Operating Instructions - TWK
Contents
1. Value description Serial Number Object 650BH is the serial number As this is not currently supported it is preassigned with FF FF FF FFH Index 650BH Name Serial Number Object Code VAR Data Type unsigned32 Object Class C2 Mandatory Access ro Value Range unsigned32 Default Value FFFF FFFFH 50 TWK 11 Encoder Profile 11 3 Manufacturer specific Profile Area Index Object Object Name Type Attr C1 C2 hex Code 2000 VAR Node ID Plug Version unsigned8 rw m 2001 VAR Baudrate Plug Version unsigned8 rw m 11 3 1 Object 2000H Node ID Plug Version Object 2000H Object description Value description Node ID Plug Version Changing the node ID for the plug version is carried out via object 2000H The new node ID only becomes valid following storage Save see object 1010H and subsequent encoder resetting On delivery the following values are set as defaults Node ID 1 Baudrate 20 kBaud Note Changes to objects 2000H and 2001H have no effect in the case of the connecting cap version The values set in the cover are primarily valid Index 2000H Name Node ID Plug Version Object Code VAR Data Type unsigned8 Access rw Value Range Default Value unsigned8 01H Plug Version 54 TWK 11 Encoder Profile 12 Default Values for Programming Parameters 11 3 2 Object 2001H Baudrate Plug Version Object 2001H Baudrate Plug Version Changing the Baudrate for the plug version is carrie2. ewe e p eae h B p empeawe n 4 communication error yes overrun error state 5 Jo device profi specific p e resenea p e manucure specif Default value 00H no error E E TWK 10 Communication Profile 10 3 Object 1002H Manufacturer Status Register Object 1002H Object description Value description Description Manufacturer Status Register This object is the manufacturer status register Index 1002H Name Manufacturer Status Register Object Code VAR Data Type unsigned32 Access ro Value Range unsigned32 Default Value 00H Not further supported at present 18 TWK 10 Communication Profile 10 4 Object 1003H Predefined Error Field Object 1003H Object description Value description Example Predefined Error Field The device errors are entered into object 1003H Subindex 00H Number of Errors stored max 1 Subindex 01H Each new error is stored under subindex 01 The error display is deleted by writing the value zero into subindex 00H only when the error state has been eradicated Index 1003H Name Predefined Error Field Object Code Array Data Type unsigned32 Sub Index 00H Description Number of Errors Access rw Value Range unsigned8 Sub Index 01H Description Standard Error Field Access ro Value Range unsigned32 Default Value 00H e g EEPROM error Error register 1001H 0x
3. 1 see above 2nd Transmit PDO Asynchronous Transmission Mapping Object 1A02H contains the parameters for mapping the 2nd TxPDO In our case this is the position value parameter Index Name Object Code Data Type Sub Index Description Access Value Range Sub Index Description Access Value Range Designation Number of mapped objects Position value 34 1A02H 2nd Transmit PDO Asynchronous Transmission Mapping RECORD PDOMapping 00H Number of mapped objects default 1 ro unsigned8 01H Position value ro unsigned32 Default value 1 60040020h 11 Encoder Profile 11 1 Encoder Parameters Encoder parameter overview 11 Encoder Profile Index Object Object name Type Attr C1 C2 hex code 6000 VAR Operating parameters unsignedi6 rw m o mo 6001 VAR Single turn resolution unsigned32 rw m 6002 VAR Total measuring range in measuring units unsigned32 rw m 6003 VAR Preset value unsigned32 rw m 6004 VAR Position value unsigned32 ro m 6200 VAR Cyclic Timer unsignedi6 rw m 6400 ARRAY Area State Register unsigned8 ro o 6401 ARRAY Work Area low limit integer32 rw o 6402 ARRAY Work Area high limit integer32 rw o 11 1 1 Object 6000H Operating Parameters Object 6000H Operating Parameters The encoder s operating parameters are set under object 6000H operating parameters Operating parameters are the code sequence CW CCW encoder diagnostics yes no release of the scaling function The
