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User Manual - Absolute Singleturn/Multiturn Encoders for

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1. 4 14 5 CAN BUS CONNECTION CABLE OUTLET u aaa a cue a an cuna 5 15 6 CAN BUS CONNECTION M12 M23 CONNECTOR I u uuu u 6 15 7 LAYER SETTING SERVICES LS9 7 16 8 DEFAULT SETTINGS ON DELIVERY u ee ee 8 18 ENCODERS WITH BUS HOUSING nunmehr 8 18 ENCODERS WITH CABLE OUTLET AND ONE CAN CONNECTO OR u en 8 18 COMMUNICATION PARAMETER aa a NES UE FR a ak se ee a ee 8 18 ENCODER PROFILE sssssasasasasssssssssasssasssssssssassassasssssssssssasasssssssssassasssssssssssssasasssssssasssasssssssssssssssssssssa 8 19 9 GENERAL RESET OF THE DEVICE san a aaa aa u 9 19 10 COMMUNICATION PARAMETERS U U U U U 10 20 DEFINITION OF THE TRANSMISSION TYPE OF THE PDO ssssssssssasasssssssssasssassssssssssssasasssssssssasasassssssa 10 22 VARIABLE PDO MAPPING aan 10 22 STRUCTURE OF A MAPPING ENTRY sinvauscacecnwsuacs sce n RER ous sawp ence dunn HE cans SSS REED ER Sues OM ERR S ENERGIEN RELEASE EN 10 23 11 APPLICATION PROGRAMMING
2. ssssssssassassssssssssssasasssssssssssssasssssssssssssassssssssssssssssssssssasasa 21 47 OBJEKT 2110H SENSOR CONFIGURATION DATA ccccccccccccccceccccccccccccccccccccccccceccccccccceccecccccccccecceccccccecceccecccccccccecceccccccccceccecceccccccecceccccccecsecs 21 47 OBJEKT 2120 4H ACTUAL TEMPERATURE POSITION SENSOR 21 47 OBJEKT 2120 2H ACTUAL TEMPERATURE LOWER LIMIT POSITION SENSOR 21 48 OBJEKT 2120 3H ACTUAL TEMPERATURE UPPER LIMIT POSITION SENSOR 21 48 OBJECT 2130H ENCODER MEASURING STEP ann ne 21 48 OBJECT 2 1405 CUSTOMER MEMORY 16 BYTES u une 21 48 OBJECT 2150H TEMPERATURE HISTORY sssssssssssssassssssssssssssssssssssasssassssssssssssssassssssssssssasssssssssasasa 21 49 OBJECT 1029H ERROR BEHAVIOUR ERR 21 49 OBJECTS NOT MENTIONED 21 49 Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr e Germany Tel
3. sssssssssssasasassssssssssssasssssssssssasassssssssssssasssssssssassssasssassssssssssasssssssssssssssssssssssasa 21 44 OBJECT 6506H SUPPORTED WARNINGS sssssssssassssssssasssasssssssssssasassssssssssassssssssssssasssassasssssssasssssssssssssasa 21 44 OBJECT 6400H WORKING AREA STATE REGISTER 2 VALUES cccccccccccccccccccccccccceccccccccccccccccccccccecceccccccccceccecccccccccecccccccccccceccecccccccccecceccsccsecsecs 21 45 OBJECT 6401H WORKING AREA LOW LIMIT 2 VALUES sssssssasssssssssasssassssssssssssasasssssssssasasasssssssssasaaa 21 45 OBJECT 6402H WORKING AREA HIGH LIMIT 2 VALUES s sssssssssssssssssassssssssssasasasssssssssssasssssssssssasasaa 21 45 OBJECT 21001 BAUD RATE IRe 21 45 OBIECT 2101H NODE ADDRESS een 21 46 OBJECT 2102H CAN BUS TERMINATION OFF ON 21 46 OBJECT 2103H FIRMWARE FLASH VERSION ccccccccecccccccccccccccccccccccccecccccccccccceccccccccceccecceccccccecceccccccccceccecccccccccecceccccccccceccecccccccccecccccscccecsees 21 46 OBJECT 2105H SAVE ALL Bus PARAMETERS
4. u 16 33 17 HEARTBEAT PROTOCOL 17 35 18 CANOPEN OBJECT DICTIONARY U 18 36 STRUCTURE OF THE ENTIRE OBJECT DICTIONARY sssssssssssssssasssassssssssssassassssssssasasasassssssssssssasssssssssasssasssssssssasssa 18 36 19 CANOPEN COMMUNICATION PROFILE DS 301 19 37 COMMUNICATION OBJECTS sine 19 37 NIANUFACTURER SPECIFIC OBJECTS 19 37 20 CANOPEN ENCODER DEVICE PROFILE DS 406 20 38 DEVICES SPECIFIC BEL 20 38 21 OBJECTS IN DETAIL ENCODER PROFILE DS 906 21 39 OBJECT 6000H OPERATING PARAMETERS ee 21 39 OBJECT 6001H MEASURING STEPS PER REVOLUTION RESOLUTION 21 39 OBJECT 6002H TOTAL NUMBER OF MEASURING STEPS ccc
5. 1501 TsPOO2 Communication Para eee FY 1801 0 Mr fEntries tj 1501 1 ud C 1801 2 TransmissionT ype ES 1801 3 InhibitT ime Format Industr A 1400 ReceweFD01 Parameter Default ModelD sm pz st 04295 e E 1801 5 Event Timer m Symbolic Change Aust ray Attributes Delete Abbrechen bernehmen Hilfe Defaults Enabling PDO enabled RTR allowed COB ID 280h node number set here 11h Transmission type 01h synchronous acc to device profile Event Timer 0 poc communication Paran 5 xl 02 Communication Parameter COB ID Valid v ATA allowed v 29 Bit Ubertragungsart Asynchronous device profile v No of SYNCs 55 Inhibit Time Event Timer jo Abbrechen Help Hans Turck GmbH amp Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com 10 21 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Definition of the Transmission type of the PDO transmission type PDO transmission ee at tr reserved R only A value between 1 240 means that the PDO will be sent synchronously and cyclically The number of the Transmission Type signifies the quantity of SYNC pulses that are necessary to forward the PDOs The Transmission Types 252 and 253 state that the PDO will only be sent when requested via an RTR whereas Type 2
6. Industr A USER MANUAL ABSOLUTE SINGLETURN MULTITURN ENCODERS BERNER N FOR CANOPEN 1 3 i AN i XS a Ys a 4 L Sense it Connect it Bus it Solve it User Manual Absolute Single Multiturn Encoders CANopen Industr Hans Turck GmbH amp Co KG Copyright Protection The content of this documentation is protected by copyright Hans Turck GmbH amp Co KG It may not be altered expanded reproduced nor circulated to third parties without prior written agreement of the Hans Turck GmbH amp Co KG Liability to modification without notice As a result of ongoing efforts to improve our products we reserve the right to make changes at any time to technical information contained in the document to hand Warranty Disclaimer Hans Turck GmbH amp Co KG provides no guarantee neither tacit nor express in respect of the whole manual whether this applies to the original German text or to the English translation and assumes no liability for any damage neither direct nor indirect however caused Document information Revised 12 2010 Screen printouts used CANalyzer Fa Vector Informatik Hans Turck GmbH amp Co KG Hans Turck GmbH amp Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 2 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Table of Contents
7. TPDO1 Communication Parameter COB ID 02h Transmission Type 03h Inhibit Time 05h Event timer TPDO2 Communication Parameter COB ID 02h Transmission 03h Inhibit Time Oh Event timer 1802h sid TPDO3 Communication Parameter 25555__ COB ID 02h Transmission O3h Inhibit Time 05h Event timer 1A00h TPDO1 Mapping 2 _ _ 1 Mapped Object TPDO2 Mapping 1 Mapped Object 1A02h TPDO3 Mapping Lt 01h 1 Mapped Object Hans Turck GmbH amp Co KG WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com 8 18 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Name Standard value Index hex Encoder Profile 6000h Operating Parameter OxO4h Scaling on 6001h Measuring Units per Revolution 8192 13 Bit Total Measuring Range 33554432 25 Bit Preset value Cyclic Timer see TPDO1 Comm Par 6401h Work area low limit Work area high limit 65535 2105h Save All Bus Parameters 0x65766173 2130H Encoder Measuring Step Speed Calculation Multiplier eo Speed Calculation Divisor Speed average value The original standard values default values on delivery can be reloaded again by means of Object 1011h restore parameters In order to ensure that parameter changes are saved in the event of power failure they have to be transferred without fail to the EEPROM by means
8. When Bit is active then simultaneously an emergency message ID 80h node number with the Error code 4200h Device specific is sent When Bit 2 or 3 is active then simultaneously an emergency message ID 80h node number with the Error code 5200h Device Hardware is sent Object 6506h Supported Warnings This Object is used to display which warning messages are supported by the encoder see Object 6505h Data content Range of values see Object 6505h The warning is supported when the bit is set to 1 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 44 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 6400h Working Area State Register 2 values This Object contains the current state of the encoder position with respect to the programmed limits The flags are either set or reset depending on the position of both limit values The comparison with both limit values takes place in real time and can be used for real time positioning or for limit switching Work area_ state maller than larger than inside smaller than larger than inside LowLimit2 HighLimit2 range2 LowLimit1 HighLimit1 rangel Range of values 8 bit Data content see Bit 0 7 O Both limit values Object 6401h and 6402h must be checked to ensure that the output signals are Se correctly activated Object 6401h Working Area Low Limit
9. The timer controlled output becomes active as soon as a cycle time gt 0 is entered This Object is only present for reasons of compatibility with earlier profile versions Instead of this Object please use the Event Timer Sub index 05h in the current Transmit PDO Data content Byte Byte 1 Range of values 0 FFFFh 65535 gives a cycle time in milliseconds Standard value Oh Object 6500h Display Operating Status This Object displays the status of the programed settings of Object 6000h Data content Byte Byte 1 Pan EIE Data content see Object 6000h Object 6502h Number of Multiturn revolutions This Object shows the number of revolutions which the multiturn encoder should count The value depends on the encoder type and any value between 4096 12 Bit and 65535 16 Bit could occur This predefined value only affects the number of revolutions It does not affect the resolution Data content Range of values 4096 to 65535 Default setting 1000h corresponds to 4096 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 42 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 6503h Alarms In addition to the errors that are signalled via emergency messages Object 6503h provides or includes further error messages The corresponding error bit is set to 1 for as long as the error
10. 100a Softwareversion Default 100c GuardTime 100d LifeTimeF actor Ej Cn 1010 Store Parameters 1010 0 Largest Supported Sub iiie t 10101 Save all Parameters iiie C 1010 2 Save Communication F 1010 3 Save Application Parar Format hex E 1010 4 Save d Symbolic Change zarimiect write Read Adus Attributes View Style Write All Head Delete Ox657661 73 Abbrechen bernehmen Hilfe Object 1010h Store Parameters Using the command save under Sub Index 1h save all Parameters causes all the parameters to be stored in the non volatile memory EEPROM All Communication Objects Application Objects and Manufacturer specific Objects are saved under this Sub Index This process requires ca 14 ms To prevent unintentional saving the instruction will only be executed if the string save is entered as a codeword into this sub index A read access to the Sub Index 1h provides information about the functionality of the memory Byte 0 73h ASCII Code for s Byte 1 61h ASCII Code for a Byte 2 76h ASCII Code for v Byte 3 65h ASCII Code for e Object 1011h Load Standard Values Using the command load under Sub Index 1h causes all parameters to be reset to their standard values To prevent unintentional loading of the standard values the instruction will only be executed if the string load is entered as a code word into this s
