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Ax58_Ax58S_AxC58 EasyCAN CANopen interface User's guide in

1. Set Operational mode Master gt Encoder COB ID Cmd Node 000 01 01 Read position every 100 ms Encoder gt Master COB ID Byte 0 Byte 1 Byte 2 Byte 3 181 Low m d High MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 20 www lika it www lika biz E I Ap beer 6 CANopen interface Lika encoders are always slave devices in compliance with Device profile for encoders Class 2 For any omitted information refer to the CiA Draft Standard 301 and CiA Draft Standard 406 documents available at address www can cia org 6 1 EDS file CANopen encoders are supplied with their own EDS file Lika_AxxCB_DS406_Vx eds see enclosed documentation or click www lika biz gt ROTARY ENCODERS gt ABSOLUTE ENCODERS gt CAN EDS file has to be installed on CANopen master device Lika_AMxCB_DS406_Vx eds for multiturn encoder Lika_ASxCB_DS406_Vx eds for singleturn encoder 6 2 Operation statuses CANopen devices are designed to operate using different states Transition from one state to another is made by sending specific NMT messages see Figure below Initialization 2 3 5 4 6 gt Stopped P 6 4 Power on Initialization carried out boot up message is sent automatically NMT message Start remote node NMT message Enter pre operational NMT message Stop remote node NMT message Reset node or Reset co
2. Cyclic transmission or synchronous transmission can be modified setting the object 180xh sub 2 01h synchronous transmission at each SYNC command 02h synchronous transmission after two SYNC commands FEh cyclic transmission if 6200 00 Cyclic time 0 gt cyclic transmission cycle time is set next to the object 6200h if 6200 00 Cyclic time 0 gt the PDO message is not sent 1A00 01 PDO1 mapping parameter Unsig32 rw This object contains the mapped position value of the encoder according to DS406 device profile Default 6004 0020h 1A01 01 PDO2 mapping parameter Unsig32 rw See object 1A00 01 PDO1 mapping parameter 1A02 01 PDO3 mapping parameter Unsig32 rw See object 1A00 01 PDO1 mapping parameter 1A03 01 PDO4 mapping parameter Unsig32 rw This object contains the mapped velocity value of the encoder according to manufacturer profile Default 3006 0020h MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 36 www lika it www lika biz L D Ka Ax58x EasyCAN 6 8 2 Manufacturer specific objects 2104 00 Limit switch min Unsigned32 rw This object can be used to set the lowest software limit switch If the encoder position is below the value set in this object bit 12 of object 6500 00 Operating states will be set to 1 To enable this function set bit 12 of object 6000 00 Operating parameters to Default 0000 0010h 2105 00 Limit switch max Unsigned32 rw This object can be used
3. Limit switch max If the encoder position is below the value set in the object 2105 00 Limit switch max bit 13 of this object is set to 0 If the encoder position is over the value set in the object 2105 00 Limit switch max bit 13 of this object is set to 1 To enable this function set the bit 13 Limit switch max of the object 6000 00 Operating parameters to 1 Current operating state It shows the current operating state of the unit For further information on the available states see section 6 2 Operation statuses on page 21 bit 15 0 Stopped or Pre operational state bit 15 1 Operational state 6501 00 Hardware counts per revolution Unsigned32 ro This object defines the physical number of distinguishable steps each turn given by the hardware To set a custom resolution see object 6001 00 Counts per revolution 6502 00 Hardware number of turns Unsig 16 ro This object defines the physical number of distinguishable turns given by the hardware Total hardware resolution 6501 00 Hardware counts per revolution 6502 00 Hardware number of turns To set a custom number of turns see objects 6001 00 Counts per revolution and 6002 00 Total resolution 6504 00 Supported alarms Unsigned 16 ro Default 0000h Alarms not supported MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 44 www lika it www lika biz L D Ka Ax58x EasyCAN 6506 00 Supported warnings Unsigned 16 ro Default 0000h Warnings not
4. real position lt 6002 00 Total resolution 6501 00 Hardware counts per revolution WARNING Every time you enable the scaling function and or change the scaling values see objects 6001 00 Counts per revolution and 6002 00 Total resolution then you are required to set a new preset value see object 6003 00 Preset value and finally save the new parameters see object 1010 01 Store parameters Limit switch min Limit switch max It allows to enable disable the function of the objects 2104 00 Limit switch min and 2105 00 Limit switch max For further information see on page 37 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 40 www lika it www lika biz L lj Ka Ax58x EasyCAN 6001 00 Counts per revolution Unsig32 rw This object sets a custom number of distinguishable steps per revolution Enabled if bit 2 Scaling function in the object 6000 00 Operating parameters 1 To avoid counting errors check that 6501 00 Hardware counts per revolution integer value 6001 00 Counts per revolution Allowed values are equal to or lower than 6501 00 Hardware counts per revolution see encoder label WARNING Every time you change the value in this object then you are required to set a new preset value see object 6003 00 Preset value and finally save the new parameters see object 1010 01 Store parameters 6002 00 Total resolution Unsigned32 rw This object sets a custom number of distinguishable steps over the total
5. MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 23 www lika it www lika biz E I Ap beer 6 4 NMT objects NMT structure COB ID 11 bit 2 CAN Data Bytes Node ID Slave ID 0000 o NMT Func Slave ID If Slave ID OOh the NMT message is issued to all network nodes NMT Function NMT Function State node Start remote node Operational Stop remote node Stopped Enter pre operational Pre operational Pre operational Pre operational 6 5 Boot up objects Boot up message structure COB ID hex 1 CAN Data Bytes 700 Node ID Ir CO O MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 24 www lika it www lika biz L lj Ka Ax58x EasyCAN 6 6 PDO objects PDO tx messages are always made up of 4 CAN Data Bytes and are used by the encoder to transmit the position value and or the velocity value PDO structure IDENTIFIER COB D hex 4 CAN Data Bytes Byte 0 Byte 3 Node ID Pp O O low High position value with PDO1 PDO2 PDO3 velocity value with PDO4 PDO1 Cyclic mode cyclic transmission Encoder uses the PDO1 message to transmit the position value cyclically i e periodically and independently from the Master The interval between two issues is set in the object 6200 00 Cyclic time To activate or deactivate cyclic mode it is necessary to set to O or 1 the most significant bit of COB ID used by PDO1 object 1800 PDO1 parameters sub 1 PDO2 and PDO3 SYNC mode synchronous transmission
6. avoid cables runs longer than necessary avoid running the signal cable near high voltage power cables mount the device as far as possible from any capacitive or inductive noise source shield the device from noise source if needed to guarantee a correct working of the device avoid using strong magnets on or near by the unit minimize noise by connecting the shield and or the connector housing and or the frame to ground Make sure that ground is not affected by noise The connection point to ground can be situated both on the device side and on user s side The best solution to minimize the interference must be carried out by the user MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 9 www lika it www lika biz L lj Ka Ax58x EasyCAN Mechanical safety e Install the device following strictly the information in the section 3 Mounting instructions e mechanical installation has to be carried out with stationary mechanical parts e do not disassemble the encoder e donot tool the encoder or its shaft e delicate electronic equipment handle with care do not subject the device and the shaft to knocks or shocks e respect the environmental characteristics declared by manufacturer e unit with solid shaft in order to guarantee maximum reliability over time of mechanical parts we recommend a flexible coupling to be installed to connect the encoder and user s shaft make sure the misalignment tolerances of the flexible couplin
