a 0 has been written in sub index 5 object 1800h 4 3 Transmission of the SDO data parameterization The directory of objects of the rotary encoder can be accessed via an SDO message All device pa rameter are stored in this directory of objects under standardised addresses indexes and can be written and read by means of SDOs SDOs are exchanged between two stations using the re quest response method Two SDO services are available SDO tx encoder master 580h Node ID Ho SDO rx master encoder 600h Node ID The SDO identifiers cannot be changed SDO messages are set up as follows COB ID Command Index Sub index Service data parameters SDO Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte6 Byte 7 Node ID LSB MSB LSB MSB For the meaning of index sub index and data please refer to chapter 5 Directory of objects Date 21 03 2007 Page 10of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme The command byte specifies the length of the service data parameters In the case of the WV WH58M the following command bytes are valid Command byte Type Function 23h SDO rx Initiate Download Send parameter to rotary en Request coder data length 4bytes 60h SDO tx Initiate Download Acknowledgement of data ac Response quisition to master 40h SDO
30. ct 6502h Number of distinguishable revolutions Object 6503h Alarms Object 6504h Supported Alarms Object 6505h Warnings Object 6506h Supported Warnings Object 6507h Profile and Software Version l Object 6200h Cycle Timer Object 6508h Operating Time Object 6509h Encoder Zeroing Value Object 650Ah Module Identification Object 650Bh Serial Number 6 Setting and diagnosing elements 6 1 6 2 6 3 Setting of the Node Identifier Node ID Setting the baud rate Diagnosis LEDs 7 Commissioning 7 1 7 2 7 2 1 7 2 2 7 3 Switching on the supply voltage Sending the position value Asynchronous cyclic transmission Synchronous transmission Stopping Transmission of the Position Value Date 21 03 2007 Page 3of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 1 General remarks This user manual is valid with effect from firmware version 3 00 It describes the software parameterization and commissioning of the rotary encoder 1 1 Definitions NMT PDO RTR SDO SYNC Figures Date 21 03 2007 This symbol precedes passages in the text that should be read particularly carefully to ensure flawless use and to exclude dangers This symbol indicates important information for proper handling of the rotary encoder Disregard of these hints m
31. d NOTE This object is not available for the single turn versions of the WV WH58M Access rw recordable in the Pre Operational and Operational states if the Scaling bit see object 6000h is set Data type SIGNED 32 EEPROM yes Default Oh Value range The minimum or maximum values to be entered depend on the values en tered in object 650Ah sub index 2 or sub index 3 respectively The latter depend on the parameterised value of the total step number lower_limit 1 2 total step number upper_limit 1 2 total step number 1 lower_limit lt offset lt upper_limit Q The execution time of the Manufacturer Offset command is approx 36ms The position value will not be updated during this processing period Date 21 03 2007 Page 28 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 5 2 19 Object 2002h Zeroing of encoder value Sub index 00h Description This object enables zeroing of the encoder value i e setting the position value to 0 condition pre set value 0 Access rw recordable in the Pre operational and Operational states Data type UNSIGNED 8 EEPROM no Default no Value range 0 1 writing the value 1 on sub index 0 sets the position value to 0 Renewed zeroing is only enabled after writing a 0 before Example In
32. dentifier the lower the priority 4 1 1 Function code The following function codes have been defined in the Pre defined Connection Set only the function codes used by the WV WH58M are represented assigned communica Object Function code Resulting COB ID tion parameter for in dex NMT 0000b 0 SYNC 0001b 128 80h 1005h EMERGENCY 0001b 128 80h Node ID 1014h PDO1 tx 0011b 384 180h Node ID 1800h PDO2 tx 0101b 640 280h Node ID 1801h SDO tx 1011b 1408 580h Node ID 1200h SDO rx 1100b 1536 600h Node ID 1200h HEARTBEAT 1110b 1792 700h Node ID 1017h i tx and rx seen from the rotary encoder Date 21 03 2007 Page 8of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 4 1 2 Node number Node ID The 7 bit node number is set via the 5 DIP switches on the hardware of the encoder After removing the screw cap on the encoder hood this DIP switch can be accessed see chapter 6 1 Setting the Node Identifier Node ID page 38 The 5 DIP switches determine bits 0 to 4 Bits 5 and 6 have always the value 0 and cannot be changed Node number 0 is reserved and must not be used by any node Therefore resulting node numbers are in the range of 1 31 With the WV WH58 M the setting of the node number 0 on the DIP switch is automatically assigned to node number 1 Any freshly set node number is only taken over after the