11. Default Bit 0 Bit15 Event Mode 0 Position output acc to TPDO 1800h 1 output on each change of position Default Bit 0 Bit Function Bit 0 Bit 1 C1 C2 0 Code sequence CW CCW m m 1 Commissioning Diagnostic Control Disabled Enabled O O By 2 Enable scaling Disabled Enabled O m i 3 Measuring direction Forward Reverse E02 2 4 11 Reserved for further use 12 Manufacturer specific parameter N A N A O O 13 Speed Format RPM Units sec O O 14 Startup automatic in OP Mode Disabled Enabled O O 15 Event Mode Position see note Disabled Enabled set this mode in Transmission Type to 254 m Function must be supported o optional Object 6001h measuring steps per revolution Resolution This parameter configures the desired resolution per revolution The encoder itself then internally calculates the appropriate scale factor The calculated scaling factor MUR by which the physical position value will be multiplied is worked out according to the following formula MURF Measuring steps per revolution 6001h phys resolution Singleturn 6501h Data content e Range of values 1 maximum physical resolution 65536 16 bit Default setting 8192 13 bit Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 39 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr A O
12. or which are optional Class 2 Class C Scaling function devices thus contain all C1 and C2 mandatory functions as well as additional optional functions Class C2 Preset function dependent on the manufacturer An address range is also defined in the profile to which the manufacturer s Output position value own special functions can be assigned Objectives of LSS CiA DSP 305 CANopen Layer Setting Service and Protocol LSS services and protocols were created to enable the following parameters to be read and changed through the network The CANopen Node ID The CAN baud rate The LSS address This increases the plug and play capabilities of devices in CANopen networks as preconfiguration of the network is less restrictive The LSS master is responsible for configuring these parameters on one or more LSS slaves on a CANopen network Data transmission With CANopen data are transferred via two different communication types COB Communication Object with different properties Process Data Objects PDO real time capable Service Data Objects SDO The process data objects PDO provide high speed exchange of real time data e g encoder position speed comparative position status with a maximum length of 8 byte These data are transmitted with high priority low COB Identifier PDOs are broadcast messages and provide their real time data simultaneously to all desired receivers PDOs can be mapped i e 4 byte position and
13. 0208 4952 0 e Fax 0208 4952 264 www turck com 1 4 0211 User Manual Absolute Single Multiturn Encoders CANopen ndun TABLE OF CONTENTS 22 NETWORK MANAGEMENT u ee Aiaia a aaa 22 50 23 NMI Siete cases a E a a End 23 51 24 LED MONITORING DURING OPERATIONN U 24 52 GREEN LED BUS STATE c 24 52 RED LED SERR DISBIAY 24 52 YELLOW LED DIAGNOSTICS uu IN na a nam EROR UE AS a AREE a CUR ARN arena en dees asus dues QR A anes QUOS URUA UR E TR OR QR UR UR OHNE UN een 24 52 LED COMBINATIONS DURING OPERATION 24 53 ERROR DISPLAY AFTER SWITCHING ON 24 53 GENERAL RESET SWITCHING THE DEVICE ON WITH THE SET KEY PRESSED 24 53 25 DEPINIIIDNS uuuuu ull l a wnt IM a rti Dim SE ad va ims A E ee ee ee 25 54 20 ABBREV
14. 2 byte speed can be combined in one 8 byte data word The service data objects SDO form the communication channel for the transfer of device parameters e g encoder resolution programming As these parameters are transmitted acyclically e g only once during boot up of the network the SDO objects have a low priority high COB Identifier Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 7 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Objects and Function Code in the Predefined Connection Set For easier management of the identifiers CANopen uses Bit No 10 0 the Predefined Master Slave Connection Set where all cog Identifier identifiers are defined with standard values in the object dictionary These identifiers can however be changed and customized via SDO access gt Function Cade Node ID The 11 bit Identifier is made up of a 4 bit function code and a 7 bit node ID number O The higher the value of the COB identifier the lower is its priority Broadcast network wide Objects object function code resulting COB ID Communication Parameters binary at Index NMT DOOD oY NC 0001 128 80h 1005h 1006h 1007h TIME STAMP 0010 296 100h 1012h 1013h Peer To Peer device to device Objects object function code Resulting COB IDs Communication Parameters binary at Index 1400h 1801h
15. CANopen encoder Sub Index 3h read only supplies the Software revision Number e g 102 Sub Index 4h read only supplies the 8 digit Serial Number of the encoder Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 11 28 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 12 Configuration of the speed output The speed of the encoder shaft is calculated as the difference between two physical unscaled position values with a dynamic time interval of 1ms 10 ms or 100ms Speed calculation can be adapted to any application For this purpose the user may select two configurable objects from the manufacturer specific area To achieve high dynamics the integration period of the respective measurement can be reduced at high rotational speeds The number of average values can have a particular influence on the measurement dynamics and must be calculated specifically to the application Accuracy of the speed measurement The measurement accuracy depends largely on the following parameters actual speed programmed resolution revolution of the encoder Object 6001h programmed number of average values Object 2130h 3 temporary change of speed momentum Object 2130h Encoder Measuring step Values for the speed calculation Object Dictionary Device State Configuration Storage cee 6506 Serial Number 4 Speed average value
16. CANopen uses four communication objects COB with different properties Process Data Objects PDO for real time data Service Data Objects SDO for transmitting parameters and programs Network Management NMT Life Guarding Heartbeat Predefined Objects for Synchronisation Time Stamp Emergency All device parameters are filed in an Object Dictionary This Object Dictionary contains the description data type and structure of the parameters as well as the address Index The dictionary is divided into a communications profile section a section covering the device profile as well as a section specific to the manufacturer Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 6 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Encoder Device Profile DS 406 V3 1 This profile describes a vendor independent mandatory definition of the interface with regard to encoders It is laid down in the profile which CANopen functions are to be used as well as how they are to be used This standard makes an open vendor independent bus system possible The device profile is broken down into two Object classes e Class C1 describes all the basic functions that the encoder must contain Physical position e Class C2 contains numerous extended functions Absolute position which must either be supported by encoders of this class Mandatory
17. EXANPLE U U u 11 24 SETTING UP OBJECTS Q u Uu uuu uu u mu Hw 11 24 Total Measuring Range set to 36000 11 24 Measuring Units per Revolution limit to 3600 11 24 Set Preset Value tO O a qaq qas oC wis Guns Su ck a Qaqaqa pasqa nc hae ne TP 11 25 Set the values of Transmit Parameters TPDO1 and TPDO2 11 25 Producer Heartbeat set to 500 ms 11 26 Set Work Area low and high limit values ee 11 26 Save all modified parameters in the EEPROM Store Parameters 1010h 11 27 Object 1010h Store Parameters 11 27 Object TOLL Load Standard Vale D 0 LLLI 11 27 COMMUNICATION PROFILE FURTHER OBJECTS ccc
18. Manual Absolute Single Multiturn Encoders CANopen Industr 18 CANopen Object Dictionary Die Beschreibung der Objektverzeichnis Eintrage ist folgenderma en aufgebaut Index Sub Index Objekt Nama Typ Attr MO 16 Bit Adresse des Eintrages 8 Bit Zeiger auf Untereintrag wird nur bei komplexen Datenstrukturen z B Record Array verwendet wenn kein Untereintrag vorhanden Sub Index 0 NULL Eintrag ohne Daten DOMAIN gr ere variable Datenmenge z B Programmcode DEFTYPE Definition der Datentypen z B boolean float unsigned16 usw DEFSTRUCT Definition eines Record Eintrages z B PDO Mapping Struktur VAR einzelner Datenwert z B boolean float unsigned1 string usw ARRAY Feld mit gleichartigen Daten z B unsigned16 Daten RECORD Feld mit beliebig gemischten Datentypen kurze Beschreibung der Funktion Datentyp z B boolean float unsigned16 integer usw Attribut gibt Zugriffsrechte auf das Objekt an rw Schreib und Lesezugriff ro nur Lesezugriff const nur Lesezugriff Wert ist eine Konstante M Mandatory Objekt muss im Gerat implamentiert sein 0 Optional Objekt muss nicht im Ger t implamentiert sein Structure of the entire Object Dictionary Index Index hex Object 00 ne ew nm ee Kail aa A000 FFFF FFFF reserved 0000000000000 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany
19. PDOS itx 0111 897 381h 1023 3FFh 1802h irx 1000 1025 401h 1151 47 Fh 1402h 4 tx 1001 1153 4811 1279 4FF 180 31 PDO rx 0110 769 301h 895 37Fh 140 1h SDO tx 1011 1409 58 1h 1535 1200h SDO rx 1100 1537 601h 1663 67 F 1200h r NMT Error 1110 1793 T01h 1919 77 Fh 1016h 101 7h Control Restricted reserved Objects COB ID used by object PD04 rx 1010 1281 S01h 1407 57Fh 1403h 0008 NMT 1 001h 257 101h 384 180h 2020 780h 2047 7FFh reserved Hans Turck GmbH amp Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 8 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Transmission of Process Data With the CANopen encoder three PDO services PDO1 tx PDO2 tx and PDO3 tx are available A PDO transmission can be triggered by a variety of events see Object Dictionary Index 1800h asynchronously event driven by an internal cyclic device timer or by a change in the process value of the sensor data synchronously as a response to a SYNC telegram a SYNC command will cause all CANopen nodes to store their values synchronously after which they are transferred in succession to the bus according to their set priority as a response to an RTR telegram per Remote Frame recessive RTR bit exactly that message with the com
20. Supply in c CANLow In CH CANHigh in CG CANGroud n o lt lt r Connecting the encoder to the bus general information Ohm between CAN High and Low The continuous CANbus must be terminated at both ends with a bus terminating resistor of 120 Hans Turck GmbH amp Co KG WitzlebenstraBe 7 e 45472 M lheim Ruhr e Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com 4 14 0211 User Manual Absolute Single Multiturn Encoders CANopen 5 CAN Bus connection cable outlet Abbreviation 6 CAN Bus connection M12 M23 connector Terminal assignment Bus terminal cover with 2 x M12 connector type of connection 2 F or J Direction Abbreviation Industr A Name Termination is activated Low J CAN High 4 I Volt OV UB CAN Low CAN High 4 son a ai EN el PIN stammer d 2 ascianmert Bus in and out M23 Bus out Bus in Corresponding Corresponding Corresponding mating connector mating connector mating connector 8 0000 5012 0000 05 BS 8151 0 9 05 B 8151 0 9 Terminal assignment M23 type of connection or M12 type of connection E connector Bus in M23 Direction signal 0v CAN Law High CAN Ground ERR iwa Abbreviation iid lil Corresponding Bus in M12 Corresponding mating connector assignment 8 0
21. Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 18 36 0211 User Manual Absolute Single Multiturn Encoders CANopen 19 CANopen Communication Profile DS 301 Communication Objects Industr A INDEX hex OBJECT SYMBOL ATTRIB Name M O TYPE 1000 VAR CONST Device Type M Unsigned32 1001 VAR RO Error Register M Unsigned8 1002 VAR RO Manufacturer Status O Unsigned32 1003 RECORD RO Predefined Error Field O Unsigned32 1004 ARRAY RO Number of PDO supported O Unsigned32 1005 VAR RW COB ID Sync message O Unsigned32 1006 VAR RW Communication cycle period O Unsigned32 1007 VAR RW synchr window length O Unsigned32 1008 VAR CONST Manufacturer Device Name O visible string 1009 VAR CONST Manufacturer Hardware Version O visible string 100A VAR CONST Manufacturer Software Version O visible string 100B VAR RO Node ID O Unsigned32 100C VAR RW Guard Time O Unsigned32 100D VAR RW LifeTime Factor O Unsigned32 1010 VAR RW Store parameters O Unsigned32 Device Profile 1011 VAR RW Restore parameters O Unsigned32 Device Profile 1012 VAR RW COB ID Time stamp O Unsigned32 1013 VAR RW High resolution time stamp O Unsigned32 1014 VAR RO COB_ID Emcy O Unsigned32 1015 VAR RW IInhibit Time Emcy O Unsigned32 1016 ARRAY RW Consumer Heartbeat time O Unsigned32 1017 VAR RW Producer Heartbeat time O Unsigned16 1018 RECORD RO Identity Object M PDOComPar 1029 ARRAY RW Error Behaviour O Unsigned3 1800 RECORD 1 transmit PDO Comm Par O PDOComPar 1801 RECORD 2 tra
22. The CAN node can now be addressed via SDO messages or with NMT commands under the standard identifier Then follows the programming of the encoder or communication parameters Operational The node is active Process values are transmitted over the PDOs All NMT commands can be evaluated Prepared or Stopped In this state the node is no longer active which means that neither SDO nor PDO communications are possible The node can be set to either the Operational or Pre operational state by means of NMT commands Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 22 50 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 23 NMT Commands All NMT commands are transferred as an unconfirmed NMT Object Because of the broadcast network wide communication model the NMT commands are recognized by each station An NMT Object is structured as follows Byte 0 Command byte Byte 1 Node number COB ID 0 The COB ID of the NMT Object is always 0 O The node is addressed via the node numbers With node number 0 all nodes are addressed Kommandobyte Beschreibung hex start Remote Node Wechsel zu Operational stop Remote Mode Wechsel zu Prepared Enter Pre perational State Wechsel zu Pre operational Reset Node Reset Knoten Reset Communication Reset Kommunikation 1 On Power ON all the parameters in the whole Object Dictio
23. current firmware version as a 16 bit hexadecimal value This value serves to verify that the device is to the latest revision Data content Range of values to FFFFh Example 4FA6h current firmware Hans Turck GmbH amp C M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 46 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 2105h Save All Bus Parameters This object stores all bus parameters Object 2100h 2101h 2102h permanently in an EEPROM Using the command save save all Parameters causes all the parameters to be stored This process requires ca 200ms In order to prevent an inadvertent save the instruction will only be executed if the string save is entered as a codeword into this Sub Index A read access to the index shows OxFFFFFFFF Byte 2 61h ASCII Code for a I m d i a m Byte 0 65h ASCII Code for e S NO a value range save in hexadecimal 0x65766173 Object 2110h Sensor Configuration Data This Object is used to get information about the configuration of the sensor The default is downloaded as a factory default which means that normally no change will be necessary value range 0 FF FFh Object 2120 Ah Actual temperature Position Sensor This Object can be used to read out the actual temperature Every 6 minutes the temperature currently occurring in the device will be stored under Object 2150 sub1
24. e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 28 57 0211 oom p lt Industrial Automation www turck com Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim an der Ruhr Germany Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com MAAN
25. is dependent on Object 1029h Sensor monitoring Single bit function error Sensor current monitoring Error behaviour The individual LED annunciators can of course also occur in combinations 2 The Master can be a PLC or a second communication partner 3 Operating voltage Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 24 52 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr LED combinations during operation Annunciators LED Description Cause of error Addendum BUS Diag Yellow and Over temperature Device in Pre Operational Mode flashing O green LEDs Sensor monitoring Analyze Emergency Message flashing Single bit function error Yellow LED Sensor LED current monitoring flashes faster ERR Diag Red and yellow Over temperature Device without CANbus flashing O LEDs flashing Sensor monitoring Connection to master interrupted Yellow LED Single bit function error additional causes of error flashes faster Sensor LED current monitoring Error Display after switching on Annunciators LED Description Cause of error Addendum ERR Diag Alternate fast Data connection fault to Return device to manufacturer for flashing O flashing of yellow sensor servicing and red LEDs Sensor faulty ERR Connection to No CANbus availability flashing Master interrupted Bus Diag Alternate flashing Data connection fault to Return device
26. serve as additional information and can be found in the Encoder profile DS 406 V3 1 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 49 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 22 Network Management The encoder supports the simplified Network Management as defined in the profile for minimum capability devices minimum boot up The following function state diagram acc to DS 301 shows the various node states and the corresponding network commands controlled by the Network Master via NMT services Power on or hardware reset Initialisation Stopped Operational At Power on the NMT state initialisation is entered autonomously MMT state Initalisation finished enter NMT state Pre operational automatically 3 NMT service start remote node indication or by local control self starting 4 7 service enter pre operational indication 5 8 NMT service stop remote node indication NMT service start remote node indication 9 10 11 NMT service reset node indication ENEND Initialization this is the initial state after the power supply is applied following a device Reset or Power The node automatically enters the Pre operational state once it has run through the Reset and Initialization routines The LEDs display the momentary status Pre operational
27. 000 5012 0000 Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 6 15 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 7 Layer Setting Services LSS Exactly two conditions must be fulfilled for the interconnection of CANopen devices to a network All devices must use the same baudrate and the CANopen Node IDs must be unique The condition for the use of the LSS is in addition to support by the device itself to establish a 1 1 wiring to the Node Then the baudrate and the Node ID are set in dialog mode The COB ID Ox7E5 is used for CAN messages to the device the device responds to COB ID Ox7E4 LSS messages are always full 8 bytes long Unused bytes are reserved and should be initialized with O To make contact with a device to be configured the Switch Mode Global command is transmitted 0x04 0x01 reserved This command sets the device to LSS configuration mode Unfortunately this very service is the only unacknowledged LSS service to which the device will therefore not respond even if it has carried it out The system integrator can therefore only find out with the following command whether the device has reacted Next the Node ID is requested via the Inquire Node ID service Ox5E reserved If successful the device responds with Ox5E reserved ID If there is no response then either the device do
28. 2 values Object 6402h Working Area High Limit 2 values These two parameters configure the working area The state inside and outside this area can be signalled by means of flag bytes Object 6400h Working Area State These area markers can also be used as software limit switches Data content 5 Range of values 1 maximum physical resolution 268435456 28 bit Default setting 33554432 25 bit Working Area High Limit 0 Working Area Low Limit Object 2100h Baud rate This Object is used to change the baud rate via software The default setting is FFh which means that the hardware setting for the baud rate has priority If the value is set between 1 9 and the parameter saved then on the next Power ON or with a reset node the device will boot up with the modified baud rate After changing the baudrate it is necessary to save the parameters with object 2105h permanently in the EEPROM Data content s Range of values 1 8 see Table Hardware switches CANopen Baudrate 4 Default setting FFh Ifthe Transmission Type 254 is used for the PDO asynchronous event driven see Object 1800h then the selected cycle time 1800h Sub index 5 should be greater than the bus transfer time so that the PDOs can be communicated error free Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 45 0211 User Manual Absolute Single Multiturn E
29. 4 Byte oe 500 irx 2h FA Daten Best tigung der Ubernahme COB ID f r Kommando vom Drehgeber SDO tx 60h Master bertr gt Parameter an Drehgeber Master Anforderung an Drehgeber COB ID f r Kommando Index Sub SDO rx 40h index Ausgabe du COB ID f r Kommando 4 Byte Daten Daten vom 500 tx 43h Drehgeber Master fordert Parameter vom Drehgeber an LSS Hardware Restrictions LSS Address All LSS Slaves must support valid object dictionary entries for Identity object 1018h which has 32 bits for each part of the LSS Address Vendor ID numerical code product code numerical code revision number major an minor revision as numerical code serial number numerical code LSS Master CAN ID 2021 LSS Slave CAN ID 2020 A product code revision number and a serial number are assigned by the device supplier The LSS address which must be absolutely unique No other LSS slave may have the same LSS address LSS Operating Restrictions To function properly the following restrictions apply All devices on a CANopen network must support LSS There can be only one LSS Master All nodes are required to start up with the same initial baud rate LSS communication can take place during any NMT state such as stopped or pre operational LSS Configuration and the Operation Modes Configuration Mode When an LSS Slave is in this mode it actively listens for and processes configuration co