4. EE TEE eege ee 13 9 4 Message Objects and Function Codes cccccsssssssceceeeecsssnseeeeeeeessenneeeeeeeseees 13 9 5 The Command Byte describes the Type of SDO Message sssssseeeseseeeereeeeeen 14 9 6 Examples of Service Data ODJeets eo ere ti then ules cd dtedsanaes 15 Communication Profile gebiertege ee om e e e Od 16 34 10 1 Object 1000H Device Type osuere eo ERE rn err Ce euo wis ette a en Ep ce eee E pres 16 17 10 2 Object 1001H Erreeche bre Bone ar nen nln did 17 10 3 Object 1002H Manufacturer Status Register sssssesssseneeneesnrresrrrrserrrrnrrrnnerrrne 18 10 4 Object 1003H Predefined Error Field 19 10 5 Object 1004H Number of PDOs supported uk 20 10 6 Object 1005H COB ID SYNC Message ue 21 10 7 Object 1006H Communication Cycle Period sssssseeeee 22 mse Table of contents 10 8 Object 1007H Synchronous Window Length sessesssussse 22 10 9 Object 1008H Device Name ocn wien 23 10 10 Object 1009H Manufacturer Hardware Version ccccccceessssteeeeeeeees 23 10 11 Object 100AH Manufacturer Software Version sesessssssss 24 10 12 Object TOOBH Neger EE ioi rei b He lad RERO UR RO eU 24 10 13 Object 100CH Guard Time EE 25 10 14 Object 100DH Life Time Factor 25 10 15 Object 100EH Node Guarding Identifier A 26 10 16 Object 100FH Number of SDO s supported sessssssssss 26
5. 27 10 17 Object 1010H Store Parameters Au 27 10 18 Object 1011H Restore Default Parameters nnnsnnnsneeeenennnnnensenennnnnneeeena 28 10 19 Object 1014H COB ID Emergency Message sssnnessnreseerrserrrn eerren 29 10 20 Overview of Transmission Types ANEN 29 10 21 Object 1800H 1st Transmit PDO asynchronous transmission 30 31 10 22 Object 1A00H 1st Transmit PDO asynchronous transmission Mapping 32 10 23 Object 1802H 2nd Transmit PDO synchronous transmission 33 10 24 Object 1A02H 2nd Transmit PDO asynchronous transmission Mapping34 11 Encoder te UE 35 11 1 lee an 35 11 1 1 Object 6000H Operating Parameters AAR 35 36 11 1 2 Object 6001H Measuring Units per Revolution 36 11 1 3 Object 6002H Total Measuring Range ENEE 37 11 1 4 Object 6003H Preset Valle geiergert 38 11 1 5 Object 6004H Position UE 38 39 11 1 6 Object 6200H Cyclic Timer iiie oc duer 39 11 1 7 Object 6400H Area State Register ANEN 40 11 1 8 Object 6401H Work Area low limit seeseeenem 41 12 13 14 Table of con 11 1 9 Object 6402H Work Area high limit 0 00 2 eee eeeeeeeeeeeeeeeeeeeetaeeeeeeees 42 11 2 Encoder Diagnose 43 11 2 1 Object 6500H Operating Status EEN 43 11 2 2 Object 6501H Single Turn Resolution ssessssnesssennsssrrnserenneernnnesrerensnne 44 11 2 3 Object 6502H Number of distinguishable Revolutions 44 45 11 2 4
6. 6502H 6503H 6504H 6505H 6506H 6507H 6508H 6509H 650AH 00H 01H 00H 01H 00H 01H 02H 03H 01H 02H 03H 00H 01H 01H 01H 00H 01H 00H 01H 00H 01H 12 Default Values for Programming Parameters Node ID Guard Time Life Time Factor Node Guarding Identifier Number of SDOs supported Store Parameters Largest supported Subindex Save all Parameters Restoe Default Parameters Largest supported Subindex Restore all Default Parameters COB ID Emergency Message 1st Transmit PDO Number of supported Entries Cob ID used by PDO1 Transmisson Type Inhibit Time 2st Transmit PDO Number of supported Entries Cob ID used by PDO2 Transmisson Type Inhibit Time 1st Transmit PDO Mapping Number of mapped Objects Position Value 2nd Transmit PDO Mapping Number of mapped Objects Position Value Operating Prameters Measuring Units per Revolution Total Measuring Range in Measuring Units Preset Value Position Value Cyclic Timer Area State Register Number of available Channels Work Area State Channel 1 Work Area Low Limit Number of available Channels Work Area Low Limit Channel 1 Work Area High Limit Work Area High Limit Channel 1 Work Area High Limit Channel 1 Operating Status Single Turn Resolution Number of distinguishable Revolutions Alarms Supported Alarms Warnings Supported Warnings Profil and Software Version Operating Time Offset Value Module Identification Manufacturer Offset
7. Range e g 0x5 Parameter structure MSB LSB reserved reserved reserved Node ID Description The node ID may assume values from 1 to 64 In the case of the connecting cap version the node ID value is calculated as follows Node ID DIP switch value 1 In the case of the plug version the node ID is changed via the object 2000H 24 TWK 10 13 Object 100CH Guard Time Object 100CH Object description Value description Guard Time 10 Communication Profile Contains the guard time in ms The life time factor object 100DH multiplied by the guard time reveals the life time for node guarding Index Name Object Code Data Type Access Value Range Default Value 10 14 Object 100DH Life Time Factor Object 100DH Object description Value description Life time factor 100CH Guard Time VAR unsigned16 rw unsigned16 OH The life time for node guarding is revealed when the life time factor is multiplied by the guard time Example Guard time Life time factor 100 ms 5 The guard time of 100 ms allows the nodes in the network to expect a guard frame from the master every 100 ms The frequency with which a guard frame from the master may be omitted without an error state s being recognised is set for each module via the life time factor In this example the relevant time would therefore be 500 ms The omitted message would only be correspondingly evaluated after 500 ms Index Nam