33. dex Index Data 0 Data 3 COB ID Command Low High Sub index LSB Data 1 Data 2 MSB enon 23h 02h 20h 00h oth ooh ooh Ooh Node ID Subsequently the following command telegram must be sent Index Index A Data 0 Data 3 COB ID Command Law High Sub index LSB Data 1 Data 2 MSB 6901n 23h 02h 20h 00h ooh ooh ooh Ooh Node ID O The execution time of the Zeroing command is approx 40ms The position value will not be updated during this processing period 5 2 20 Object 2800h Send repeat counter for PDO1 Sub index 00h Description The value of the send repeat counter for PDO1 determines how often this PDO will be sent see chapter 4 2 asynchronous data transfer Access rw recordable in the Pre operational and Operational states Data type UNSIGNED 8 EEPROM yes Default Oh Value range 0 100 64h Value 0 Repeat counter is switched off Date 21 03 2007 Page 29 of 41 Item no 83069 Revision status 78 07 5 2 21 5 2 22 Ho Date 21 03 2007 intelligente Weg und Winkelmess Systeme Object 2801h Send repeat counter for PDO2 Sub index 00h Description The value of the send repeat counter for PDO2 determines how often this PDO will be sent see chapter 4 2 1 synchronous data transfer Access rw recordable in the Pre operational and Operational states Data type UNSIGNED 8 EEPROM yes Default Oh Value range 0
34. e position value Before the encoder is able to send its position value the encoder must be switched to the Opera tional Mode via the Node Start NMT command COB ID Command byte Node number Oh th Oh 1Fh 0 31 If the Node ID of the encoder is specified then this encoder only will start If the value 0 is transmit ted for the node number then all devices connected to the bus will start Now the encoder can transmit its position value as specified via PDO1 or PDO2 respectively 7 2 1 Asynchronous cyclic transmission The PDO1 is responsible for this type of transmission The position value is sent cyclically in accordance with the time parameterised in object 1800h sub index 5 Date 21 03 2007 Page 40of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Object 2800h offers another possibility If this object is parameterised with the value 1 then the position value is sent once with every change of the same The value 3 will cause the position value to be sent three times with each change 7 2 2 Synchronous transmission To enable synchronous transmission of the position value the PDO2 must first be enabled set bit31 of the COB ID PDO2 to 0 Furthermore a value between 1 and 240 FOh must be written in object 1801h sub index 2 For example if the value is 3 the PDO2 is sent after every third SYNC telegram with value 1 itis sent after every SYNC telegram
35. ecovered from Bus Off FF10h encoder specific error communication with basic encoder card disabled FF20h encoder specific error battery warning battery charge near lowest permissible limit FF30h encoder specific error battery discharged FF40h encoder specific error checksum error in communication with basic encoder card FF50h encoder specific error timeout error in communication with basic encoder card Byte 2 Error Register Bit no Description set bit indicates general error condition is set with every error occurring communication error is set when a CANbus communication error occurs acknow ledgement form C and stuff error Byte 3 Byte 4 Alarms Bit no Description 0 position value invalid 12 communication with basic encoder card disabled 13 timeout error in communication with basic card 14 battery warning 15 battery alarm Date 21 03 2007 Page 13 of 41 Item no 83069 Revision status 78 07 Byte 5 Byte 6 Warnings intelligente Weg und Winkelmess Systeme Bit no Description 4 battery status critical 12 Faults in data traffic with basic encoder card checksum error 13 communication with basic encoder card was interrupted manually via DIP switch 1 Byte 7 not used 4 5 Network management Services NMT The network management can be subdivided into two groups