30. 55 is dependent on the device device specific Additionally for Numbers 254 255 a time Type 254 means that the event will be triggered depending on the application application specific controlled EventTimer can be used The values for the timer can range from 1ms 65535 ms Variable PDO Mapping Variable Mapping of the various objects means that the user is able to configure the content of the Transmit PDOs dependent on the application Example of an entry in the Mapping Table The mapped PDO consists of 3 Application Object entries of varying lengths an amp c Coon Don omm Application Object 2 Application Object 3 zz p MN was PDO Appl Obj 2 Application Object 3 Appl Obj 1 Application Object 2 occupies Byte 1 08h in the Transmit PDO Thereafter follows Application Object 3 with a length of 16 bit 10h 2 bytes and finally Application Object 1 with a length of 1 byte In total 32 bits are occupied in this PDO Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 10 22 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Structure of a Mapping entry The Mapping Object for PDO 1 is defined in the Object Dictionary Index 1A00h It consists of 2 entries and can be modified by the user variable mapping Object Dictionary Device State C
31. Bh SDO rx Initiate Parameter an Drehgeber senden Datenlange 2 Byte Download Request 2Fh SOO rx Initiate Parameter an Drehgeber senden Datenlange 1 Byte Download Request b h SD tx Initiate Best tigung der bernahme an Master Download Response 40h 500 Initiate Parameter vom Drehgeber anfordern Upload Request 43h SUO t Initiate Parameter an Master mit Upload Response Datenlange 4 Byte Unsigned 32 SD Ox Initiate Parameter an Master mit Upload Response Datenlange 2 Byte Unsigned 16 4Fh sD tx Initiate Parameter an Master mit Upload Response Datenlange 1 Byte Unsigned 8 gt DOlt Abort Drehgeber meldet Domain Transfer Fehlercode an Master In the current of error then an error message command 80h replaces the normal confirmation Response The error message covers not only the communication protocol error but also the object dictionary access error e g wrong index attempted write to read only object incorrect data length etc The error codes are described in the CANopen Profile DS 301 or in the Device Profile DSP 406 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 10 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Example Transmission of Service Data to and from the encoder Master Drehgeber Parameter an Drehgeber COB ID f r Kommando Index Sub max
32. IATIONS USED 26 54 27 DECIMAL HEXADECIMAL CONVERSION TABILE 27 55 D CONS YT u NETTE 28 56 Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 5 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 1 General CANopen Multiturn Singleturn Encoder The CANopen encoders support the latest CANopen communication profile according DS 301 V4 02 In addition device specific profiles such as the encoder profile DS 406 V3 1 and DS 417 V1 1 for Lift applications are available The following operating modes can be selected Polled Mode Cyclic Mode Sync Mode and a High Resolution Sync Protocol Moreover scale factors preset values limit switch values and many other additional parameters can be programmed via the CAN Bus At Power ON all parameters are loaded from an EEPROM which had previously been saved in the non volatile memory to protect them in case of power failure The following output values may be freely combined as PDO PDO Mapping position speed acceleration as well as the status of the four limit switches As a lower cost alternative to encoders with a bus cover devices are also available with a con
33. Last Stored Temperature The maximum and minimum temperatures are stored under Object 2130 sub2 and sub 3 The maximum range of values is 1 256 value range 00 FFh Example 0x59 means approx 25 C Falling temperature values are adjusted reference values 20 C means Ox2Ch 0 C means 40 100 C means OxA4h Example Selected value Ox71h from Object 2120 4h O 0x71h 0x40h 0x31h correspond to 49 C decimal This object could be mapped to the PDO information The accuracy of the measuring value averages to 6 C as measured by the internal sensor logic Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 47 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 2120 2h Actual temperature lower limit Position Sensor Object 2120 3h Actual temperature upper limit Position Sensor These two parameters configure the temperature working area The state outside this area can be signalled by means of an Emergency Message These area markers can also be used as a kind of temperature limit switches value range 00 FFh example 0x20 correspond to ca 32 C Falling temperature values are adjusted reference values 20 C means Ox2Ch 0 C means 40 100 C means OxA4h 5 Value range 0x20h OxACh ex Default settings OxA2h Temperature High Limit Ox20h Temperature Low Limit Object 2130h Encoder M
34. O1 Position should transmit the event every 10 ms TPDO2 Speed should transmit the event every 20 ms Producer Heartbeat should be reduced to 500 ms Work area limits are 1000 and 35000 The new parameters should be saved in the EEPROM Total Measuring Range set to 36000 9 Profile Area gt uA 1 5000 Operating Parameters Es C 6001 Measuring Units per Rev Bow ps t 6002 Total Measuring Range Zugriff C 6003 Preset Value Default 5004 Position Value Untergrenze Obergrenze H Cl 6030 Speed Value H ly 6040 Acceleration Value f 5200 Cyclic Timer E h E400 Work area state 5401 Work area low limit 6402 Work area high limit E 6500 Operating Status erbinden Schreiben Lesen Ansicht Alles Schreiben Alles Lesen Format Measuring Units per Revolution limit to 3600 Total Measuring Range 36000 Sembollseh berschreiben Feld anpassen Attribute Laschen Abbrechen bernehmen Hilfe Var Headwirte 02000000 051 010000000 hex Object Dictionary Device State Configuration Storage E 5000 Operating Parameters fee me Measuring Units per Rev ge 5002 Total Measuring Range s 6003 Preset Value Es 6004 Position Value H 6030 Speed Value E CJ 6040 Acceleration Value we Connect View Style A rite Head All Format pes 2103 Firmware Fl
35. TENERA nee 1 6 CANOPEN MULTITURN SINGLETURN ENCODER 1 6 THE CANOPEN COMMUNICATION PROFILE DS 301 V4 02 cccccccccccccccccecccccccccccccccccccccccccccccccccccccccccecccccccccccceccccccccccccecceccccceccceccecccccsccseesees 1 6 ENCODER DEVICE PROFILE DS 406 V3 1 cccccccceccccccccccccecccccccccccceccecccccccccecceccccccecceccccccccceccecceccccccecceccecccecceccecceccccccccceccecccccceccecceccccccecces 1 7 OBJECTIVES OF 99 T 1 7 DATA TRANSMISSION ssssssasssassssssssasasassasssssssasasasssssssssssssassssssssssssssasssssssssassasassssssssssassassasssssssssasssssssssssssssssssssssssssssssssssssssa 1 7 OBJECTS AND FUNCTION CODE IN THE PREDEFINED CONNECTION SET sssssssssasasssssssssasasasssssssssssssasasssssssssassasaas 1 8 BROADCAST INETWORK WIDE OBJECTS E E ares overran 1 8 PEER TO PEER DEVICE 1O DEVICE DBJECTS sis oues exa tis uns dann caus 1 8 RESTRICTED RESERVED OBJECTS a nueee 1 8 TRANSMISSION PROCESS DATA une een nen Eee ee Eee ee een een 1 9 TRANSMISSION OF SERVICE DATA cccccccccccccccccccccc
36. Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 26 54 0211 User Manual Absolute Single Multiturn Encoders CANopen 27 Decimal Hexadecimal Conversion Table With numerical data the decimal values are given as numerals with no affix e g 1408 binary values are identified by the letter b e g 1101b and hexadecimal values with an h e g 680h after the numerals Dez pez pez Hox pez o m gt e ao os eo gt je e fe e moe owe a ne aa ion oa ee ue ee o eem m je me rm mmm mm m nem p mpm a n n je ra m pm qe p qe qe uem mw m m m pm m m pnm ze ia ee foo oa um UA zr e e je jm usa zs feo je e uere m e s foo m je uso s e eo m e us re s pe os or ur me spese BENEEEEEEEREEEEE ho s 5 s e e s s s usw s s sis sa EH E B EB Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com 27 55 0211 User Manual Absolute Single Multiturn Encoders CANope
37. ash Version pen C 2110 Sensor Configuration Structure H J 2120 Sensor Test Data Ws ata type H h 2130 Encoder Measuring steps Areas E h 2140 Customer Memory Default F CI 2150 Temperature History Lov limit High limit Measuring Units per Rev Var Readirite 01000 050 051000 3600 dec Symbolic Adus rra Attributes Delete New Abbrechen Hilfe Hans Turck GmbH Co KG Witzlebenstra e 7 e 45472 M lheim Ruhr Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com Industr A 11924 0514 User Manual Absolute Single Multiturn Encoders CANopen Industr Set Preset Value to 0 Object Dictionary Device State Configuration Storage 51 0 Device 5868 Preset Value H E Communication Area 9 Profile Ares l a t 5000 Operating Parameters Ou t 6001 Measuring Units per Rev aa t 6002 Total Measuring Range f 6003 Preset Value ff 6004 Position Value H 6030 Speed Value E CJ 6040 Acceleration Value f 6200 Cyclic Timer E 6400 Work area state Format hex Fl Jl 6401 Work area low limit Symbolic Ehange 4 Write Read Array Attributes View Style Write All Read All Delete Neu Object type Var Data type Access Headwrte POO Default MN Low limit x High limit 052000000 Abb
38. bject 6002h Total number of measuring steps These parameters configure the total number Singleturn and Multiturn measuring steps A factor will be applied to the maximum physical resolution The factor is always lt 1 After the stated number of measuring steps the encoder will reset itself to zero Data content 5 Range of values 1 maximum physical resolution 268435456 28 bit Default setting 33554432 25 bit Example Input 200000h The physical position value will be multiplied by a factor of 0 XXXXXX and output as the final position Object 6003h Preset Value The position value of the encoder will be set to this preset value This allows for example for the encoder s zero position to be compared with the machine s zero position Data content e Range of values maximum physical resolution 268435456 28 bit lt Default setting 0 4 Object 6004h Position Value The encoder transmits the current position value adjusted possibly by the scaling factor Data content Range of values 1 maximum physical resolution 268435456 28 bit Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 40 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 6030h Speed Value The encoder outputs the current calculated speed possibly with scaling factor as a 16 bit value The speed de
39. ccccccccccccccccccccccccccccccccccccccccccccecccccccccecseccccccccceccecccccccccecceccccccccceccecccccccccecceccccccecsees 21 40 OBJECT 6003H PRESET VALUE Eee ee 21 40 OBJECT 6004H POSITION VALUE s ssssssssssssassssasssssssssassssssssssssassssssssssssassssssssssssassssssssssssasasa 21 40 ECT zz PR TRE cR 21 41 OBJECT 6040H ACCELERATION VALUE vis vea saa E Pe EN gFE E E E PE TE PATE EV E NES Eae Pe VERI PO Fes EVE SE PAPE VE S VE WE VIR E PE VR FU E Moe PN ENTE EV VE NEN E E E 21 41 OBJECT 6200H CYCLIC TIMER u uuu unun 21 42 OBJECT 6500H DISPLAY OPERATING STATUS sssssssasssssssssssssassssssssssasassasssssssssssasasssssssssssssssssssassaa 21 42 OBJECT 6502H NUMBER OF MULTITURN REVOLUTIONS sssssssssssssasasssssssssssssassssssssaassssssssssssasssassssssssssssssssssssssasaaa 21 42 OBJECT 65035 ALARMS CRAS VRUIREN ER SN ER UR UR UE ERAN EROS SON es SS seus eens Gu HERE HEART IRA URN RENE RR RR UPQ Guan 21 43 OBJECT 6504H SUPPORTED ALARMS cscccccccccnccncccccccccncccccccccaccnccnccccccasencccccccccscenccccccccesccnscccccccesccnscccccccesccccccccccccsccccccccecccsccccccccecsesscccces 21 43 OBJECT 6505H WARNINGS
40. cccccccccccccccccccccccccccccccccccccccccecccccccccccceccccccccceccecccccccccccceccccccccceccccccccccccecceccccccccsccccccccccecsees 11 28 OBJECT 1018H IDENTITY OBJECT sssssssssssssssssssssssassssssssssassssssssssssasssasssssssssassssssssssssasaaa 11 28 Hans Turck GmbH amp Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 3 0211 User Manual Absolute Single Multiturn Encoders CANopen naus 12 CONFIGURATION OF THE SPEED OUTPUT eere n 12 29 OBJECT 2130H ENCODER MEASURING STEP cccccccccccccccccccccccccccccccccecccccccccccceccccccccccccecccccccccecsecccccccccecceccccccccceccecccccceccecceccccccccsceccccscccecsees 12 29 13 EXAMPLE PROGRAMMING A SPEED OUTPUII LI 13 30 14 EMERGENCY OBJECTS aa aaa 14 31 ERROR CODES SUPPORTED anna euer 14 31 15 EMEBOGENCT MESSAGE tet ate tte afi lc lt lesa Tee 15 32 EXAMPLE OF AN OVER TEMPERATURE MESSAGE ssssssassasassssssssaassasssssssssssssassssssssssssssassssssssssssasasssssssssssssssssssssssssssssssssssssssssssssss 15 32 EMERGENCY PROTOCOL ee nee Eee 15 32 16 HEARTBEAT PROTOCOL CONSUMER
41. ccccccccccccccccccccceccecccccccccecceccccccccceccecccccccccecceccccccccceccecccccccccccceccccccccceccecceccccccccccccecccccsecceese 1 10 EXAMPLE TRANSMISSION OF SERVICE DATA TO AND FROM THE ENCODER ccccccccccccccccccccccccccccccccccccecccccccccccceccccccccccccecccccccccccceccecccccccccecceccscccecsecs 1 11 155 HARDWARE RESTRICTIONS LSS ADDRESS u 1 11 LSS OPERATING RESTRICTIONS X 1 11 ESS CONFIGURATION AND THE OPERATION IVIODES 3 0 0 1 11 2 INITIAL STARTUP GENERAL DEVICE SETTINGS 2 12 DEVICES WITH REMOVABLE BUS COVER sse VRUE dunn SANA ERO Gans EROR UM NUR ONES US Gaus tans dann ones Guan ERE CREE UR NNUS CR sacs UR OR ER VETERES UPURE OS OR eS CROP RUN XR XR UR CN QU 2 12 Baud Tate E 2 12 Termination TETTE HH 2 12 Node NUMBER EEFEENENERNERE 2 13 EXTERNAL PRESET U U U U u U u 3 13 GCANBUSTEONNECTIDIL suasanana oe u uuu uuu ee MCI TEE ul EEE Ten ee 4 14 SUPPLY VOLTAGE a RR 4 14 CONNECTING THE ENCODER TO THE BUS GENERAL INFORMATION
42. condition applies Data content Byte 0 Byte I T 0 15 Description Value 0 Value 1 BitO Position error Position value valid Hardware check Bit2 15 Notued In the event of an error then in both cases an emergency message ID 80h node number with the error code 1000h Generic error is sent Object 6504h Supported Alarms This Object is used to display which alarm messages are supported by the encoder see Object 6503h Data content 2 12 Range of values see Object 6503h The alarm message is supported when the bit is set to 1 Example BitO 1 Position error display is supported Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 43 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 6505h Warnings Warning messages show that tolerances of internal encoder parameters have been exceeded With a warning message unlike with an alarm message or emergency message the measured value can still be valid The corresponding warning bit will be set to 1 for as long as the tolerance is exceeded or the warning applies Data content Bito Overspeed none f exceeded Bita Notused 0 0 Bit2 Watchdog Status 2 SystemOK Reset carried out 5 Bit3 Operating time Below 100000h 100000 Bit4 15 Notued o
43. device or a newly load of object 1016h with data activate the supervisor ability again only if the object 1016h was stored before with 1010h Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 16 34 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 17 Heartbeat Protocol Producer Object 1017h Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat The producer heartbeat time is O if it not used The time has to be a multiple of 1ms max 65535ms OBJECT DESCRIPTION INDE X 1017h Object Code VAR Data Type UNSIGNED16 Category Conditional Mandatory if guarding not supported ENTRY DESCRIPTION Access rw PDO Mapping No value Ranqe UNSIGNED16 Default Value 0 Nowadays as an alternative to Node Guarding the modern Heartbeat Protocol should be used The protocol is activated if a value gt 0 is written to Object 1017h Producer Heartbeat Time A Heartbeat Producer cyclically transmits this Heartbeat message Heartbeat Producer Heartbeat Consumer s indication s request Heartbeat Producer Tire F request Indicatienis Hearnbeat Consumer Hearthest Time indication Hans Turck GmbH amp Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 17 35 0211 User
44. e New Abbrechen bernehmen Hilfe Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 13 30 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 14 Emergency Objects Emergency Objects arise with error situations within a CAN network and are triggered depending on the event and transmitted over the bus with a high priority Important an Emergency Object is only triggered once per Event No new object is generated while the error still exists Once the error is eliminated then a new Emergency Object with the content 0 Error Reset or No Error is generated and transmitted over the bus Error Codes supported C ra cai pd Gurent Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 14 31 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 15 Emergency Message Content Emergency Error Code see Table 21 Error register Object Manufacturer specific Error Field 1001H Figure 34 Emergency Object Data Example of an over temperature message Transfer Data 00 Errcode Error Register ManufacturerSpecific1 ManufacturerSpecific2 ManufacturerSpecific3 ManufacturerS
45. e Va lue 32 2100 Baud Rate f 2101 Node number Object type Var 2102 CAN bus Termination dM en bonor d val t teth i 2103 Firmware Flash Version Default 10 contains the number Measured values to create the C 2110 Sensor Configuration Structure m ovi ng ave rage of the S peed E Oh 2120 Sensor Test Data E Ch 2130 Encoder Measuring steps E 2130 0 Number of subindex A 6 21301 Position Measuring val 32 32 maximum value 21302 Speed measuring step 2130 3 Speed average value Format hex 2140 Customer Memory tls HE Connect Write Read Adjust Array Attributes View Style Write All Read All Abbrechen bernehmen Hilfe Device access ID Das sece_EMV E Object Dictionary Device State Configuration Storage j Manufacturer Specific Area Speed measuring step units sec Divisor for the speed outp ut gt 20 1 2100 Baud Rate Object type War C 2101 Node number as Data type Ulnt16 C 2102 CAN bus Termination Access Readwrite 2103 Firmware Flash Version Default a oo RER Adapting the speed value to the application ensor Test Data 2130 Encoder Measuring steps 2130 0 Number of subindex A ie 1 Bu u value 20 21 E quee average va pren Format dec J 2140 Customer Memory MI Symbole Change Adjust Array Attributes View Style Write All Read All Delet
46. easuring Step Using the parameter Object 2130 sub1 Speed Calculation Multiplier it is possible for example to specify the circumference of a measuring wheel so that the position can be read out in mm This Object is used to adjust how the speed output occurs Under Object 2130 sub2 Speed Calculation Divisor a parameter is provided as the divisor for a unit factor Under Object 2130 sub3 Speed Average Value the number of measured values required to create the moving average is entered The maximum range of values is 1 32 These parameters have only influence at units per second Range of values see table _ 2130h Sub 1 Speed Calculation Multiplier Default setting 10 2130h Sub 2 Speed Calculation Divisor Default setting 10 2130h Sub 3 Speed Average Calc Value Default setting 10 Object 2140h Customer Memory 16 Bytes These 4 parameters constitute a memory area for the user 4 data words with a maximum of 4 bytes can be stored This area is not checked for content which means in effect that any format can be filed Data content Q Range of values Numeric alphanumeric ex Default setting 0 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 48 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 2150h Temperature History This Object can be used to read out the temperature Every 6 minute
47. es not support the LSS service or the Baudrate is not correct If namely the baudrate when supplied is not known the above mentioned communication sequence must be tested with all permissible CANopen baudrates until the device is found The Configure Node ID service is used to configure the new Node ID 0 11 Mess reserved ID The error code is included in the device response 0x11 sual eurer reserved code extension Error code 0 means success error code 1 means inadmissible Node ID the other error codes are reserved The error extension contains vendor specific information but is only valid for error code OxFF The baudrate is configured with the Configure Bit Timing Parameters service 0x13 Bit WELLE reserved timing entry Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 7 16 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr The standardized CANopen baudrates are listed in the following table Baudrate table 0x00 Table index Baudrate 0 1000 kbit s 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 reserved 6 50 kbit s 7 20 kbit s 8 10 kbit s Again the device response is Error Error 0x13 reserved code extension Error code 0 means success error code 1 means inadmissible baudrate the other error codes are reserved The error extension contains vendor specific information but is only valid for er
48. eset power on or by means of an NMT Reset Node command All other settings within the object table are however retained 3 External Preset The preset value can be restored by pressing the SET key The resulting position depends on the value programmed in Object 6003h 5 Default setting 0 as per illustration Hans Turck GmbH amp Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com 3 13 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 4 CANbus connection Bus connection with separate power supply and cable gland connection Undo both screws the bus cover and remove the bus cover from the encoder Feed the incoming bus cable through the left cable gland and connect it to the left orange terminal CH terminal CL and terminal CG see wiring diagram CAN Bus IN Place the cable shield onto the cable gland If further devices follow in the bus segment Run continuing cable through the right cable gland and connect to terminal CG terminal CH and terminal CL see wiring diagram CAN Bus Out Supply voltage Run the supply voltage for the encoder through the central cable gland and connect it to the terminals on the left V and OV Place the cable shield onto the cable gland see wiring diagram CAN Bus In Description from left to right Abbreviation Description Direction CAN High V UB