8. Remote Node stop the CANopen node 3 Enter Pre Operational switch to pre operational 4 Reset Node reset the entire CANopen node 5 Reset Communication reset CANopen node communication 6 Initialisation finished initialisation terminated automatic change of state to pre operational In this case it must be noted that the state Prepared must not be used on Boot up The individual states can be described as follows Initialisation Initial state following application of the supply voltage After running through the initialisation routines the encoder automatically switches to Pre Operational state Pre Operational The node can be addressed via SDO messages under the standard identifier The encoder and communication parameters can be programmed Operational The encoder is active The position value of the encoder is output via the PDOs Prepared In this state the node is no longer active i e both SDO and PDO communication are impossible The encoder can be set to the Operational or Pre Operational state via the corresponding NMT commands The most simple method of starting an encoder as a CANopen subscriber is to execute the Start Remote Node service In doing so the encoder is brought into its Operational state TWK 4 Network Management 5 Node Guardin 4 2 Description of the NMT Commands The NMT object is structured as follows COB ID 0 Command byte Node ID cs If a 0 is entered for t
9. Value Manufacturer min Position Value p 0x1 0x0 0x0 700H Node ID 0x1 0x1 0x65766173 store 0x1 0x64616F6C restore 80H Node ID 0x3 180H Node ID OxFE 0x0 0x3 280H Node ID Ox1 0x0 Ox1 0x60040020 Ox1 0x60040020 0x0 0x1000 0x2000 0x1000000 0x2000000 0x0 OxXXXX 0x0 0x1 0x0 0x1 0x FFFFF 0x1 0x1F00000 0x0 0x1000 0x2000 0x1000 0x0 0x7000 0x0 0x20 OxFFFFFFFF OxXXXXX 0x0 OxFFFFF 12 Default Values for Programming Parameters 13 Store Parameters Object 1010H 14 Literature 02H Manufacturer max Position Value Ox1F00000 650BH Serial Number OxFFFFFFFF 2000H Node ID Plug Version 0x1 2001H Baudrate Plug Version 0x0 13 Store Parameters Object 1010H The following parameters are stored via object 1010H Designation TX PDO1 Identifier TX PDO2 Identifier EMCY Identifier SYNC Identifier NMT Life Guarding Identifier TX PDO 1 enabled TX PDO 2 enabled Node Number Baudrate TX PDO1 Transmission Type TX PDO2 Transmission Type TX PDO1 Inhibit Time TX PDO2 Inhibit Time Encoder Code Sequence Scaling Function Control enabled Units Function Control enabled Range Function Control enabled Preset Function Control enabled Measuring Units Measuring Range Scaled Resolution Preset Value Calculated Offset Preset Value Cyclic Timer Work Area Low Limit Work Area High Limit EEPROM Valid Flag EEPROM Checksum 14 Literature Object Index
10. as the Process Data Object The fundamental characteristics of PDO and SDO are compared in the following table 5 CDA 3 CANopen Scope of the TWK Encoder Process Data Object PDO Is used for real time data exchange Is typically a high priority message Can be transmitted both synchronously and asynchronously Both cyclical and acyclical message transmission are possible The data content of the PDO is defined in the object directory and can be configured via an SDO Data field format is specified Service Data Object SDO No real time data exchange Enables access to any desired object directory entry The SDO makes a peer to peer communication channel available Is generally a low priority message Transmission is typically asynchronous and is confirmed with a service Acyclical transmission Transmission is initiated by the client Use of the data field is determined by the CMS Multiplexed Domain Protocol Access to an object directory entry of a device is carried out by specifying index and subindex direct addressing 3 CANopen scope of the TWK Encoder According to Device Profile DS 406 NMT slave One SDO per communication direction for accessing Two PDOs per communication direction the object directory PDO modes synchronous asynchronous Identifier setting via Node ID default PDO ldentifier can be adjusted via SDO COB ID distribution default SYNC message EMERGENCY m