36. er 1801h Transmit PDO2 Transmit PDO for the synchronous operation mode 26 Communication Pa including output of the position value via RTR rameter 1A00h Transmit PDO1 Map 27 ping Parameter 1A01h Transmit PDO2 Map 28 ping Parameter 2001h Manufacturer Offset manufacturer specific offset value is added to the 28 position value encoder internally 2002h Zero encoder set position value to value 0 condition pre set value 0 29 2800h Send repeat counter indicates how often the PDO1 is sent 29 for PDO1 2801h Send repeat counter indicates how often the PDO2 is sent 30 for PDO2 6000h Operating Parameters setting of sense of rotation and scaling function 30 6001h Measuring units per parameterization of the resolution in steps revolu 31 Revolution tion of the encoder 6002h Total measuring range parameterization of the total measuring range of the 31 in measuring units encoder 6003h Preset Value parameterization of a pre set calibration value 32 6004h Position Value position value offset with pre set and manufacturer 32 offset value 6200h Cycle Timer PDO1 value in ms identical with object 1800h sub index 5 33 6500h Operating Status indicates the sense of rotation and scaling function 33 currently set 6501h Singleturn Resolution indicates the maximum possible resolution in steps 34 revolution 6502h Number of distin indicates the maximum possible number of revolu 34 guishable Revolutions tions 6503h
37. he absolute magnetic angle encoders WV58M or WH58M respec tively and is intended to give the necessary information for handling these instruments For information regarding guarantee safety and mechanical mounting of the angle encoders WV WH58M please refer to the User information accompanying these encoders 1 3 Intended use The said angle encoders are high precision measuring instruments They serve exclusively for sensing angle positions and revolutions processing and providing measured values as electri cal output signals for the slave unit The angle encoders must be used exclusively for this pur pose 2 Product Family of Magnetic Angle Encoders At present the product family of magnetic absolute angle encoders consists of the following 4 types 10 bit Singleturn 1024 steps revolution 12 bit Singleturn 4096 steps revolution 104 12 bit Multiturn 1024 steps revolution 4096 revolutions 12412 bit Multiturn 4096 steps revolution 4096 revolutions They are available either in solid shaft or in blind hole hollow shaft design standard size with a diame ter of 58mm Although designed with a bus interface the angle encoders are very compact The angle encoders are available with the following interfaces SN3 serial RS485 interface with SIKONETZ3 protocol SSI synchronous serial interface PB Profibus DP interface CAN CANopen interface Below only the angle encoder WV WH58M with CANopen
38. next reset power on of the encoder Ho Ex works the rotary encoder is delivered with node number 1 4 2 Transmission of process data Two PDO services PDO1 tx and PDO2 tx are available Any PDO transmission can be initiated as a result of various events Asynchronous event triggered via internal device timer or change of the position value Synchronous as a response to a SYNC telegram As a response to a RTR telegram Both PDOs provide the current position of the encoder and are determined via objects 1800h 1801h 1A00h 1A01h 2800h 2801h and 6200h With the WV WH58M PDO1 is assigned to asynchronous and PDO2 to synchronous process data transmission As a standard PDO2 is disabled after each power on of the encoder and must be re leased on request via SDO Request of the position value via RTR telegram is also only possible via PDO2 The PDO message is Set up as follows COB ID Process data in binary code 11 bit Byte 0 LSB Byte 1 Byte 2 Byte 3 MSB PDO1 Position value in two s complement representation 180h Node ID PDO2 280h Node ID 4 2 1 Synchronous data transfer To be able to send process data synchronously a value between 1 and FOh 240 must be written in object 1801h sub index 2 If the value is 3 the PDO2 is sent after every third SYNC telegram with value 1 it is sent af ter every SYNC telegram as long as a 0 is written in object 2801h For example if a
39. nfiguration of networks cyclic and event triggered data traffic CANopen consists of four communication objects COB with different features Process Data Objects PDOs for real time data Service Data Objects SDOs for parameter and program transmission Date 21 03 2007 Page 6of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Network Management NMT Predefined objects for synchronization emergency message The description of the device functionality via an directory of objects is the central element of the CANopen standard The directory of objects is subdivided into an area containing general informa tion on the device device identification manufacturer s name etc and communication parameters and an area describing the specific device functionality An entry object of the directory of objects is identified via a 16 bit index and an 8 bit sub index By means of these entries the application objects of a device e g position value in the case of encoders are made accessible in a standardised form via the network The functionality and features of a CANopen device can be described as a standardised Electronic Data Sheet EDS in the ASCII format The EDS files allocated to the individual encoder versions can be downloaded from the SIKO GmbH homepage www siko de under the following file names Moreover they are supplied on the accompanying CD