7. 7 Setting up Ax58x EasyCAN Here following are some examples of transmission between Master and Slave devices A generic ID value is used to indicate the encoder address Master address is always 0 All values are expressed in hexadecimal notation Set Operational Pre operational state NMT message Operational Pre operational Master gt Slave COB ID Cmd Node 000 ID 000 80 ID Set resolution per revolution 6001 00 Counts per revolution 2 0001 0000h Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 01 60 00 00 00 01 00 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 Set total resolution 6002 00 Total resolution 2 1000 0000h Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 02 60 00 00 00 00 10 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 02 60 00 00 00 00 00 Set Operating parameter 6000 00 Operating parameters Code sequence CW Scaling function enabled Limit switch min Limit switch max disabled Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 2B 00 60 00
8. Sealing FUNCOM 40 43 SLOW O TEE EEA S 22 T TraNSMISSION Type 31 e seg 34 e seg V Vendor number 30 Typographic and iconographic conventions In this guide to make it easier to understand and read the text the following typographic and iconographic conventions are used e parameters and objects both of the device and the interface are coloured in ORANGE e alarms are coloured in RED e states are coloured in FUCSIA When scrolling through the text some icons can be found on the side of the page they are expressly designed to highlight the parts of the text which are of great interest and significance for the user Sometimes they are used to warn against dangers or potential sources of danger arising from the use of the device You are advised to follow strictly the instructions given in this guide in order to guarantee the safety of the user and ensure the performance of the device In this guide the following symbols are used This icon followed by the word WARNING is meant to highlight the parts of the text where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to guarantee the safety of the user and a correct use of the device Failure to heed a warning or comply with instructions could lead to personal injury and or damage to the unit or other equipment This icon followed by the word NOTE is meant to highlight the
9. Transmission of position value is managed by the Master by sending a SYNC message SYNC message is a high priority COB transmitted by the Master to request the position value of the encoder If several nodes encoders are connected to the network the Master receives the position values from the slaves respecting the Node nr order The encoder can be programmed to send a reply after a set number of SYNC messages by setting a counter The PDO message will be transmitted after having received the set number of SYNC messages For PDO2 the value of the counter must be set in object 1801 PDO2 parameters sub 2 For PDO3 refer to object 1802 PDO3 parameters sub 2 SYNC transmission mode can be enabled or disabled by setting to O or 1 the most significant bit MSB of COB IB used by PDO object 1801 PDO2 parameters 1802 PDO3 parameters sub PDO4 Cyclic mode cyclic transmission Encoder uses the PDO4 message to transmit the velocity value cyclically i e periodically and independently from the Master The interval between two issues is set in the object 6200 00 Cyclic time To activate or deactivate cyclic mode it is necessary to set to O or 1 the most significant bit of COB ID used by PDO4 object 1803 PDO4 parameters sub 1 NOTE Several transmission modes can be active at the same time MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 25 www lika it www lika biz E I Ap beer 6 7 SDO objects SDO messages are used t
10. measuring range Enabled if bit 2 Scaling function in the object 6000 00 Operating parameters 1 Allowed values are equal to or lower than Total hardware resolution 6501 00 Hardware counts per revolution 6502 00 Hardware number of turns see encoder label WARNING Every time you change the value in this object then you are required to set a new preset value see object 6003 00 Preset value and finally save the new parameters see object 1010 01 Store parameters MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 41 www lika it www lika biz KL li Ka Ax58x EasyCAN Example Multiturn encoder AM5816 16384 CB 6M with M12 connector Resolution is e Hardware counts per revolution 6501 00 Hardware counts per revolution 65536 2 9 e Hardware number of turns 6502 00 Hardware number of turns 16384 DI e Total hardware resolution 1073741824 2 2048 counts rev 1024 turns are required e Enable scaling function 6000 00 Operating parameters bit 2 1 e Counts per revolution 6001 00 Counts per revolution 2048 0000 0800h e Total resolution 6002 00 Total resolution 2048 1024 2097152 0020 0000h NOTE We suggest values which are power of 2 2 2 4 2048 4096 8192 to be set in the objects 6001 00 Counts per revolution and 6002 00 Total resolution to avoid counting errors If 6001 00 Counts per revolution and or 6002 00 Total resolution values change 6003 00 Preset value must be updated t
11. rw Bit number Value Meaning 0 PDO exists is valid 31 MSB ale 1 PDO does not exist is not valid r O RTR allowed on this PDO not implemented 1 no RTR allowed on this PDO a 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B O Jif bit29 0 28 11 X lif bit 29 1 bits 28 11 of 29 bit COB ID 10 O LSB X bits 10 0 of COB ID Default 4000 0180h NodelD no RTR COB ID MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 30 www lika it www lika biz l Ka Ax58x EasyCAN WARNING It is mandatory to set the bit 30 of COB ID to 1 value 0 is not allowed This means that No RTR is allowed on the PDO If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the set value unless a software procedure for setting a new address is forced at power on 02 Transmission type Unsigned8 rw Transmission type PDO transmission 00h 0 Acyclic synchronous not implemented Oth FOh 1 240 Cyclic synchronous implemented F1h FBh 241 251 not implemented reserved FCh 252 Synchronous RTR only not implemented FDh 253 Asynchronous RTR only not implemented FEh
12. time set next to the object 6200 00 Cyclic time otherwise if the value next to the object 6200 00 Cyclic time 0 the PDO message is not sent 1803 PDO4 parameters PDO4 is used by default for cyclic transmission of the velocity value For more information refer to section 6 6 PDO objects on page 25 See object 6200 00 Cyclic time to set the cyclic timer e 01 COB ID of PDO4 Unsigned32 rw Bit number Value Meaning O0 PDO exists is valid 31 MSB aes 1 PDO does not exist is not valid aa D RTR allowed on this PDO not implemented 1 no RTR allowed on this PDO O 11 bit ID CAN 2 0A MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 34 www lika it www lika biz l Ka Ax58x EasyCAN 29 1 29 bit ID CAN 2 0B 28 11 if bit 29 0 0 X if bit 29 1 bits 28 11 of 29 bit COB ID A 10 O LSB bits 10 0 of COB ID Default C000 0480h NodelD no RTR COB ID WARNING It is mandatory to set the bit 30 of COB ID to 1 value 0 is not allowed This means that No RTR is allowed on the PDO If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the set value unles