11. g Id 702 DLC R1 Data 0 see CANalyzer within the life time 3rd response Data 05H 4th NMT guarding e g Id 702 DLC R1 Data 0 see CANalyzer not within the life time 4th response Data FFH Encoder independently switches into Pre Operational state Changes in state on failure of guarding Prepared gt Pre Operational Operational gt Pre Operational Pre Operational gt Pre Operational BRA T 6 Bus Synchronisation 7 Emergency Message supported Error Codes 6 Bus Synchronisation The CANopen communication profile enables the synchronisation of subscribers in the bus In this case the SYNC message also see object 1005H default value 80H serves to provide synchronisation between the various bus subscribers In the case of real time applications certain procedures must be time synchronised and must run in certain pre specified time windows The time between two SYNC telegrams is described as the communication cycle Within a communication cycle differentiation is made between the report window actual values e g actual encoder position values I O module and command window nominal values or initial values e g commands to drives actuation command for actuators time windows The nominal values and commands become actual in the case of the next SYNC telegram Following the SYNC window low priority messages are able to access the bus Communication Cycle Period 3 synchronous windows length SYNC SYNC Messa
12. the necessity of equipping encoders with this interface The basic prerequisites for the rapid expansion of the CAN bus in industrial use have been the positive examples of application within the automobile industry and the availability of inexpensive ICs from various manufacturers The CANopen profile has been developed on the basis of the CAN Application Layer CAL also see OSI model This CAL based communication profile for industrial systems is defined in CiA Draft Standard 301 At this point it should be mentioned that other profile definitions e g DeviceNet SDS CANKingdom etc are available on the market in addition to the CANopen profile The profile definitions for various devices have been drawn up according to the CANopen definition The Device Profile for Encoders in CiA Draft Proposal 406 has been adopted for encoders The TWK encoder has been developed on the basis of the existing standard In each case Class 1 and Class 2 functionality have been implemented The latter contains the programmable version for encoders The profile is described in detail in the operating instructions The prerequisite however is exact knowledge of the CAL and the CANopen profile 2 CANopen Communication Profile The different communication objects and communication services and the different start and stop conditions for message transmission within a CANopen network are described in the DS 301 CANopen Communication Profile CANopen suppo
13. unsigned32 Value description Access rw Value Range unsigned32 Default Value OH Se TWK 10 9 Object 1008H Device Name Object 1008H Device Name 10 Communication Profile Object 1008H contains the manufacturer specific device name Object description Index Name Object Code Data Type Access Default Value Value description 1008H Manufacturer Device Name VAR Visible String ro Encoder CRN 10 10 Object 1009H Manufacturer Hardware Version Object 1009H Manufacturer Hardware Version Object 1009H contains the hardware version number Object description Index Name Object Code Data Type Access Default Value Value description 23 1009H Manufacturer Hardware Version VAR Visible String ro e g 01 00 mea 10 Communication Profile 10 11 Object 100AH Manufacturer Software Version Object 100AH Manufacturer Software Version Object 100AH contains the software version number Object description Index 100AH Name Manufacturer Software Version Object Code VAR Data Type Visible String Value description Access ro Default Value e g 01 40 10 12 Object 100BH Node ID Object 100BH Node ID Object 100BH contains the node ID Access to the node ID entry is of the read only type and cannot be changed via SDO This entry provides the value which is stored in EEPROM Object description Index 100BH Name Node ID Object Code VAR Data Type unsigned32 Value description Access ro Value