40. ntification The Manufacturer Offset value Sub index 1 the smallest sub index 2 and the largest sub index 3 position value that can be displayed can be read out via this object Sub index 00h Description contains the number of additional sub indexes Access ro Data type UNSIGNED 8 EEPROM no Default 3h Sub index 01h Description manufacturer specific offset value is added to the position value Access ro Data type SIGNED 32 EEPROM yes Default Oh Sub index 02h Description Minimum position value that can be displayed is influenced by the scaling objects 6001h and 6002h Access ro Data type SIGNED 32 EEPROM no Default WV WH58M 10 12 bit 2097152 WV WH58M 12 12 bit 8388608 WV WH58M 10 bit ST 0 WV WH58M 12 bit ST 0 Page 37 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Sub index 03h Description Maximum position value that can be displayed is influenced by the scaling objects 6001h and 6002h Access ro Data type SIGNED 32 EEPROM no Default WV WH58M 10 12 bit 2097151 WV WH58M 10 bit ST 1024 WV WH58M 12 12 bit 8388607 WV WH58M 1 bBit ST 4096 5 2 39 Object 650Bh Serial Number Sub index 00h Description Provides the serial number of the encoder not supported with the WV WH58M Access ro Data type UNSIGNED 3
41. oadcast messages and provide their data to all receivers on the bus at the same time Confirmed transfer also of longer data sets parameters between two stations with direct access to the entries of the addressed station s directory of objects Service Data Objects SDO As a rule Date 21 03 2007 Page 7 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme these parameters are transmitted acyclically e g only once when the system is started and have therefore low priority high COB identifier QO Il The priority of the message objects is determined via the COB identifier 4 1 CANopen message setup For easier management of the identifiers CANopen uses the Pre Defined Connection Set O Here all identifiers are defined in the directory of objects with standard values However the ll customer has the possibility of changing these identifiers via SDO access to meet his require ments The 11 bit identifier COB identifier consists of a 4 bit function code and a 7 bit node number Bit no 10 9 8 7 6 5 4 3 2 1 0 Type Function code Node number Node ID Assignment x xX X X 0 0 xX X xX X x Hint Bits 5 and 6 are always set to 0 with the WV WH58 Thus a maximum of 31 different node numbers can be set node number 0 is illegal M The function code informs about the type of message and its priority The higher the value of the i
42. org Access ro Data type UNSIGNED 32 EEPROM no Default 195h Sub index 02h Description indicates the encoder version in ASCII Access ro Data type UNSIGNED 32 EEPROM no Default 10 12 bit version 1012 12 12 bit version 1212 10 bit SingleTurn 10ST 12 bit SingleTurn 12ST Data content example Byte 0 Byte 1 Byte 2 Byte 3 12412 bits version 32h 2 31h 19 32h 29 31h 1 Example 10 12 bits version 32h 2 31h 1 30h 0 31h 1 Example 10 bits single turn 54h T 53h S 30h 0 31h 1 Example 12 bits single turn 54h T 53h S 32h 2 31h 1 Object 1800h Transmit PDO1 Parameter asynchronous operation mode Sub index 00h Description largest subindex supported Access ro Data type UNSIGNED 8 EEPROM no Default 5h Page 25of 41 Revision status 78 07 Item no 83069 5 2 15 Date 21 03 2007 intelligente Weg und Winkelmess Systeme Sub index Oth Description COB ID of the PDO1 Access rw recordable in the Pre Operational state only Data type UNSIGNED 32 EEPROM yes Default 40000180h Node ID bit30 1 RTR for this PDO not released bit is always set Sub index 02h Description Transmission Type Access ro Data type UNSIGNED 8 EEPROM no Default FEh 254 PDO has asynchronous characteristic
43. pported Access ro Data type UNSIGNED 16 EEPROM no Default 3010h Bit 4 Battery warning is supported Bit 12 Communication warning checksum error Bit 13 State of DIP switch 1 Object 6507h Profile and Software Version Sub index 00h Description The object indicates the encoder profile used CANopen Device profile for encoders and the version number of the firmware state Access ro Data type UNSIGNED 32 EEPROM no Default 03000301h Data content Profile Version Byte 0 Low Firmware Version Byte 1 High Byte 2 Low Byte 3 High Oih 03h 00h 03h Object 6508h Operating Time Sub index 00h Description Operation time counter not implemented in the encoder Access ro Data type UNSIGNED 32 EEPROM no Default FFFFFFFFh shows that the function is not supported Page 36 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme 5 2 37 Object 6509h Encoder Zeroing Value 5 2 38 Date 21 03 2007 Sub index 00h Description The difference between encoder value and the position value scaled and off set with preset and or ManufacturerOffset is output via this object Access ro Data type SIGNED 32 EEPROM yes Encoder zeroing value encoder value Position value Preset value ManufacturerOffset Scaling factor Object 650Ah Module Ide