13. 04 00 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 60 00 00 00 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 48 www lika it www lika biz L lj Ka Ax58x EasyCAN Set Preset value 6003 00 Preset value preset 1000 03E8h Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 03 60 00 E8 03 00 00 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 03 60 00 00 00 00 00 Set Sync counter 1801 PDO2 parameters sub 2 n 5 05h Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 2F o1 18 02 0 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 18 02 00 Disable Sync mode 1801 PDO2 parameters sub 1 Read COB ID used by PDO2 Master gt Encoder Req request COB ID Cmd Index Sub Process data 600 ID 40 01 18 01 Encoder gt Master Req reply COB ID Cmd Index Sub Process data 580 ID 43 01 18 01 BO B1 B2 B3 COB ID used by PDO2 B3 lt lt 24 B2 lt lt 16 B1 lt lt 8 BO set the most significant bit to 1 B3 0x80 Set new COB ID used by PDO2 1801 PDO2 parame
14. 254 eee eae implemented FFh 255 GE ES not implemented Default FEh cyclic transmission see hereafter and object 6200 00 Cyclic time WARNING Following an attempt to set the Transmission Type to 0 the value is accepted but the PDO message is not sent following an attempt to change the Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Value range of parameter exceeded is generated If the value next to the object 6200 00 Cyclic time 0 the PDO message is sent cyclically and the interval between two messages is the time set next to the object 6200 00 Cyclic time otherwise if the value next to the object 6200 00 Cyclic time 0 the PDO message is not sent MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 31 www lika it www lika biz El I Ap beer 1801 PDO2 parameters PDO2 message is used by default for synchronous transmission of the position value For more information refer to section 6 6 PDO objects on page 25 e 01 COB ID of the PDO2 Unsigned32 rw Bit number Value Meaning O0 PDO exists is valid 31 MSB ae 1 PDO does not exist is not valid a0 0 RTR allowed on this PDO not implemented 1 no RTR allowed on this PDO 7 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B O if bit 29 0 28 11 X if bit 29 1 bits 28 11 of 29 bit COB ID 10 O LSB X bits 10 0 of COB ID Def
15. always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the set value unless a software procedure for setting a new address is forced at power on MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 33 www lika it www lika biz L lj Ka Ax58x EasyCAN e 02 Transmission type Unsigned8 rw Transmission type PDO transmission 00h 0 Acyclic synchronous not implemented Oth FOh 1 240 Cyclic synchronous implemented F1h FBh 241 251 not implemented reserved FCh 252 Synchronous RTR only not implemented FDh 253 Asynchronous RTR only not implemented FEh 254 a pene implemented FFh 255 e EENS not implemented Default 01h synchronous transmission at each SYNC command Position value is transmitted after the set number of SYNC commands Interval in SYNC commands must be set next to this object 1802 PDO3 parameters sub 2 WARNING Following an attempt to set the Transmission Type to 0 the value is accepted but the PDO message is not sent following an attempt to change the Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Value range of parameter exceeded is generated If the value next to the object 6200 00 Cyclic time 0 the PDO message is sent cyclically and the interval between two messages is the
16. details see section 6 11 Node guarding protocol on page 47 Default 0000h 100D 00 Life time factor Unsigned8 rw Object 100D 00 Life time factor is used in the Node guarding protocol controlled by the master For more details see section 6 11 Node guarding protocol on page 47 Default 00h MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 28 www lika it www lika biz L D Ka Ax58x EasyCAN 1010 01 Store parameters Unsigned32 rw Use this object to save all parameters on non volatile memory Write save ASCII code in hexadecimal form in the data bytes Master gt Encoder COB ID Cmd Index Sub Data bytes 600 ID 23 10 10 01 73 61 76 65 Encoder gt Master confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 10 10 01 00 00 00 00 1011 01 Restore default parameters Unsig32 rw This object allows the operator to restore all parameters to default values default values are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode Write load ASCII code in hexadecimal form in the data bytes and then issue a Reset node command Master gt Encoder Encoder gt Master confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 11 10 o1 oo oo 00 o0 Master gt Encoder Reset node COB ID Cmd Slave ID
17. here otherwise if the value next to this object 6200 00 Cyclic time 0 the PDO message is not sent Value is expressed in milliseconds See on pages 25 and 30 Default 0000h 6500 00 Operating states Unsigned 16 ro 0 Code sequence Clockwise Ccw Posit gt Posit lt Limit switch min 2104 00 Limit 2104 00 Limit switch min switch min Posit lt Posit gt 13 Limit switch max 2105 00 Limit 2105 00 Limit switch max switch max Stopped Current operating state Pre nperatindal Operational Code sequence It shows whether the code sequence is set to clockwise CW or counterclockwise CCW To set the code sequence to either CW or CCW you must set the bit O Code sequence of the object 6000 00 Operating parameters to 0 1 Scaling function It shows whether the scaling function is disabled or enabled To disable enable the scaling function you must set the bit 2 Scaling function of the object 6000 00 Operating parameters to 0 1 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 43 www lika it www lika biz e li lt a Ax58x EasyCAN Limit switch min If the encoder position is over the value set in the object 2104 00 Limit switch min bit 12 of this object is set to 0 If the encoder position is below the value set in the object 2104 00 Limit switch min bit 12 of this object is set to 1 To enable this function set the bit 12 Limit switch min of the object 6000 00 Operating parameters to 1
18. mapping D rameter 36 1A03 01 PDO4 mapping D rameter 36 2 2104 00 Limit switch Me eae aire a 37 2105 00 Limit switch man 37 3 3000 00 e 37 3001 00 NOG es ID iesoncecth con corm tame anenedectes 38 3005 00 Velocity Tomat 39 3006 00 Velocity Value 2tucicncunen eee 39 6 6000 00 Operating Darameters 40 6001 00 Counts per reVOlUtiON eects 41 6002 00 Total resoluton EE 41 6003 00 Preset UC iissisecuselsnndasiatennuatebanells 42 6004 00 Position ValUC esessccccssccssssceseseeeetseseseeeeees 43 6200 00 Cyclic TINGS ietnectiaccact eet aid aia 43 6500 00 Operating SLATES tegen 43 6501 00 Hardware counts per revolution 44 6502 00 Hardware number of uns 44 6504 00 Supported alamms EE 44 6506 00 Supported warmings 45 6507 00 Profile and software version 45 6508 00 Operating Time raccanamcamamewecuaine 45 6509 00 Offset ValUC oi ecceeccsscescsssesssssstessesstesntesees 45 650A 01 Manufacturer offset value secs 45 650B 00 Serial number 45 C COB ID of RDO Vtsct eect neteeten ciara dass 30 COB ID of PDO ee 34 COB ID of THRO eieiei 32 COB ID of the BI 33 EIERE 40 43 Current operating KOCH 44 F Flash MEMO E 46 l Intpaltzaton 22 L Last error OCCU MED isisi 27 Limit SWITCH man 40 44 Limit SWITCH mim 40 44 N Node guarding dee 46 Number of current ertors 27 0 ege EE 22 P EE ee 22 PreviouS GPrOrsrOCCUIPE Ge caciiiccsslalaccdadetiicdswcdealeds 27 Product number 30 R REVISION number 30 S