14. 409 1535 6 SDO rx 1100 601 67F 1537 1663 6 7 Nodeguard 1110 701 77F 1793 1919 100E 13 TWK 9 The Object Director 9 5 The Command Byte Describes the Type of SDO Message see examples for SDOs Command in hex 22 23 2B 2F 60 40 43 4B 4F 80 Type SDO rx Function Transmit parameter to encoder Initiate download request data length max 4 bytes SDO rx Transmit parameter to encoder Initiate download request data length 4 bytes SDO rx Transmit parameter to encoder Initiate download request data length 2 bytes SDO rx Transmit parameter to encoder Initiate download request data length 1 byte SDO tx Initiate download response SDO rx Initiate upload request SDO rx Initiate upload response SDO rx Initiate upload response SDO rx Initiate upload response SDO rx Abort domain transfer Confirmation of take over to master Request parameter from encoder Parameter to master with data length 4 bytes Unsigned 32 Parameter to master with data length 2 bytes Unsigned 16 Parameter to master with data length 1 byte Unsigned 8 Encoder reports error code to master 14 TWK 9 The Object Director 9 6 Examples of Service Data Objects Reading the object directory Master gt Slave COB ID NodelD Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Index Subindex reserved 600H Node ID 40H LSB MSB Slav
15. 500 kBaud 0x3 1MBaud Terminal Resistor Switch 9 10 On On Terminal resistor switched on see example Off Off Terminal resistor not switched on Plug version Default values on delivery Baudrate 20 kBaud Default address 1 Value range Baudrate 0x0 20 kBaud 0x1 125 kBaud Ox2 500 kBaud 0x3 1MBaud Node address 1 64 Procedure on changing parameters 1 Edit parameter object 2000H Node address 2001H Baudrate 2 Store parameter object 1010H SAVE 3 Reset node 4 New parameter values are actual 11 RRA 42 8 Installation Instructions 9 The Object Director 8 2 LED Description _ c Operating wolage present Error which triggers the Emergency Protocol or SDO Abort Transfer Protocol gm e pu EE CAN communication BUS OFF 9 The Object Directory 9 1 Subdivision of the Object Directory Index hex Object 0000 unused 0001 001F static data types 0020 003F complex data types 0040 005F manufacturer specific data types 0060 0FFF reserved 1000 1FFF communication profile 2000 5FFF manufacturer specific profile 6000 9FFF standardised device profile A000 FFFF reserved 9 2 Services for Writing and Reading the Object Directory Access to the object directory of the encoder is carried out via SDO messages The device and communication specific parameters of the encoder are described in the object directory The structure of the SDO message expedited SDO may 4
16. 6H displays the warning messages which are supported by the encoder Also see object 6505H Index 6506H Name Supported Warnings Object Code VAR Data Type unsigned16 Access ro Parameter structure see object 6505H Bit 15 14 13 12 14 10 9 8 7 6 5 4 3 2 1 0 EMEDEDDC pete E397 e 39 cu oc ue it 46 TWK 11 Encoder Profile 11 2 8 Object 6507H Profile and Software Version Object 6507H Profile and Software Version Object 6507H contains the profile and software version which is implemented in the encoder Object description Index 6507H Name Profile and Software Version Object Code VAR Data Type unsigned32 Value description Access ro Value Range unsigned32 Default Value 1000200H Profile version Software version Byte 0 Byte 1 Byte 2 Byte 3 2 to2 27102 2 to2 2 5to28 Parameter structure 11 2 9 Object 6508H Operating Time Object 6508H Operating Time Object 6508H contains the encoder s operating time counter The operating time counter is not currently supported for which reason the value is pre assigned with FF FF FF FFH Object description Index 6508H Name Operating Time Object Code VAR Data Type unsigned32 Value description Access ro Value Range unsigned32 Default Value FFFF FFFFH 47 TWK 11 2 10 Object 6509H Offset Value Object 6509H Object description Value description Parameter structure Offset Value 11 Encoder Profile Object 6509H contains th