49. ing with a zero value before the device aborts the SDO download with abort code 0604 0043h General parameter incompatibility reason Heartbeat Producer Heartbeat Consumer s request indications Heartbeat Producer Time request Indication s Heartbeat Consumer Heartbeat Time indication One or more Heartbeat Consumer s can receive this Heartbeat message If the cyclic transmission of this Heartbeat message is missing then a Heartbeat Event is generated The Heartbeat Consumer device activates an emergency message with an error code 8130 Lifeguard or heartbeat error In operational state the heartbeat consumer device falls back in the preoperational state when a heartbeat error occurs This behaviour can be defined in Object 1029h Subindex 1 Communication Error Configuration example Object 1016 1 h Consumer Heartbeat Time MSB LSB Bits 31 24 23 16 15 0 Value reserved value 00h Mode ID heartbeat time Encoded as UNSIGNEDE UNSIGNED 16 Figure 62 Structure of Consumer Heartbeat Time entry Example Sendstring 00 07 1F4 0x000701F4 Observed device Node 07 Time 500 ms In the event of a Heartbeat fault an emergency message will send with following data Transfer Data 30 81 11 00 00 Errcode 8130 Life Guard or Heartbeat error Error Register 11 Error Register ManufacturerSpecific1 00 ICLG error register O A reset node of the consumer
50. mmands from the LSS Master Some configuration commands configure only one LSS slave at the time for example to change of CANopen node ID Some configuration commands configure multiple or all LSS slave nodes for example to change the baud rate Operation Mode A LSS slave in this mode ignores the configuration commands from the LSS Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 11 0214 User Manual Absolute Single Multiturn Encoders CANopen Industr 2 Initial Startup General Device Settings Devices with removable bus cover Baud rate The following baud rates are available to the user View into the opened k CANopen Baudrate 2 3 4 5 Software Baudrate 2100h kbit s otto 10 on or Torr 20 IIITTITITI or ow or s CE RCEIR E ERES or or ov or a us on or ors faso or ow ow or e 500 1000 1 Bus termination Of fof ON 1200hm Factory default setting The baud rate can be configured via of 4 DIP switches in the bus cover on the rear of the encoder It is also possible to change the baud rate using the Software at Object 2100h or using LSS Service Please note the following when selecting a baud rate The chosen cycle time see Object 1800h Sub index 5 Event Timer must be longer than the bus transfer time to en
51. municated ID will be requested The PDO messages could have the following structure Prozess Daten im Binarcode yu 3 7 PDO 3 Positionsv Positionswert Positionswert Geschwindigkeit Beschleunigung Flags Status byte of the Working area Object 6400h Speed 16 bit word Signed 3 Acceleration 16 bit word Signed Transmit PDO 1 is made up mapped from the 32 bit position values and the state of the Working area registers 6400h Transmit PDO 2 is made up from the 32 bit position values 16 bit soeed and 16 bit acceleration Transmit PDO 3 consists of the position as SYNC PDO All other PDO combinations with other objects are possible as long as the maximum of 8 byte data length is not exceeded Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 1 9 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Transmission of Service Data SDO COB ID The following identifiers are available as standard for the SDO services SDO tx Encoder Master 580h 1408 node number SDO rx Master gt Encoder 600h 1536 node number The SDO identifiers cannot be changed Kommando t Funktion Expedited Protocol 22h 500 Initiate Parameter an Drehgeber senden Download Request Datenlange max 4 Byte 23h SDDIrx Initiate Parameter an Drehgeber senden Datenlange 4 Byte Download Request 2
52. n Industr 28 Glossary Baudrate The baud rate is the data transfer rate It is linked to the nominal bit timing The maximum possible baud rate is dependent on numerous factors that affect the transfer time on the bus There is a significant connection between the maximum baud rate and the bus length and type of cable In CANopen the various baud rates are defined between 10 Kbit s and 1 Mbit s CANopen CANopen is a protocol based on CAN that was originally developed for industrial control systems The specifications contain various device profiles as well as the framework for specific applications CANopen networks are used in off road vehicles electronics on board ships medical equipment and the railways The very flexible application layer together with the many optional features is ideal for tailor made solutions Furthermore a wide variety of configuration tools are available On this basis the user is able to define device profiles that are specific to his application More information on CANopen can be found in the Internet at WWW can cia org EDS file The EDS Electronic Data Sheet is provided by the vendor manufacturer of the CANopen device It has a standardized format for describing the device The EDS contains information concerning Description of the file name version date programme was generated etc General information about the device manufacturer s name and code Device name and type Version LMT address Suppo
53. nary will have their values set On Power ON only the parameters in the section Communication Profile of the Object Dictionary will have their values set Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 23 51 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 24 LED Monitoring during operation green LED BUS state red LED ERR display yellow LED Diagnostics Annunciator LED Description Cause of error Addendum Bus No connection to the Data transmission line break Observe combination with ERR LED OFF C Master Incorrect baud rate If ERR LED is also OFF please check Inverted data line power supply Bus Connection to Master SDO communication flashing Q Pre operational state ca 250ms Bus Connection to Master SDO communication not possible flashing Stopped state Only NMT commands ca 1sec Bus Connection to Master PDO Transfer is active ON Operational state ERR Device working Observe combination with BUS LED OFF C normally ERR Connection to Master Combination with BUS status BUS LED green flashing or ON flashing Q interrupted is dependent on Object 1029h Error Behaviour ERR BUS OFF State Short circuit on the Bus or ON C Incorrect baud rate DIAG Device working Observe combination with OFF normally BUS status DIAG Internal error BUS LED green flashing or ON flashing Over temperature
54. ncoders CANopen Industr Object 2101h Node address This Object is used to change the node address via software The default setting is OxFFh which means that the hardware setting for the node address has priority After changing the node address it is necessary to save the parameters with object 2105h permanently in the EEPROM Data content Ys Range of values 1 127 or 1 7Fh N gt Default setting FFh The node number 0 is reserved and may not be used by any node The resulting node numbers T lie in the range 1 7Fh hexadecimal or 1 127 The acceptance of a new node number only becomes effective when the encoder is rebooted Reset Power on or by means of an NMT Reset Node command All other settings within the object table are however retained Object 2102h CAN bus termination OFF ON This Object can be used to set the bus termination via software By default the value is set to 0 which means that the hardware setting for the bus termination has priority After changing the node address it is necessary to save the parameters with object 2105h permanently in the EEPROM Data content as Range of values 0 1 Default setting 0 Termination on at Encoders with cable outlet and one M12 Connector Please note that when software termination is selected then the hardware settings are non operative and vice versa gt Object 2103h Firmware flash version This object is used to display the
55. nector or a cable connection for which changes to the device address and baud rate are software controlled The models with bus terminal cover and integrated T coupler allow for particularly easy installation bus and power supply are connected very simply using M12 connectors the device address is set by means of two hexadecimal rotary switches A further DIP switch is provided for setting the baud rate as well as for switching on a terminating resistor Three LEDs located on the back indicate the operating or fault status of the CAN bus as well as the status of an internal diagnostic CANopen encoders are available in blind hollow shaft and solid shaft versions and are ideal for use in harsh industrial environments thanks to their IP 65 protection rating The CANopen Communication Profile DS 301 V4 02 CANopen represents a unified user interface and thus allows for a simplified system structure with a wide variety of devices CANopen is optimized for the fast exchange of data in real time systems and possesses a number of different device profiles that have been standardized The CAN in Automation CiA manufacturers and users group is responsible for creating and standardizating of the relevant profiles CANopen offers user friendly access to all device parameters auto configuration of the network and of the devices device synchronization within the network cyclic and event driven process data exchange simultaneous read and write of data
56. ned 8 6401 ARRAY RW Working Area Low Limit O Unsigned32 6402 ARRAY RW Working Area High Limit O Unsigned32 6500 VAR RO Operating Status M Unsigned16 6501 VAR RO Measuring Step Singleturn M Unsigned32 6502 VAR RO Number of revolutions M Unsigned16 6503 VAR RO Alarms M Unsigned16 6504 VAR RO Supported alarms M Unsigned16 6505 VAR RO Warnings M Unsigned16 6506 VAR RO Supported warnings M Unsigned16 6507 VAR RO Profile and SW version M Unsigned32 6508 VAR RO Operating time M Unsigned32 6509 VAR RO Offset value calculated M Signed32 650A VAR RO Module Identification M Signed32 650B VAR RO Serial Number M Unsigned32 VAR Variable ARRAY Variable Array RW Read Write RO Read only const Constants Name Object Name Mandatory or Optional Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 20 38 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 21 Objects in detail Encoder Profile DS 306 Object 6000h Operating Parameters Bit 0 Code sequence 0 increasing when turning clockwise cw 1 increasing when turning counter clockwise ccw Default Bit 0 Bit 2 Scaling Function O disable 1 enable Standard Bit 1 s Object 6001 6002 Default Bit 1 Bit13 Speed Format RPM 1 Units second Default Bit 0 Bit14 Startup Mode after Bootup Pre Operational 1 after Bootup Operational mode