19. parts of the text where important notes needful for a correct and reliable use of the device can be found User must pay attention to them Failure to comply with instructions could cause the equipment to be set wrongly hence a faulty and improper working of the device could be the consequence This icon is meant to highlight the parts of the text where suggestions useful for making it easier to set the device and optimize performance and reliability can be found Sometimes this symbol is followed by the word EXAMPLE when instructions for setting parameters are accompanied by examples to clarify the explanation Preliminary information This guide is designed to describe the technical characteristics installation and use of the CANopen encoders of the Ax58x EasyCAN series For any further information please refer to the product datasheet To make it easier to read the text this guide is divided into two main sections In the first section general information concerning the safety the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided In the second section entitled CANopen Interface both general and specific information is given on the CANopen interface In this section the interface features and the objects implemented in the unit are fully described L lj Ka Ax58x EasyCAN 1 Safety summary Safety Always adhere to the
20. professional safety and accident prevention regulations applicable to your country during device installation and operation installation and maintenance operations have to be carried out by qualified personnel only with power supply disconnected and stationary mechanical parts e device must be used only for the purpose appropriate to its design use for purposes other than those for which it has been designed could result in serious personal and or the environment damage high current voltage and moving mechanical parts can cause serious or fatal injury warning Do not use in explosive or flammable areas failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety standards of design manufacture and intended use of the equipment Lika Electronic s r l assumes no liability for the customer s failure to comply with these requirements Electrical safety Turn off power supply before connecting the device connect according to explanation in the section 4 Electrical connections in compliance with the 2004 108 EC norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized without noise install EMC filters on device power supply if needed always use shielded cables twisted pair cables whenever possible
21. supported 6507 00 Profile and software version Unsig32 ro Contains the profile and software version Profile version for encoders 3 1 Software version 1 1 Default 0301 0101h 6508 00 Operating time Unsigned32 ro Default FFFF FFFFh not used 6509 00 Offset value Integer32 ro This object contains the Offset value This value is the difference between the physical position of the encoder and the position relating to the preset value see object 6003 00 Preset value Default 0000 0000h 650A 01 Manufacturer offset value Integer32 ro This object contains the manufacturer offset value This is the difference between the physical zero position of the encoder zero set mechanically and the zero position set by the manufacturer zero set via software Default 0000 0000h 650B 00 Serial number Unsigned32 ro Default FFFF FFFFh not used NOTE To save new parameters execute the store parameters function see object 1010 01 Store parameters When the power is turned off or in case of Reset node and Restore node commands parameters not saved are lost MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 45 www lika it www lika biz L lj Ka Ax58x EasyCAN 6 9 Warning objects For the complete list and meaning of the warning messages please refer to SDO abort codes section in CIA Draft Standard 301 document available at address www can cia org 6 10 Emergency objects Emergency EMCY objects a
22. 000 81 ID Encoder gt Master Boot up COB ID Cmd 700 ID 00 NOTE Save default values using the store parameters function see object 1010 01 Store parameters MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 29 www lika it www lika biz L D Ka Ax58x EasyCAN 1014 00 COB ID EMCY Unsigned32 rw This object defines the COB ID used for sending emergency messages EMCY If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the set value unless a software procedure for setting a new address is forced at power on Default 0000 0080h NodelD 1015 00 Inhibit time EMCY Unsigned 16 rw Inhibit time of emergency messages EMCY expressed in multiples of 100 us When set to 0 this function is disabled Default 0000h 1018 Identification object e 01 Vendor number Unsigned32 ro e 02 Product number Unsigned32 ro e 03 Revision number Unsigned32 ro 1800 PDO1 parameters PDO1 message is used by default for cyclic transmission of the position value For more information refer to section 6 6 PDO objects on page 25 See object 6200 00 Cyclic time to set the cyclic timer e 01 COB ID of PDO1 Unsigned32
23. B ID Cmd 700 ID 00 NOTE To save the new Baud rate value execute the store parameters function see object 1010 01 Store parameters When the power is turned off parameters not saved are lost 3001 00 Node JD Unsigned8 rw This object defines the node identifier of the device The node number is set through the object 3001 00 Node D only if all bits in DIP B are set to OFF If one bit at least of DIP B is set to ON the node number is set by DIP B For any further information refer to section 4 8 Node number DIP B To change the Node JD value you have to e set the object 3001 00 Node JD e senda Reset node command e save the parameter Default 01h Master gt Encoder 600 ID 2F 01 30 00 new Node JD Encoder gt Master confirmation COB ID Cmd Index Sub Data byte 580 ID 60 01 30 00 00 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 38 www lika it www lika biz e lj Ka Ax58x EasyCAN Master gt Encoder Reset node COB ID Cmd Slave ID 000 81 old ID Encoder gt Master Boot up with new Node ID COB ID Cmd 700 ID o NOTE To save the new Node ID value execute the store parameters function see object 1010 01 Store parameters When the power is turned off parameters not saved are lost 3005 00 Velocity format Unsigned8 rw This attribute defines the engineering units for the velocity value OO
24. Fix the tempered pin 6 to the rear of the motor mount the encoder on the motor shaft using the reducing sleeve 8 if supplied Avoid forcing the encoder shaft e make sure the anti rotation pin 6 is inserted properly into the fixing plate 7 e fix the collar 3 to the encoder shaft apply threadlocker to screw 3 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 13 www lika it www lika biz L D Ka Ax58x EasyCAN 4 Electrical connections WARNING Power supply must be turned off before performing any electrical connection 4 1 Ground connection Minimize noise by connecting the shield or the connector housing to ground Make sure that ground is not affected by noise The connection point to ground can be situated both on the device side and on user s side The best solution to minimize the interference must be carried out by the user You are advised to provide the ground connection as close as possible to the encoder 4 2 M12 connector and cable M12 connector pin out complies with CANopen standard Therefore you can use standard CAN cables commercially available Kal _ Shield CAN Shield Se M12 male supply voltage frontal side 3 Black OVDC supply voltage CAN High CAN Low CAN Shield is also connected to pin 1 to allow the connection of the shield even if the plug connector has a plastic case 1 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 14 www lika it www lika biz L lj Ka Ax58x EasyCAN 4 3 Connec