44. rx Initiate Upload Re Request parameter from rotary quest encoder 42h SDO tx Initiate Upload Re Parameter to master data sponse length 4bytes 80h SDO tx Abort Domain Rotary encoder reports error Transfer code to master An error message command 80h replaces the normal response in case of an error O lL The error message includes communication protocol errors as well as directory of objects access errors e g Write attempt on Read Only object etc The error codes are described in the CANopen profile DS 301 or in the encoder profile DSP 406 respectively The table below shows the error codes used with the WV WH58M Error code Description 06010000h Wrong access to an object 06010001h Read access to Write Only 06010002h Write access to Read Only 06020000h Object doesn t exist in the directory of objects 06040043h General parameter incompatibility 06070010h Wrong data type incorrect data length 0609001 1h Sub index does not exist 06090030h Wrong value range of selected parameter 06090036h Maximum value smaller than minimum value 08000020h Parameters cannot be transmitted to application or stored 08000022h Parameters cannot be transmitted to application or stored due to the current device status SDO examples Request of a value by a master from a slave Operating Status Object 6500h COB ID Command Index L Index H Sub inde
45. s PDOs are sent de pending on the Event Timer This value cannot be changed Sub index 03h is not used access attempt generates error message Sub index 04h is not used access attempt generates error message Sub index 05h Description Event Timer Access rw recordable in the Pre Operational state only Data type UNSIGNED 16 EEPROM yes Value range 1 65535 1h FFFFh the numerical value corresponds with a multiple of ims The service is disabled by writing the value 0 The content of this object is identical with object 6200h Object 1801h Transmit PDO12 parameter synchronous operation mode Sub index 00h Description largest subindex supported Access ro Data type UNSIGNED 8 EEPROM no Default 5h Page 26 of 41 Item no 83069 Revision status 78 07 5 2 16 Date 21 03 2007 intelligente Weg und Winkelmess Systeme Sub index Oth Description COB ID of the PDO2 Access rw recordable in the Pre Operational state only Data type UNSIGNED 32 EEPROM yes Default 80000280h Node ID bit31 1 PDO2 is always disabled after Power On Init must be explicitly enabled via SDO ser vice Sub index 02h Description Transmission Type Access rw recordable in the Pre Operational state only Data type UNSIGNED 8 EEPROM yes
46. s the priority of the message This enables fast transmission of important messages via the bus High transmission safety thanks to various error identification mechanisms which complement each other Localization of faulty or disabled bus stations The CAN protocol includes function monitoring of bus stations The functionality of the latter will be limited or disconnected from the network if they are faulty 3 2 CANopen The CANopen profile was developed on the basis of the layer 7 specification CAL CAN Application Layer under the direction of the Steinbeis Transferzentrum f r Automatisierung Transfer centre for automation Compared to CAL only the functions suitable for this use are included in CANopen Thus CANopen is a subset of CAL optimised for the application enabling a simplified system de sign as well as the use of simplified devices CANopen has been optimised for fast data exchange in real time systems The organization CAN in Automation CiA is responsible for the applicable standards of the respec tive profiles The angle encoder WV WH58M with CANopen interface fulfils the conditions specified in the CANopen Application Layer and Communication Profile CiA Draft Standard 301 version 4 02 and in the CANopen Device profile for encoders CiA Draft Standard 406 version 3 1 CANopen enables easy access to all device and communication parameters synchronization of various devices automatic co