57. nsmit PDO Comm Par O PDOComPar 1802 RECORD 3 transmit PDO Comm Par O PDOComPar 1A00 ARRAY 1 transmit PDO Mapping Par O PDOMapping 1A01 ARRAY 27 transmit PDO Mapping Par O PDOMapping 1A02 ARRAY 3 transmit PDO Mapping Par O PDOMapping Manufacturer specific Objects 2100 VAR RW Baud Rate O Unsigned 8 2101 VAR RW Node number O Unsigned 8 2102 VAR RW CAN Bus Termination O Unsigned 8 2103 VAR RO Firmware Flash Version O Unsigned16 2105 VAR RW Save All Bus Parameters O Unsigned32 2110 VAR RO Sensor Configuration Structure O Unsigned8 2120 Array RW Sensor Test Data O Unsigned8 2130 Array RW Encoder Measuring Step O Unsigned16 2140 Array RW Customer Memory O Unsigned32 2150 Array RO Temperature History O Unsigned8 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 19 37 0211 User Manual Absolute Single Multiturn Encoders CANopen 20 CANopen Encoder Device Profile DS 406 Device specific Objects Industr A INDEX hex Object Symb ATTRIB Name M O C2 TYPE 6000 VAR RW Operating parameters M Unsigned16 6001 VAR RW Measuring Units per Revolution MUR M Unsigned32 6002 VAR RW Total Measuring Range TMR M Unsigned32 6003 VAR RW Preset value M Unsigned32 6004 VAR RO Position value M Unsigned32 6030 ARRAY RO Speed value O Unsigned16 6040 ARRAY RO Acceleration value O Signed16 6200 VAR RW Cyclic Timer M Unsigned16 6400 ARRAY RO Working Area state O Unsig
58. number l Manufacturer Specific Area 2100 Baud Rate aec pe vet Data type 6 cc Node number Access Readwrite 21702 bus Termination Default 10 E 2103 Firmware Flash Version H 2110 Sensor Configuration Structure um 2120 Sensor Test Data E C 2130 Encoder Measuring steps eee 2130 0 Number of subindex if pu C 2130 1 Position Measuring wal H 2130 2 Speed measuring step C 2130 3 Speed average m F zannect Write Read Adus Array Attributes View Style Write All Read All Delete New Format hex T Symbolic Eharge Abbrechen bernehmen Hilfe The speed is calculated using the following formula Change of position Speed x unit factor Integration time A parameter under Object 2130 sub2 Speed Measuring Step is available as a divisor for a unit factor Enter under Object 2130 sub3 Speed Average Value the number of measured values needed to create the moving average of the speed The maximum range of values is 1 32 The speed output occurs either as RPM or as the number of steps per second in Object 6000h Bit 13 Using the parameter Object 2130 sub1 Speed Calculation Multiplier it is possible for example to specify the circumference of a measuring wheel in order to influence the speed Important notice All these adjustments to the object 2130h have only influence to the s
59. of Object 1010h store parameters Data stored in the EPROM will be over written If errors have occurred during programming of the objects and if these parameters are then saved in the EEPROM it will not be possible to address the encoder next time it is switched on the encoder will send only Emergency messages This error can be cleared only by means of a general Reset of the encoder 9 General Reset of the device Please note that all programed parameters will be lost Switch the encoder off Turn the encoder back on and keep the Set key pressed for approx 3 seconds until the DIAG LED flashes Switch the device off again After rbooting the encoder the default settings are restored again in exactly the same way as sending Object 1011h Restore Parameters only applies to devices with external SET key otherwise please return device to factory Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 9 19 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 10 Communication Parameters The COB ID and the Transmission Type for PDO1 are defined in the Object Dictionary Index 1800h Ax Object Dictionary Device State Configuration Storage E 1012 COB ID Time Stamp 1013 High resolution time stamp Transmission ype n Object type War 1017 Producer heartbeat time Bats sa e
60. on the device producing this heartbeat Monitoring starts after the reception of the first heartbeat If the consumer heartbeat time is O the corresponding entry is not used The time has to be a multiple of 1 ms max 65535 ms MSB LSB Bits 31 24 23 16 15 0 Value reserved value 00h Node ID heartbeat time Encoded as UNSIGNEDE UNSIGNED 16 Figure 62 Structure of Consumer Heartbeat Time entry OBJECT DESCRIPTION INDEX 1016h Consumer Heartbeat Time Object Code ARRAY Data Type UN SIGNEDS2 Category Optional ENTRY DESCRIPTION oub lndex Description number entries Entry Category Mandatory Access PDO Mapping No Value Range 1 127 Default Value Sub Index 1h Description Consumer Heartbeat Time Entry Category Mandatory Access PDO Mapping Ma Value Range UNSIGNED32 Figure 62 Default Value oub Index 2h TFh Description Consumer Heartbeat Time Entry Category Optional Access nu PDO Mapping Value Range UNSIGNED32 Figure 62 Default Value O 2 devices are supported with Node ID and Heartbeat Time Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 16 33 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr At an attempt to configure several consumer heartbeat times unequal 0 for the same Node ID or to reconfigure a node without an eras
61. onfiguration Storage ps 1013 High resolution time stamp 1 Mapped Object bem 1017 Producer heartbeat tine I 1018 IdentityObject yee es 1029 Error Behaviour Access Ready rite Jh 1400 001 Parameter Default 060040020 1600 Receree PD Mapping Cy 1800 T PBUOT Communication C 1801 TsPOO2 Communication Para C 1802 T FDO3 Communication Para Cl 1 00 TPDD1 Mapping 80040020 e f 1800 0 Mr fEntries ee C 12001 1 Object f 1200 2 2 Mapped Object UT Ehange zanrect Write Bead dus Aray Attributes View Style write All Read All Delete New Abbrechen bernehmen Hilfe Farmat hes e ex The default setting for the Mapping of the Transmit PDO Mapping TPDOT 1 Mapping 0x60040020 0x60040020 0 60300110 Object 6004 6004h 6030h o Jo jo Data length 20h 32 Bit 20h 32Bit 10h 16Bit Asynchron Synchron Asynchron The CANopen encoder supports variable mapping on all 3 Transmit PDOs Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 10 23 0211 User Manual Absolute Single Multiturn Encoders CANopen 11 Application Programming Example Setting up Objects Total Measuring Range to 36000 Measuring Units per Revolution should be set to 3600 steps per revolution Position Value should be set to 0 TPD
62. pecific4 ManufacturerSpecific5 Emergency Protocol 09 42 09 80 56 20 50 2E 4200 Temperature threshold value of the sensor exceeded Error Register 80 56 20 50 2E ICLG error register ICLG instantaneous temperature ICLG current threshold lower range ICLG current threshold upper range ICLG versions register An unconfirmed Service message is defined Error Codes Error Code Error register 5200 01 4200 01 5300 01 8110 11 8120 11 8130 01 FFOO 01 BYTE 3 09 81 45 07 81 A8 20 A2 00 00 00 00 00 Byte4 BYTE5 Byte6 Byte7 Remarks 81 81 00 45 00 00 ICLG Optic Failure ICLG Error Mask Register ICLG Error Register A8 20 A2 System Temperature Error ICLG Error Register ICLG Temperature Register ICLG Temperature Lower Reg ICLG Temperature Upper Reg 00 00 00 ICLG Gear Error CAN Overrun Error CAN Passive Error Mode Life Guard or Heartbeat Error Watchdog Error The behaviour in the case of an error is described in Object 1029h Error Behaviour Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 15 32 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 16 Heartbeat Protocol Consumer Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured
63. peed calculation at units sec Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 12 29 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 13 Example programming a speed output Speed display in Units Sec Number of measured values to create average value 32 Divisor for speed output units sec 20 ee 11 Object Dictionary Device State Configuration Storage Output Speed Format Unit sec Ch 1a00 TPDO1 Mapping Operating Parameters _ gi CJ 1301 TPDO2 Mapping ius Bit 13 in Object 6000h must be set to 1 BD CJ 1a02 TPDO1 Mapping Object type E Data type Ulnt16 C 180 Startup Autonomously Access Readwrite eem A E Profile Area Default 4 0x2004 signifies Bit13 1 Unit sec f 6000 Operating Parameters Low limit 0 0 GUT Meer nes nection High limit 0x7 Bit 2 1 Scaling enabled 1 6002 Total Measuring Range f 6003 Preset Value f 6004 Position Value 02004 Cy 6030 Speed Value 1 Sh 6040 Acceleration Value Format hex 1 6200 Cyclic Timer Symbolic Change Connect Write Read Adjust Array Attributes View Style Write All Read All Delete New Abbrechen bernehmen Hilfe BL Object Dictionary Device State Configuration Storage 5 8 Manufacturer Specific Area 4 Speed average value number Speed Avera g
64. pends on the settings of Object 2130h These values affect the calculation and the result Data content Range of values 0 maximum speed 15000 RPM O With values greater than 12000 RPM a warning message will be sent and the Warning Bit Overspeed Bit 0 in the Object Warnings 6505h will be set Parameters that may also effect this Object are mentioned in 2130h Object 6040h Acceleration Value The encoder outputs the current calculated acceleration correctly signed as a signed 16 bit value The acceleration is calculated from the changes in speed and thus depends also indirectly on the settings of Object 2130h These values affect the calculation and the result Data content Range of values 0 maximum acceleration O Negative values signify a negative acceleration the speed drops An average acceleration a is the time change of the speed v and can thus be described formally as the derivative speed with respect to time t here an average acceleration is calculated from the difference of the speeds Av at 2 different points in time At t2 t1 a Av At ora v2 v1 t2 t1 Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 21 41 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Object 6200h Cyclic Timer Defines the cycle time with which the current position will be output by means of PDO 1 see Object 1800h
65. r layer 7 in the CAN Communication Model CAN Controller Area Network CiA CAN in Automation International Association of Users and Manufacturers of CAN products CMS CAN Message Specification Service element of CAL COB Communication Object Transport unit in the CAN network CAN message Data will be sent over the network within a COB COB ID COB Identifier Unique identifier of a CAN message The identifier defines the priority of the COB in the network DBT Distributor Service element of CAL responsible for the dynamic allocation of identifiers DS Draft Standard DSP Draft Standard Proposal ID Identifier see COB ID LMT Layer Management Service element of CAL responsible for the configuration of the parameters in the individual layers of the communication model LSB Least significant bit byte MSB Most significant bit byte NMT Network Management Service element of CAL responsible for the initialization configuration and error handling in the network OSI Open Systems Interconnection Layer model for describing the function areas in a data communication system PDO Process Data Object Object for the exchange of process data RTR Remote Transmission Request Data request telegram SDO Service Data Object Communication Object by means of which the Master can access the Object Dictionary of a node SYNC Synchronization telegram Stations on the Bus reply to the SYNC command by transmitting their process value Hans