25. LOKO E 26 ul aTe E 26 lege e 27 6 8 1 Standard objects DS e 27 a wt 27 1001 00 EE 27 1003 Pre defined error UC isis cos iso ico hceep etapa a 27 DEEN ID SYNC Eet ee 28 1008 00 Name of device manyfacturer cecim 28 1009 00 Hardware VERSION itosi a Eais 28 100A DO SOTW E 28 SEENEN 28 100D 00 Life mE TAC OE saa dincihasihadienidadlaasiassamnintasin atmauwauaaiuumeanoos 28 1010 01 Store CS getrei 29 1011 01 Restore default Gapabeteggr eenegen eEeEedCeeeede eer ien at 29 1014 00 COB ID EMC EE 30 1015 00 e ren EE 20 1018 Identification EE ee nee 30 SEET 30 1801 PDO2 EE eege 32 1802 PDO3 arte iS ces ticetescccscespentcenventcevceneceaseucenuseuccentevcceubewxenulle ttn tbbitbliivccewllccccvuidepileaib beanies 33 1803 PODOR Parane cg a ree mee tear gear es aear eaten SEreU TORT NANT NI PREM NYT oan Tt 34 1A00 01 PDO1 mapping DEER 36 1A01 01 PDO2 ER 36 1A02 01 PDO3 mapping SES 36 1A03 01 PDO4 mapping EE 36 6 8 2 Ma ufacturer SpeECITIC E 37 2104 00 TRE SWEER TO eect crcieiserein iaaiiai cient ama alias 37 2 1O05 00 Ms eo E 37 3000200 Baud EE 37 3001700 Te coisas a estan ra a aa ts onan 38 2005 00 Velocity TOMAT E 39 3006 00 VElOCITY VAUC eet Ee Eet e 39 6 8 3 Device profile objects DS OG egener ee e 40 6000 00 Operating ENEE EE Ee 40 Oe SEGUENTE iai a i Ee aa a i 40 TE 40 SHEET 40 t sne cell dad a a A a 40 6001 00 Counts per cei E 41 6002 00 Tt aos ast a lotr aes ese naan 41 EE eee a i eae eee eee eae 42 6004 00 Posi
26. User s guide Ax58 Ax58S AxC58 EasyCAN CANopen DS406 Device profile for encoder li lt a Smart encoders amp actuators This publication was produced by Lika Electronic s r l 2014 All rights reserved Tutti i diritti riservati Alle Rechte vorbehalten Todos los derechos reservados Tous droits r serv s This document and information contained herein are the property of Lika Electronic s r l and shall not be reproduced in whole or in part without prior written approval of Lika Electronic s r l Translation reproduction and total or partial modification photostat copies film and microfilm included and any other means are forbidden without written authorisation of Lika Electronic s r l The information herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and without forewarning This manual is periodically reviewed and revised As required we suggest checking if a new or updated edition of this document is available at Lika Electronic s r l s website Lika Electronic s r l assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation in order to make it as clear and complete as possible Please send an e mail to the following address info lika it for sub
27. a 580 ID 60 00 18 01 00 00 00 00 NOTE To save new parameters execute the store parameters function see object 1010 01 Store parameters When the power is turned off or in case of Reset node and Restore node commands parameters not saved are lost MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 50 www lika it www lika biz li lt xa Ax58x EasyCAN 8 Default parameters list Default values are expressed in hexadecimal notation Parameters list Default values 0x00010196 1000 00 Device type 0x00020196 1001 00 Error register 0x00 1003 Pre defined error field 1005 00 COB_ID SYNC message 0x00000080 1008 00 Name of device LIKA SRL manufacturer 1009 00 Hardware version 100A 00 Software version 100C 00 Guard time 0x0000 100D 00 Life time factor 0x00 1014 00 COB ID EMCY NODEID 0x00000080 1015 00 Inhibit time EMCY 0x0000 1018 Identification object 1800 PDO1 parameters sub 1 NODEID 0x40000180 1800 PDO1 parameters sub 2 OxFE 1801 PDO2 parameters sub 1 NODEID 0x40000280 1801 PDO2 parameters sub 2 0x01 1802 PDO3 parameters sub 1 NODEID 0xC0000380 1802 PDO3 parameters sub 2 0x01 1803 PDO4 parameters sub 1 NODEID 0xC0000480 1803 PDO4 parameters sub 2 OxFE 1A00 01 PDO1 mapping 0x60040020 parameter 1A01 01 PDO2 mapping 0x60040020 param
28. age is not sent following an attempt to change the Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Value range of parameter exceeded is generated If the value next to the object 6200 00 Cyclic time 0 the PDO message is sent cyclically and the interval between two messages is the time set next to the object 6200 00 Cyclic time otherwise if the value next to the object 6200 00 Cyclic time 0 the PDO message is not sent 1802 PDO3 parameters PDO3 message is used by default for synchronous transmission of the position value For more information refer to section 6 6 PDO objects on page 25 e 01 COB ID of the PDO3 Unsigned32 rw Bit number Value Meaning 0 PDO exists is valid 31 MSB ae 1 PDO does not exist is not valid aA O RTR allowed on this PDO not implemented 1 no RTR allowed on this PDO Se 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B O Jif bit 29 0 28 11 A lif bit 29 1 bits 28 11 of 29 bit COB ID 10 O LSB X bits 10 0 of COB ID Default C000 0380h NodelD disable no RTR WARNING It is mandatory to set the bit 30 of COB ID to 1 value 0 is not allowed This means that No RTR is allowed on the PDO If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is
29. ault 4000 0280h NodelD no RTR COB ID WARNING It is mandatory to set the bit 30 of COB ID to 1 value 0 is not allowed This means that No RTR is allowed on the PDO If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the set value unless a software procedure for setting a new address is forced at power on e 02 Transmission type Unsigned8 rw Transmission type PDO transmission 00h 0 Acyclic synchronous not implemented Oth FOh 1 240 Cyclic synchronous implemented F1h FBh 241 251 not implemented reserved FCh 252 Synchronous RTR only not implemented FDh 253 Asynchronous RTR only not implemented FEh 254 GE implemented FFh 255 EE ES not implemented Default 01h synchronous transmission at each SYNC command MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 32 www lika it www lika biz L D Ka Ax58x EasyCAN Position value is transmitted after the set number of SYNC commands Interval in SYNC commands must be set next to this object 1801 PDO2 parameters sub 2 WARNING Following an attempt to set the Transmission Type to 0 the value is accepted but the PDO mess
30. eter 1A02 01 PDO3 mapping 0x60040020 parameter 1A03 01 PDO4 mapping 0x36000020 parameter 2104 00 Limit switch min 0x00000010 2105 00 Limit switch max 0x003FFFFO 3000 00 Baud rate 0x05 3001 00 Node JD 0x01 3005 00 Velocity format 0x00 6000 00 Operating parameters 0x0000 6001 00 Counts per revolution 6002 00 Total resolution 6003 00 Preset value 0x00000000 6200 00 Cyclic time 0x0000 6500 00 Operating states 0x0000 6504 00 Supported alarms 0x0000 6506 00 Supported warnings 0x0000 6507 00 Profile and software 0x03010101 version 6508 00 Operating time OxFFFFFFFF 6509 00 Offset value 0x00000000 650A 01 Manufacturer offset 0x00000000 value 650B 00 Serial number OxFFFFFFFF Text string MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 51 www lika it www lika biz Document release Description 1 0 Ist issue 1 1 obj_6002 and obj_6003 correction 1 2 Added velocity section 3 general review Updated objects 1014 00 1800 01 1801 01 1802 01 1 3 1803 01 added section 8 general review Italian English separate edition 14 Updated information about objects 1800h 1801h 1802h 1803h 6200h This device is to be supplied by a Class 2 Circuit or Low Voltage Limited Energy or Energy Source not exceeding 30 Vde Refer to the product datasheet for supply voltage rate Dispose separately s KA LIKA Electronic Via S Lorenzo 25 36010 Carr VI Italy Tel 39 0445 806600 Fa
31. g are respected e unit with hollow shaft the encoder can be mounted directly on a shaft whose diameter has to respect the technical characteristics specified in the purchase order and clamped by means of the collar and when requested the anti rotation pin 2 Identification Device can be identified through the ordering code and the serial number printed on the label applied to its body Information is listed in the delivery document too Please always quote the ordering code and the serial number when reaching Lika Electronic s r l for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue Warning encoders having ordering code ending with Sxxx may have mechanical and electrical characteristics different from standard and be supplied with additional documentation for special connections Technical info MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 10 www lika it www lika biz E li Ka Ax58x EasyCAN 3 Mounting instructions WARNING Installation and maintenance operations have to be carried out by qualified personnel only with power supply disconnected and mechanical parts absolutely in stop 3 1 Solid shaft encoders Mount the flexible coupling 1 on the encoder shaft fix the encoder to the flange 2 or to the mounting bell by means of screws 3 secure the flange 2 to the support or the mounting bell to the motor mount