47. stem correct connection of the supply and bus lines Switching on the supply voltage After switching on the supply voltage the encoder initialises as indicated by blinking of the yellow LED twice only visible after the screw plug on the encoder hood has been removed After completing the initialization procedure the encoder sends a specific NMT command the Boot Up Message to inform the system about the presence of the encoder During initialization the parameters of the directory of objects are loaded from the non volatile memory to the main memory of the controller If the encoder has not been programmed yet all parameters are set to their default values other wise the encoder operates with the latest parameterised data The encoder is now in the Pre Operational Mode In this state the encoder can be parameterised via SDO commands in accordance with the requirements of the application This applies particularly to the way the encoder makes available its position values to the system asynchronous or syn chronous data transmission NOTE If the numerical value 7FFFFFFFh is read out as the position value this indicates that the encoder internal CAN controller was unable to establish the connection to the basic encoder card Possible causes are 1 the DIP switch 1 see figure 2 chapter 6 1 is not at the ON position or 2 contact problems of this switch prevent communication of the CAN controller with the basic card Sending th
48. t Re initialization BN CAN card _ T ase i Initialization CAN communication BAN oe BootUp Message gt Pre ce as J ne Operational aes ae 2 Fig 1 CAN status diagram The individual NMT states Init After initialization the encoder logs in at the CAN bus with a boot up message Afterwards the encoder changes automatically to the Pre operational state The COB ID of the boot up message is made up of 700h and the Node ID COB ID Byte 0 700h Node ID 00h Pre Operational Mode SDOs can be read and written in the Pre Operational Mode Operational Mode In the Operational Mode state the encoder sends the desired PDOs Additionally SDOs can be read and written Stopped Mode Only NMT communication is enabled in the Stopped Mode No SDO parameters can be read or written Status change Start Remote Node 1 With the Start_Remote_Node command the encoder is set to the Operational Mode status Page 15 of 41 Item no 83069 Revision status 78 07 4 5 6 Date 21 03 2007 intelligente Weg und Winkelmess Systeme COB ID Command byte Node number Oh th Oh 1Fh 0 31 Stop Remote Node 2 With the Stop_Remote_Node command the encoder is set to the Stopped status COB ID Command byte Node number Oh 2h Oh 1Fh 0 31 Enter_PRE OPERATIONAL Mode 3
49. the settings made with ob jects 6001h and 6002 In the default setting of these two objects the value range covers the following range WV WH58M 10 bit 2097152 0 2097151 WV WH58M 12 bit 8388608 0 8388607 The maximum value range to be represented can be read with the object 650Ah sub index 2 and sub index 3 and depends always on the settings made with objects 6100h and 6002h The preset value is reset to 0 when the scaling bit is set and when the encoder resolution or the total step number is changed Ho The execution time of the Preset Value command is approx 160ms The position value will not be updated during this processing period 5 2 26 Object 6004h Position value Sub index 00h Description This object provides the position value of the encoder offset with the scaling factors preset and ManufacturerOffset Access ro Data type SIGNED 32 EEPROM no Date 21 03 2007 Page 32 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme The position value of the WV WH58M is calculated by using the following formula Position value encoder value encoder zeroing value RF preset value ManufacturerOffset 5 2 27 5 2 28 Date 21 03 2007 Encoder value Encod zeroing value RF Preset value ManufacturerOffset absolute value calculated by the encoder sensor system absolute value at the time of zeroing
50. x Data 0 Data 1 Data 2 Data 3 600h 40h 00h 65h 00h x x x x Node ID Date 21 03 2007 Page 11 of 41 Item no 83069 Revision status 78 07 intelligente Weg und Winkelmess Systeme Response to the request by the slave COB ID Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 580h 42h 00h 65h 00h a b c d Node ID Writing a value from master to a slave object 1800 sub index 5 Event Timer COB ID Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 600h 23h 00h 18h 05h E8h 03h 00h 00h Node ID Response from slave to writing the value COB ID Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 600h 60h 00h 18h 05h 00h 00h 00h 00h Node ID 4 4 Emergency Service Internal device errors or bus problems trigger an emergency message The corresponding telegram is set up as follows COB ID ByteO Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 80h Error Code Error Alarms Object Warnings Object 00h Node ID Register 6503h 6505h QO If the value 11h has been written in the Error Register then the meaning of bytes 3 6 in the Emergency telegram changes The value 11h indicates errors that have occurred dur ing data transmission to the CA
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