17. 81 Predefined Error Field 1003 00H 0x1 1003 01H 0x81FFFF Alarms 6503H 0x1000 e g no error Error register 1001H 0x0 Predefined Error Field 1003 00H 0x0 1003 01H 0x0 Alarms 6503H 0x0 19 TWK 10 Communication Profile 10 5 Object 1004H Number of PDOs Supported Object 1004H Number of PDOs supported Index 1004H contains the maximum number of PDOs which are supported by the encoder Differentiation is made between synchronous asynchronous and transmit receive PDOs in this case Object description Index 1004H Name Number of PDOs supported Object Code Array Data Type unsigned32 Value description Sub Index 00H Description Number of PDOs supported Access ro Value Range unsigned32 Default Value 0x2H Sub Index 01H 02H Description 01H Number of synchronous PDOs 02H Number of asynchronous PDOs Access ro Value Range unsigned32 Default Value 0x1 0x1 Description Subindex MSB LSB 00H Number of receive PDOs Number of transmit PDOs 01H Number of synchr receive PDOs Number of synchr transmit PDOs 02H Number of asynchr receive PDOs Number of asynchr transmit PDOs Subindex Value Description 00 02H 2 transmit PDOs 01 01H 1 synchronous transmit PDO 02 01H 1 asynchronous transmit PDO 20 TWK 10 Communication Profile 10 6 Object 1005H COB ID SYNC Message Object 1005H COB ID SYNC Message The object 1005H defines the COB ID for the SYNC message synchronisation message In addition it is defined whether
18. B ID for the emergency message Index 1014H Name COB ID Emergency Message Object Code VAR Data Type unsigned32 Access rw Value Range unsigned32 Default Value 80H Node JD Note On changing the COB ID the current value only becomes valid following storage see object 1010H and subsequent encoder resetting 10 20 Overview of Transmission Types ransmission Type Code ransmission Type pM e o aue pce px EEE x xp EES Ee ee EE xpo mm Ee EE 253 S a e c n4 Z E ES PX Meaning 0 After SYNC but only in the event of a change in value since the last SYNC 1 240 Transmit value after 1st and 240th SYNC message 252 SYNC leads to internal value storage value must be collected via RTR 253 Value is updated and transmitted after RTR 254 Value is updated and transmitted after a change in value if device timer cyclical timer 0 or following expiry of the cycle time device timer gt 0 29 TWK 10 Communication Profile 10 21 Object 1800H 1st Transmit PDO Asynchronous Transmission Object 1800H Object description Value description 1st Transmit PDO Asynchronous Transmission Object 1800H contains the communication parameters for the transmit PDO This PDO transmits the encoder position data asynchronously The cyclical timer is stored in object 6200H Index Name Object Code Data Type Sub Index Description Access Value Range Default Value Sub Index Description Ac
19. Encoder CRN CRN C 10750 BE as a subscriber in CANopen Accompanying data sheet CRN 10636 12 99 PAP dr de eram TWK ELEKTRONIK GmbH D 40041 D sseldorf PF 1050 63 T 02 11 63 2067 F 02 11 63 77 05 e mail info twk de http www twk de ee Table of contents D Bom N eo NN m 10 Page Table OF COMCIUS MEN 2 4 EE EE 5 CANopen Communication Concept c cccccecseeeeeeeeesseeeeeeeeeeseseeeseeeeeseeseeeeseeeeeeeensenes 5 6 CANopen Scope of the TWK Encoder eese nnne nnns 6 Network Management cn von desee tninorihors aimed Puno eat ce Done esi ew enc q nine 7 8 4 1 Minimum Capability Device Boot up ek 7 4 2 Description of the NMT Commands sssesssseseeeeeeeneeeenn nennen nenne 8 rere mtr Em 8 9 Bus Synchronisatlon 5 2 eicere tore ai ie eee tus 10 Emergency Message supported Error Codes eeeeeeeeeeeeeeeeereeee 10 Installation Instructions ueris dna ncc a Ex ve la Casa Ce Ya dean 2 ace BEEN RN valo ue QUE ANM uo ed oci ua nnmnnn nna 11 12 8 1 Node ID Baudrate Terminal Resistor cccceeeeceeceeesseeeeceeeseceesaeeeseeeensaaeseenes 11 8 2 LED D scription BEE 12 The Object Directory vei eet See Ee cete videte 12 15 9 1 Subdivision of the Object Directory s ertet o tte er rect i netta nie PE teas 12 9 2 Services for Writing and Reading the Object Directory ssessesses 12 9 3
20. Object GSO SH Alar MS E 45 11 2 5 Object 6504H Supported Alarms eese 45 11 2 6 Object 6505EE Warnings ioco t err Pto Pee o rete Cabe ER 46 11 2 7 Object 6506H Supported Warnings ek 46 11 2 8 Object 6507H Profile and Software Version essseesseeeseerresserr rreren 47 11 2 9 Object 6508H Operating Time zept tete recorte ode oe rtis 47 11 2 10 Object 6509H Offset Valli tereti ee 48 11 2 11 Object 650AH Module Identification ENNEN 49 11 2 12 Object 650BH Serial N mber ette operiert 50 11 3 Manufacturer specific Profile Area cesses 50 11 3 1 Object 2000H Node ID Plug Version eese 51 11 3 2 Object 2001H Baudrate Plug Version sseeseeeeese 52 Default Values for Programming Parameters eene 52 54 Store Parameters Object 1010H cesse eeceeeeeee eee eee nenne 54 bii putre UD E TUR ER ER S 54 COPYRIGHT The Operating Instructions CRN C 10750 is owned by TWK ELEKTRONIK GMBH and is protected by copyright laws and international treaty provisions 1999 by TWK ELEKTRONIK GMBH POB 10 50 63 m 40041 D sseldorf m Germany Tel 49 211 63 20 67 m Fax 49 211 63 77 05 e mail info twk de m http www twk de xdi n BALA 1 General 2 CANopen Communication Concept 1 General The use of the CAN philosophy in industrial automation has led to