32. h steps s number of steps per second default Olh rpm revolutions per minute 3006 00 Velocity value Unsigned32 ro This attribute represents the current speed detected by the position sensor and calculated every 100 ms Value is transmitted according to settings in object 1803 PDO4 parameters MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 39 www lika it www lika biz L li Ka Ax58x EasyCAN 6 8 3 Device profile objects DS 406 6000 00 Operating parameters Unsigned 16 rw CW CCW counter Code sequence clockwise clockwise not used Limit switch min disabled Limit switch max disabled 14 15 not used Default 0000h Code sequence It defines whether the position value output by the transducer increases when the encoder shaft rotates clockwise CW or counterclockwise CCW When Code sequence 0 the position value increases when the encoder shaft rotates clockwise on the contrary when Code sequence 1 the position value increases when the encoder shaft rotates counterclockwise CW and CCW rotations are viewed from shaft end Scaling function If disabled the device uses its own physical resolution see objects 6501 00 Hardware counts per revolution and 6501 00 Hardware counts per revolution if enabled it uses the resolution set in objects 6001 00 Counts per revolution and 6002 00 Total resolution with the following relation Transmitted position 6001 00 Counts per revolution
33. in hexadecimal notation e Attribute ro read only access rw read and write access Unsigned 16 data type Process data bytes LSByte MSByte Unsigned32 data type Process data bytes G MSByte 6 8 1 Standard objects DS 301 1000 00 Device type Unsigned32 ro Default 0001 0196h singleturn encoder DS 406 0002 0196h multiturn encoder DS 406 1001 00 Error register Unsigned8 ro Should an error occur bit O of this object is set to 1 Default 00h 1003 Pre defined error field This object contains the last four errors which generated an emergency message e 00 Number of current errors Unsigned8 rw write OOh to delete the error history e 01 Last error occurred Unsigned32 ro e 02 04 Previous errors occurred Unsigned32 ro MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 27 www lika it www lika biz L li Ka Ax58x EasyCAN 1005 00 COB_ID SYNC message Unsigned32 rw Default 0000 0080h 1008 00 Name of device manufacturer String ro It shows the name of the device manufacturer Default LIKA SRL 1009 00 Hardware version String ro It shows the hardware version of the device 100A 00 Software version String ro It shows the software version of the device 100C 00 Guard time Unsigned 16 rw It contains the Guard time expressed in msec milliseconds Object 100C 00 Guard time is used in the Node guarding protocol controlled by the master For more
34. ion resistance is provided in the connection cap This has to be activated as line termination in the last device in the transmission line Use RT Switch to activate or deactivate the bus termination 1 2 O0N Activated if the encoder is the last device in the So transmission line Deactivated if the encoder is not the last device 1 2 OFF in the transmission line MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 16 www lika it www lika biz L lj Ka Ax58x EasyCAN 4 7 Baud rate DIPA WARNING Power supply must be turned off before performing this operation NOTE Available only in the singleturn encoder Transmission rate can be set both via hardware or via software If DIP A bit 4 OFF the bit rate is set by object 3000 00 Baud rate of the Object Dictionary and can be modified using SDO messages If DIP A bit 4 ON the bit rate is set by DIP A ON DIP A HESE HIER OFF Set binary value of transmission rate considering that ON 1 OFF 0 JL 2 x2 TZ oNoF Available baud rate values Decimal value p00 20kKoits 101 500 Kbit s default 7 Example Set 250Kbit s dun 100 binary value see table above ON ge OFF F oN oN MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 17 www lika it www lika biz L lj Ka Ax58x EasyCAN Set 500Kbit s 510 1012 binary value see table above fe ON GE ON lt M 4 8 Node number DIP B WARNING Power supply must be
35. mitting your General contents User S GUE eea E E E E E a 1 EE Ree 3 PUM WU N se cae acta alee Bhp eS acest ets Seder arai eed T 6 Typographic and iconographic CONVENTIONS EE 7 Preliminary EE EEN 8 joe ue eee ene ae Sek een ee ea eee eee eee ee eee 9 ENEE 10 da MOUNINO SUCTION Sariren iiaii iria ia tilaan eniin TEE 11 3 1 Solid shaft ENCO cl een 11 STEE eet gie egene Ee 11 3 1 2 With fixing clamps code a E 11 3 1 3 With mounting bell code PF4256 csssssssssssssssuussssssessssssessessusssssssssssessnssesesssussussssssnsssseseessntsansnseeseeee 12 32 Hollow shaft GCOS EE 13 32 TASC e E 13 3 22 ASC59 AMC 59 EE 13 3 23 ASCEO AMC AE 13 4 Electrical CONNECH EE 14 4 1 Ground UO E 14 GEIER reegen eiert 14 SE I NL Va eebe Ee 15 4A Diagn stie ETE Me ce eects ac a een eas etree eater eerie eet 15 4 5 Setting th OOS OIC US eccentric pl Shiau Shana baat pee mba apie 16 46 RT E 16 BF Baud rate KE 17 4 8 Node n mb er DIP E 18 EE 20 E E ue i 8 leer ner epee Pfenotre rer E rnrE Neer neem en Sma Trt nav vag feey rarer very ean eaerer meme 21 ee 21 EECHER Ee 21 6 2 1 EE EE 22 EE EE 22 E tee cee tc ccleaner 22 624 StOppEd E 22 ee EE E 23 Bao EEN CONNECTION tee Eege Cie EE 23 NINEN ST EE 24 Eeer 24 06 PDO ODJECU Shina al ance death eer nadie ete aa anes i 25 PDOT Cyclic Mode clit SPanSinSS Oia ee eae 25 PDO2 and PDO3 SYNC mode synchronous fransmlssion EE 25 PDO4 Cyclic mode evplte Zranstmgsston eebe 25 To B
36. mmunication MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 21 www lika it www lika biz L D Ka Ax58x EasyCAN 6 2 1 Initialization state This is the first state the CANopen device enters after power is turned on or after a hardware reset As soon as the basic CANopen device initialization is carried out device reads and loads the parameters saved on EPROM sends a boot up message and then switches automatically to Pre operational state 6 2 2 Pre operational state In this state communication between master and slave is possible using SDO messages They allow working parameters to be set Slave cannot send PDO messages To switch slave device to Operational state master must send a Start remote node command using a NMT message 6 2 3 Operational state In this state slave device is active and all communication objects are available Slave device can use the parameters available in the Object dictionary and Is allowed to send process data using PDO messages Object dictionary can be accessed using SDO messages To switch slave device to Pre operational state master must send an Enter pre operational command using a NMT message 6 2 4 Stopped state In this state slave device is forced to interrupt communication with the Master except node guarding if active Communication using PDO and SDO messages is not allowed To switch slave device to Pre operational or Operational state master must send the specific commands Ente