66. rechen bernehmen Hilfe Set the values of Transmit Parameters TPDO1 and TPDO2 Type 254 means that the event will be triggered depending on the application whereas number 255 depends on the device Additionally for Numbers 254 255 a time controlled EventTimer can be used The values for the timer can range from 1ms 65535 ms Pie 55 xl 02 Communication Parameter COB ID Valid allowed 24 Bit Ibertragungsart Asynchronous device profile rl No of SYNCs 55 Inhibit Time lo c Event Timer jo Abbrechen Help Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 11 25 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Producer Heartbeat set to 500 ms Object Dictionary Device State Configuration Storage 100a Softwareversion 4 Producer heartbeat time 1006 GuardTime f 100d LifeTimeFactor EU Data type H Ca 1010 Store Parameters 1011 RestoreD efaultParameters Default C 1012 COB ID Time Stamp C 1013 High resolution time stamp 1017 Producer heartbeat time H 1018 Identit Object H Cl 1029 Error Behaviour 500 Bh CJ 1400 ReceivePDO1 Parameter 1600 ReceivePDO1 Mapping Format dec 1800 Communication isk Symbolic Change Kanneet w
67. rite Read Adjust Ta Attributes View Style Write All Read All Delete New Abbrechen bernehmen Hilfe Set Work Area low and high limit values Object Dictionary Device State Configuration Storage E 6001 Measuring Units per Rev 4 Work area high limit channel 1 6002 Total Measuring Range Object type Var BOOS Preset Value Bets tice p t 5004 Position Value esas Feadwrite H 6030 Speed Value Default Ox2000000 6040 Acceleration Value E200 Cyclic Timer Bb ry E400 Work area state fe 5401 Work area low limit E Cl 6402 Work area high limit 6402 0 Number of Channels C 402 1 Wok area high limit Format ias 64022 Work area high mn Son Chen Connect airite Read Adjust aay Attributes View Style Wribe All Read All Delete 35008 Abbrechen bernehmen Hilfe Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 11 26 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Save all modified parameters in the EEPROM Store Parameters 1010h Object Dictionary Device State Configuration Storage Ei C 1006 ComCyclePenod 4 Save all Parameters ow G 1007 SynewindowLen FY 1008 Device ame ty war Data Units ew p 1003 Hardwareversion sciens E
68. ror code OxFF Now that the node ID and the baudrate are configured these settings should be saved with the Store Configuration service 0x17 reserved Whereupon the device acknowledges Error Error 0x17 reserved code extension Error code 0 means success error code 1 means that the device does not support saving error code 2 means that there is a problem with access to the storage medium the other error codes are reserved The error extension contains vendor specific information but is only valid for error code OxFF Finally the device is switched back from configuration mode to normal mode via Switch Mode Global 0x04 0x00 reserved After being switched physically off and on again the device now works with the new settings Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com 7 17 0211 User Manual Absolute Single Multiturn Encoders CANopen 8 Default settings on delivery Encoders with bus housing Description Setting Switch Software s 250 Kbit s 63 OFF Encoders with cable outlet and one CAN connector Description Setting Switch Software _ EE _ 250 Kbit s 63 Communication parameter Index hex Name Standard value COB ID Sync Guard Time Life Time Factor C COB ID Time stamp High Resolution time stamp o S Consumer heartbeat time Producer heartbeat time od Error Behaviour
69. rted baud rates as well as boot up capability Description of the attributes of supported Objects Node number Every device within a CANopen network can be identified by its node number Node ID The permitted range for node numbers is from 1 to 127 and each may only occur once within a network Network Management In a distributed system various tasks arise that have to do with the configuration initialization and control of stations on the network This functionality is provided in CANopen by the defined service element Network Management NMT PDO The Process Data Objects PDOs provide the actual transport means for transferring the process data Application Objects A PDO is transmitted by a Producer and can be received by one or more Consumers PDO Mapping The size of a PDO can be up to 8 byte It can be used to transport several Application Objects PDO Mapping describes the definition of the structure of the Application Objects within the data field of the PDO SDO The confirmed transfer of data of any length between two stations on the network occurs via Service Data Objects SDOs Data transfer takes place in the Client Server mode Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 28 56 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Hans Turck GmbH amp Co KG Witzlebenstra e 7 45472 M lheim Ruhr
70. s the temperature currently occurring in the device will be stored under Object 2150 sub1 Last Stored Temperature The maximum and minimum temperatures are stored under Object 2130 sub2 and sub 3 The maximum range of values is 1 256 Data content A value of 0x50 corresponds to ca 20 C O A value of 0x40 corresponds to ca 0 C A value of 0x90 corresponds to ca 85 C 2150h Sub 1 Last Stored Temperature Default setting 0x50 2150h Sub 2 Temperature maximum Val Default setting 0x50 2150h Sub 3 Temperature minimum Val Default setting 0x50 2150h Sub 4 Flag Byte Default setting 0 Object 1029h Error Behaviour If a serious error is detected then the device should automatically switch to Pre Operational mode The settings in this Object can be used to determine how the device is to behave when an error arises The following error classes are covered 1029h Subindex 1 Communication Errors Bus Off state of the CAN interface Life guarding event has occurred Heartbeat monitoring has failed 1029h Subindex 2 Device Profile Specific Sensor error and Controller error Temperature error 1029h Subindex 3 Manufacturer Profile Specific internal Controller error The value of the Object classes is put together as follows Range of values 8 bit Pre Operational Mode only if Operational Mode was active before 1 nochange of mode 2 Stopped Mode 3 127 reserved Objects not mentioned All Objects not mentioned here
71. sure that the PDOs are communicated error free With a baud rate of 10 KBaud cycle time must be at least 14 ms With a baud rate of 20 KBaud cycle time must be at least 10 ms With a baud rate of 50 KBaud cycle time must be at least 4 ms With a cycle time 0 in Event Mode i e PDO on value change the baud rate must be at least 125 KBaud Termination The bus termination is hardware configured by means of DIP switch 1 in the bus cover on the rear of the encoder or by Software in object 2102h Once the CAN bus has been looped through it must be terminated between CAN and CAN at both ends using 120 ohm bus termination resistors Hans Turck GmbH amp Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 Fax 0208 4952 264 www turck com 2 12 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Node number Setting the node number for the address using both rotary switches View into the opene ary switch for high order address x10 nge of values 1 7 maximum 7Fh Default setting vo 3Fh corresponds to 63 decimal A N It is also possible to change the node number using the Software at Object 2101h or using LSS Service Node number 0 is reserved and must not be used by any node The resulting node numbers lie in the range 1 7Fh hexadecimal 1 127 decimal The acceptance of a new node number only becomes effective when the encoder is rebooted r
72. to manufacturer for flashing of yellow and red EEPROM servicing LEDs EEPROM faulty Bus Diag LSS Mode activated Waiting to any command LSS Mode Fast flashing O Global configure mode General RESET Switching the device on with the SET Key pressed Annunciator LED Description Cause of error Addendum Diag Yellow LED flashes Diagnostic mode Device is ready for diagnostics flashing quickly Switch the encoder off Turn the encoder back on keeping the Set key pressed for ca 3 seconds the yellow LED flashes Switch the device off again When the encoder is rebooted all values will be reset to their default settings in exactly the same way as sending Object 1011h Restore Parameters Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 24 53 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr 25 Definitions Explanation of Symbols This symbol highlights those parts of the text to which particular attention must be paid This is to ensure correct usage and to eliminate danger This symbol provides important advice concerning the proper handling of the encoder Non observance of this advice can lead to malfunctions of the encoder or in the vicinity This symbol refers to a special characteristic op C By Factory default setting of the parameter e 26 Abbreviations used CAL CAN Application Layer Application laye
73. ub index Byte 0 6Ch ASCII Code for Byte 1 6Fh ASCII Code for o Byte 2 61h ASCII Code for a Byte 3 64h ASCII Code for d Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr e Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 11 27 0211 User Manual Absolute Single Multiturn Encoders CANopen Industr Communication Profile further objects Object 1018h Identity Object Information concerning the vendor and the device z Object Dictionary Device State Configuration Storage m 100c GuardTime 4 ID pu 100d LifeTimeFactor E E 1010 Store Parameters Sue Data type Unite EH Jh 1011 RestoreD etaultParameters Access ReadOnly ee FY 1012 COB ID Time Stamp Default ee 1015 High resolution time stamp 1 1017 Producer heartbeat time i 1018 IdentityO bject PO Re d 1019 0 Nr fElements 1015 1 Yencor ID p 1018 2 Product Cade 1018 3 Revision Number Format hes iss 1018 4 Serial Number Pa Stele Change zanriect Write Read adus Array Attributes View Style Wt rite All Read All Delete Mew Abbrechen bernehmen Hilfe A 3 1018 RECORD Device Identification read only Sub Index Oh Number of Sub indices supplies the value 4 Sub Index 1h read only supplies the Vendor ID 000000013h Hans Turck GmbH amp Co KG Sub Index 2h supplies the Product Code e g 0x58682001
74. y TOTS IdentityObject Access Read rite gt 1029 Error Behaviour Default 259 1400 Parameter Ch 1600 1 Mapping Ch a T PD01 Communication Para mM Format hex Symbolic Ehange kanneet arte Bead Adus aray Attributes View Style Write All Head All Delete New Abbrechen bernehmen Hilfe S Default settings Enabling PDO enabled RTR allowed COB ID 180h node number set here 11h Transmission type 255 asynchronous acc to device profile Event Timer 20 ms 4 T FOOT Communication Parameter COB ID V alid allowed Iv 23 Bit bertragungsart Asynchronous device profile rl No of SYNCs 55 Inhibit Time p c E vent Timer 0 Abbrechen Help Hans Turck GmbH 8 Co KG WitzlebenstraBe 7 45472 M lheim Ruhr Germany Tel 0208 4952 0 e Fax 0208 4952 264 www turck com 10 20 0211 User Manual Absolute Single Multiturn Encoders CANopen The COB ID and the Transmission Type for PDO2 are defined in the Object Dictionary Index 1800h 2x Object Dictionary Device State Configuration Storage zanriect write Read View Style Wire All Head All E 1013 High resolution time stamp f COBAD H 1017 Producer heartbeat time I 1018 IdentityObject due Ch 1029 Error Behaviour ee a 1600 ReceweFD0O1 Mapping 1800 Communication

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