21. Subindex 1800 01 1802 01 1014 1005 100E 1800 01 1802 01 100B 2001 1800 02 1802 02 1800 03 1800 03 6000 6000 6001 6002 6509 6003 6200 6401 6402 h CiA Draft Standard Proposal 406 Version 2 0 Device Profile for Encoders 2 CiA Draft Standard 301 Version 3 0 CAL based Communication Profile for Industrial Systems 3 CANopen Implementation Guidelines by G Gruhler Ed and Bernd Dreier Version 2 31 ESPRIT Project 22171 CANopen 54
22. VAR Life time factor unsigned32 rw o 9 100E VAR COB ID guarding protocol unsigned32 rw o o 100F VAR Number of SDO s supported unsigned32 ro o o 1010 VAR Store parameters unsigned32 rw m m 1011 VAR Restore Default Parameters unsigned32 rw m m 1014 VAR COB ID Emergency message unsigned32 rw o o 1 st Transmit PDO asynchronous transmission 1800 1st transmit PDO Parameter PDO CommPaR rw m m 1A00 TxPDO 1 Mapping PDO Mapping ro o o 2 nd Transmit PDO synchronous transmission 1802 2nd transmit PDO Parameter PDO CommPaR rw m m 1A02 TxPDO 2 Mapping PDO Mapping ro o o 10 1 Object 1000H Device Type Object 1000H Device Type The object 1000H contains the device profile number and the encoder type according to 1 Object description Index 1000H Name Device Type Object Code VAR Data Type unsigned32 Value description Access ro const Value Range unsigned32 Default Value no 16 Structure of the parameters Description 10 Communication Profile Device Type Device Profile Number Encoder Type 1 2 d H Multiturn absolute rotary encoder Encoder 0x00020196 10 2 Object 1001H Error Register Object 1001H Object description Value description Description Error Register The error register displays encoder device errors Index 1001H Name Error Register Object Code VAR Data Type unsigned8 Access ro Value Range unsigned8 Default Value 0x0 no Error mandatory supported e ed aac p m oriceon EC Ho e
23. bytes is as follows COB ID Command Index Subindex Service data 11 bit Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 LSB MSB LSB MSB The following identifiers are available as standard for the SDO services SDO tx slave gt master 580H 1408 Node ID SDO rx master gt slave 600H 1536 Node ID Note The SDO identifiers cannot be changed ae eee RR Ada 9 The Object Director 9 3 COB ID Structure The COB ID COB identifier serves to clearly identify a CAN message The data are transmitted throughout the network via communication objects COB The identifier is 11 bits wide and is comprised of a 4 bit function code and a 7 bit node ID The priority of a message decreases with an ascending COB identifier COB ID structure see Predefined Master Slave Connection Set according to CANopen Bitno 10 9 8 7 6 5 4 3 2 1 0 Assignment x x Ix IX 19 TX X X TX T4 T K st L Li 114 x O0or1 9 4 Message Objects and Function Codes On use of the Predefined Master Slave Connection Set see DS 301 CANopen the message identifiers are defined as follows Object Function code Resulting COB ID Communication parameter CMS parameter from index priority binary Hexadecimal Decimal hexadecimal group NMT 0000 0 0 0 SYNC 0001 80 128 1005 0 Emergency 0001 81 FF 129 255 0 1 PDO 1 tx 0011 181 1FF 385 511 1800 1 2 PDO 2 tx 0101 281 2FF 641 767 1802 2 3 SDO tx 1011 581 5FF 1
24. cess Value Range Default Value Sub Index Description Access Value Range Default Value Sub Index Description Access Value Range Default Value 30 1800H 1st Transmit PDO Asynchronous Transmission RECORD PDOCommPar 00H Number of supported entries default 3 ro unsigned8 2 4 01H COB ID used by PDO and release rw unsigned32 Index 1800H 180H Node ID 02H Transmission Type default 254 rw unsigned8 OxFE 03H Inhibit time default O rw unsigned16 0x0 TWK Subindex 01 Bit 0 10 Bit 11 29 Bit 30 Bit 31 Index Subindex 1800H 0 1 2 3 11 bit ID 180H node ID 0 reserved 29 bit ID 0 RTR enabled cannot be changed 0 PDO enabled default 1 PDO disabled Designation Default value Number of entries 3 COB ID PDO 1 0x180 node ID and release Transmission type 254 Inhibit time 0 Minimum waiting period before this PDO may be retransmitted ae 10 Communication Profile TWK 10 Communication Profile 10 22 Object 1A00H 1st Transmit PDO Asynchronous Transmission Mapping Object 1A00H Object description Value description Index 1A00H Subindex 0 1 Parameter structure 1st Transmit PDO Asynchronous Transmission Mapping Object 1A00H contains the parameters for mapping the 1st TxPDO In our case this is the position value parameter Index Name Object Code Data Type Sub Index Description Access Value Range Sub Index De