37. o new resolution A new 6003 00 Preset value is also required 6003 00 Preset value Unsigned32 rw This object allows to set the encoder position to a Preset value Preset function is meant to assign a certain value to a desired physical position of the encoder shaft Default 0000 0000h NOTE e f the scaling function is disabled see bit 2 Scaling function in the object 6000 00 Operating parameters 6003 00 Preset value must be lower than Total hardware resolution 6501 00 Hardware counts per revolution 6502 00 Hardware number of turns e If the scaling function is enabled see bit 2 Scaling function in the object 6000 00 Operating parameters 6003 00 Preset value must be lower than 6002 00 Total resolution MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 42 www lika it www lika biz L li Ka Ax58x EasyCAN 6004 00 Position value Unsigned32 ro This object contains the position value transmitted value is calculated considering the scaling values Value is transmitted cyclically or synchronously according to the settings in the objects 1800 PDO1 parameters 1801 PDO2 parameters and 1802 PDO3 parameters 6200 00 Cyclic time Unsigned 16 rw Cyclic timer value is used in asynchronous transmission mode Transmission Type FEh to set the interval between two PDO issues If the value next to this object 6200 00 Cyclic time 0 the PDO message is sent cyclically and the interval between two messages is the time set
38. o set and read values from the object dictionary of the encoder These parameters are described in the section Object dictionary see on page 27 4 bytes at the most are used for CAN data other 4 bytes are used for Command Index and Sub index fields SDO messages are always followed by confirmation It follows that when Master sends a SDO message to Slave slave always sends a reply and a warning should an error occur SDO structure IDENTIFIER COB D hex CTT tet Node ID a toyte LSB MSB 1oyte ISB TI MSB Com command Index parameter index Sub parameter sub index Data parameter value 6 7 1 Command The command byte contains the type of telegram transmitted to the CAN network Three types of telegram are available e Set to send configuration parameters to a device e Req used by master to read data from a device e Warnings used by slave to send error messages to master e g Index does not exist COB type Data length M gt S request S gt M reply not spec S gt M reply 4 byte S gt M reply 2 byte S gt M reply 1 byte S gt M reply segmented SDO 80h S gt M reply MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 26 www lika it www lika biz L li Ka Ax58x EasyCAN 6 8 Object dictionary In the following pages the objects implemented are listed and described as follows Index subindex Object name data types attribute e Index and subindex are expressed
39. r pre operational or Start remote node using a NMT message MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 22 www lika it www lika biz E I Ap beer 6 3 Communication objects Four different kinds of communication messages are used in a CANopen network e Network management NMT protocol NMT protocols are used to issue state machine change commands i e to start and stop the devices detect remote device boot ups and error conditions e Process Data Objects PDO protocol used to process real time data transmission of process data in real time e Service Data Objects SDO protocol used to set and read values from the object dictionary of a remote device e Special Function Objects SYNC synchronization message used by master to enable slaves devices to transmit process data encoder position and velocity Emergency error messages are triggered by each error event Nodeguard used to request the state of the slave Relation between device states and communication objects Initial ENM X Poo 200 sync o EMY Boot up X Node guard CA a T a SE a SE A TX LE S A TX LL A 6 3 1 Pre defined connection set Master gt Slave broadcast Type of COB Function code Object binary COB ID hex MMI JI TI mp i SYNC EMERGENCY PDO 1 tx PDO 2 tx PDO 3 tx PDO4 tx SDO tx SDO rx Node guard Boot up The type of COB tx or rx is viewed from the slave device
40. re issued by the device when an internal error occurs EMCY structure IDENTIFIER CAN Data Byte COB IDlhex J o 1 zi a7 OE see object 1014 00 COB Error code Geen Specific code ID EMCY register MSB Available error codes 1000h Node guarding error 5530h Flash memory error MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 46 www lika it www lika biz L lj Ka Ax58x EasyCAN 6 11 Node guarding protocol At system boot the Node guarding protocol is disabled this protocol is enabled automatically as soon as the master device sends a RTR message Remote Transmission Request the first time Master Slave request response Guard NodeGuard time request Node life time k Node guarding Life guarding time event event 100C 00 Guard time interval between two RTR messages Node life time maximum time available for the encoder to receive a RTR message Node life time 100C 00 Guard time 100D 00 Life time factor Node guarding is enabled if Node life time 0 If the slave does not receive a RTR message before the Node life time has expired it warns activating a Life Guarding Event Furthermore the red LED starts flashing so indicating the Node guarding error objects 1001 00 Error register and 1003 Pre defined error field are updated and an error message is sent To reset the error send a Reset node command MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 47 www lika it www lika biz li lt a
41. s a software procedure for setting a new address is forced at power on 02 Transmission type Unsigned8 rw Transmission type PDO transmission 00h 0 Acyclic synchronous not implemented Oth FOh 1 240 Cyclic synchronous implemented F1h FBh 241 251 not implemented reserved FCh 252 Synchronous RTR only not implemented FDh 253 Asynchronous RTR only not implemented FEh 254 Sie ate implemented FFh 255 Se ES not implemented Default FEh cyclic transmission see hereafter and object 6200 00 Cyclic time WARNING Following an attempt to set the Transmission Type to 0 the value is accepted but the PDO message is not sent following an attempt to change the Transmission Type to any other value that is not supported by the device an abort message abort code 0609 0030h Value range of parameter exceeded is generated If the value next to the object 6200 00 Cyclic time 0 the PDO message is sent cyclically and the interval between two messages is the time set next to the object 6200 00 Cyclic time otherwise if the value next to the object 6200 00 Cyclic time 0 the PDO message is not sent MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 35 www lika it www lika biz L li Ka Ax58x EasyCAN NOTE Transmission of PDO1 PDO2 PDO3 and PDO4 messages can be enabled or disabled setting to 0O or 1 the most significant bit MSB used by PDO object 180xh sub1
42. ters sub 1 Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 01 18 01 BO B1 B2 B3 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 18 01 00 00 00 00 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 49 www lika it www lika biz L D Ka Ax58x EasyCAN Enable Cyclic mode Set cyclic time 6200 00 Cyclic time 100 ms 64h Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 2B 00 62 00 64 00 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 62 00 00 00 Read COB ID used by PDO1 1800 PDO1 parameters sub 1 Master gt Encoder Req request COB ID Cmd Index Sub Process data 600 ID 40 00 18 01 Encoder gt Master Req reply COB ID Cmd Index Sub Process data 580 ID 43 00 18 01 BO B1 B2 B3 COB ID used by PDO1 B3 lt lt 24 B2 lt lt 16 B1 lt lt 8 BO set the most significant bit to 0 B3 amp Ox7F Set new COB ID used by PDO1 1800 PDO1 parameters sub 1 Master gt Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 00 18 01 BO B1 B2 B3 Encoder gt Master Set confirmation COB ID Cmd Index Sub Process dat
43. the flexible coupling 1 on the motor shaft make sure the alignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary installation a mm b mm c mm d mm AS58 AM58 42 50 F7 4 AS58S AM58S 36 H7 48 3 1 2 With fixing clamps code LKM 386 a mm b mm c mm d mm AS58 AM58 50 F7 67 4 AS58S AM58S 36 H7 67 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 11 www lika it www lika biz e li Ka Ax58x EasyCAN 3 1 3 With mounting bell code PF4256 MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 12 www lika it www lika biz e li Ka Ax58x EasyCAN 3 2 Hollow shaft encoders 3 2 1 ASC58 AMC58 e Fasten the anti rotation pin 1 to the rear of the motor secure it using a locknut mount the encoder on the motor shaft using the reducing sleeve 8 if supplied Avoid forcing the encoder shaft e insert the anti rotation pin 1 into the slot on the flange of the encoder this secures it in place by grub screw 2 preset at Lika e fix the collar 3 to the encoder shaft apply threadlocker to screw 3 3 2 2 ASC59 AMC59 e Mount the encoder on the motor shaft using the reducing sleeve 8 if supplied Avoid forcing the encoder shaft e fasten the fixing plate 4 to the rear of the motor using two M3 cylindrical head screws 5 e fix the collar 3 to the encoder shaft apply threadlocker to screw 3 3 2 3 ASC60 AMC60 e
44. tion of the shield Disentangle and shorten the shielding 1 and then bend it over the part 2 finally place the ring nut 3 of the connector Be sure that the shielding 1 is in tight contact with the ring nut 3 4 4 Diagnostic LEDs NOTE Available only in the singleturn encoder Two LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the CANopen interface RED LED During initialization device carries out a hardware test to check LEDs operation Both LEDs light up MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 15 www lika it www lika biz L lj Ka Ax58x EasyCAN 4 5 Setting the dip switches WARNING Power supply must be turned off before performing this operation To access the DIP Switches loosen and remove the screw plug in the rear side of the encoder The dip switches are designed to set the baud rate and the node address and to activate the RT bus termination in the singleturn model while they are designed to activate only the RT bus termination in the multiturn model To access the DIP Switches loosen the screw plug using a screwdriver Be careful to replace the screw plug at the end of the operation NOTE When performing this operation be careful not to damage the inside electronics AMS58 multiturn encoder AS58 singleturn encoder 4 6 RT Bus termination WARNING Power supply must be turned off before performing this operation A bus terminat
45. tion valyt sser eee 43 6200 00 e hi d 43 6500 00 Operating IES ar a eo ees 43 Code E 43 Saling TUNG E 43 Limit Se h Mican E a anaana 44 Lirie SN EE 44 RE a aeaa aa iaaa iaai 44 6501 00 Hardware counts GEF EEN eEEE EE AEEEE 44 6502 00 Hardware DOREMMER eebe 44 6904 00 S pported NE Gr eh eee ee eee eee ee 44 6506 00 ET E 45 6507 00 Profile and software version 45 6508 00 ELE 45 6509 00 Offset NEE 45 650A 01 Manufacturer offset VANNG saccade ietEeEEu AE 45 650B 00 Serial POU eebe 45 SRS TAWA KOE amen E A oe ee Ror ero evn TPR oT ERT UNVErTV A VEER Te OR 46 6 10 Emergency ON accede epee le Seca 46 6 11 Node guarding sR eerste degen 47 Tas et E 48 ee EE ee 51 Subject index 1 1000 00 Device WDE saw tsat taas 27 1001 00 e EE 27 1003 Pre defined error Tele tasacestos caves 27 1005 00 COB_ID SYNC Ee eer 28 1008 00 Name of device manufacturer 28 1009 00 Hardware version 28 100A 00 Software version 28 100C 00 Guard ele 28 100D 00 Life time TaClOl nsusnnindantiasiaietneds 28 1010 01 Store Para Metersiscticcsneltccincessttectsredi acide 29 1011 01 Restore default p rameters 29 1014 00 COB ID EMCY E 30 1015 00 Inhibit time EM CY ace seescceccasssaccaisassuactiveennes 30 1018 Identification oblert 11111112 30 1800 ETH 30 1801 PDO2 HEEL ee 32 1802 PDO3 Darameterg EE 33 1803 PDO4 paraiieters sera ni nears iscuniaeusca cis 34 1A00 01 PDO1 mapping D rameter 36 1A01 01 PDO2 mapping D rameter 36 1A02 01 PDO3
46. to set the highest software limit switch If the encoder position is higher than the value set in this object bit 13 of obj 6500 00 Operating states will be set to 1 To enable this function set bit 13 of object 6000 00 Operating parameters to le Default 003F FFFOh 3000 00 Baud rate Unsigned8 rw This object is meant to set the baud rate transmission rate according to the following table Baud rate 20 Kbit s 50 Kbit s 100 Kbit s 125 Kbit s 250 Kbit s 500 Kbit s default 800 Kbit s 1000 Kbit s The bit rate is set through object 3000 00 Baud rate only if bit 4 in DIP A is set to OFF If bit 4 in DIP A is set to ON the bit rate is set by DIP A For any further information refer to section 4 7 Baud rate DIP A To change the baud rate value you have to e set the object 3000 00 Baud rate e send a Reset node command or Reset communication command e save the parameter e set the Master to the new baud rate Default 05h MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 37 www lika it www lika biz L lj Ka Ax58x EasyCAN Master gt Encoder COB ID Data byte 600 ID 2F_ f oo 30 00 seetable Encoder gt Master confirmation COB ID Cmd Index Sub Data byte 580 ID 60 00 30 00 00 Master gt Encoder Reset node COB ID Cmd Slave ID 000 81 ID Set the master device to the new baud rate Encoder gt Master Boot up with new baud rate CO
47. turned off before performing this operation NOTE Available only in the singleturn encoder Node number can be set both via hardware or via software Allowed node addresses are between 1 and 127 The default value is 1 If all bits of DIP B are OFF node number is set by the object 3001 00 Node ID of the Object Dictionary and can be modified using SDO messages If one bit at least of DIP B is set to ON the node number is set by DIP B DIP B Set the node number in binary value ON 1 OFF 0 bit 8 ce S not used Example Set node number 25 2510 0001 1001 binary value aE e e EE _ ON OFF OFF ON ON OFF OFF OFF OFF MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 18 www lika it www lika biz L lj Ka Ax58x EasyCAN Set node number 55 5510 0011 0111 binary value eR Te ge Te T EE ON ON ON OFF ON ON OFF OFF OFF WARNING If baud rate and node number are set via software master device has to detect the baud rate of the slave scanning of baud rate when the encoder is being installed Once communication has been activated new baud rate and node number values can be set objects 3000 00 Baud rate and 3001 00 Node ID After having set new values transmit a Reset node command and then save parameters object 1010 01 Store parameters To avoid conflict between Slaves this operation has to be carried out when one only device is connected to the net
48. work MAN Ax58_Ax58S_AxC58 EasyCAN E 1 4 0dt 19 www lika it www lika biz L lj Ka Ax58x EasyCAN 5 Quick reference Using the default settings provided by the manufacturer you can switch on the device and read immediately its position Follow the instructions below to e read the device resolution e set the Operational mode e read the current position cyclic mode and or sync mode Default Baud rate and Node ID are Baud rate 500 Kbit s Node ID 1 Read resolution per revolution 6501 00 Hardware counts per revolution Master gt Encoder COB ID Cmd Index Sub Process data 601 40 01 65 00 Encoder gt Master COB ID Cmd Index Sub Process data 581 43 01 65 01 AO Al A2 A3 steps rev A3 lt lt 24 A2 lt lt 16 A1 lt lt 8 AO Read number of revolutions 6502 00 Hardware number of turns Master gt Encoder COB ID Cmd Index Sub Process data 601 40 02 65 00 Encoder gt Master COB ID Cmd Index Sub Process data 581 43 02 65 01 BO B1 B2 B3 N rev B3 lt lt 24 B2 lt lt 16 B1 lt lt 8 BO Set cyclic time 6200 00 Cyclic time 100 ms 64h Master gt Encoder COB ID Cmd Index Sub Process data 600 ID 2B 00 62 00 64 00 Encoder gt Master COB ID Cmd Index Sub Process data 580 ID 60 00 62 00 00 00
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