25. code sequence CW clockwise or CCW counter clockwise defines whether the position values increase CW or decrease CCW on rotation of the shaft in a clockwise direction when looking towards the shaft Encoder diagnostics are not currently supported The scaling function is released via bit 2 1 The single turn resolution and total measuring range in measuring units parameters can be changed in an application specific manner Object description Index 6000H Name Operating Parameters Object Code VAR Data Type unsigned16 Access rw Parameter structure Bit Function Bit 0 Bit 1 C1 C2 support 0 Code Sequence CW CCW m yes 1 Commissioning Diagnostic Control Disa Enab o no 2 Scaling function control Disa Enab m yes 3 15 Reserved for further use 35 Value 00H 01H 02H 03H 04H 05H 06H 07H Meaning Code sequence CW Commissioning diagnostic control disable Scaling function control disable Code sequence CCW Commissioning diagnostic control disable Scaling function control disable Not currently supported Not currently supported Code sequence CW Commissioning diagnostic control disable Scaling function control enable Code sequence CCW Commissioning diagnostic control disable Scaling function control enable Not currently supported Not currently supported 11 Encoder Profile 11 1 2 Object 6001H Measuring Units per Revolution Object 6001H Measuring Units per Revolution The measuring units p
26. d out via object 2001H The new Baudrate only becomes valid following storage Save see object 1010H and subsequent encoder resetting 4 Baudrates are supported 00H 20 kBaud 01H 125 kBaud 02H 500 kBaud 03H 1 MBaud Further Baudrates on enquiry On delivery the following values are set as defaults Node ID 1 Baudrate 20 kBaud Note Changes to objects 2000H and 2001H have no effect in the case of the connecting cap version The values set in the cover are primarily valid Object description Index 2001H Name Baudrate Plug Version Object Code VAR Data Type unsigned8 Value description Access rw Value Range unsigned8 Default Value 00H 20kBaud Plug Version 12 Default Values for Programming Parameters 1000H Device Type 0x00020196 1001H Error Register 0x0 1002H Manufacturer Status Register 0x0 1003H Predefined Error Field OOH Number of Errors 0x1 01H Standard Errror Field 0x0 1004H Number of PDO s supported OOH Number of PDO s supported 0x2 01H Number of synchronous PDOs 0x1 02H Number of asynchronous PDOs 0x1 1005H COB ID Sync Messages 0x80000080 1006H Communication Cycle Period 0x0 1007H Synchronous Window Length 0x0 1008H Device Name Encoder CRN 1009H Manufacturer Hardware Version 01 00 100AH Manufacturer Software Version 01 40 52 100BH 100CH 100DH 100EH 100FH 1010H 1011H 1014H 1800H 1802H 1A00H 1A02H 6000H 6001H 6002H 6003H 6004H 6200H 6400H 6401H 6402 6500H 6501H
27. de Data Type Sub Index Description Access Default Value Sub Index Description Access Value Range Default Value Work area high limit Byte 0 Byte 1 27 to 2 215 to 28 42 6402H Work Area High Limit ARRAY Integer32 00H Number of available channels ro 01H 01H Work Area High Limit Channel 1 rw Integer32 1 F00 000H Byte 2 Byte 3 2 3 to 216 231 to 22 TWK 11 Encoder Profile 11 2 Encoder Diagnostics Index Object ObjectName Type Attr C1 C2 hex Code 6500 VAR Operating Status unsigned16 ro m 6501 VAR Single Turn Resolution unsigned32 ro m 6502 VAR Number of distinguishable unsigned16 ro m Revolutions 6503 VAR Alarms unsigned16 ro m 6504 VAR Supported Alarms unsigned16 ro m 6505 VAR Warnings unsigned16 ro m 6506 VAR Supported Warnings unsigned16 ro m 6507 VAR Profile and Software version unsigned32 ro m 6508 VAR Operating Time unsigned32 ro m 6509 VAR Offset Value integer32 ro m 650A REC Module Identification integer32 ro m 650B VAR Serial Number unsigned32 ro m 11 2 1 Object 6500H Operating Status Object 6500H Operating Status The encoders status of the operating parameters are set under the object 6500h Object description Index 6500H Name Operating Status Object Code VAR Data Type unsigned16 Access ro Parameter structure Bit Function Bit 0 Bit 1 C1 C2 Supp 0 Code Sequence CW CCW m yes 1 Commissioning Diagnostic Control Not Supp Supp o no 2 Scaling functio
28. e gt Master COB ID NodelD Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Index Subindex reserved 580H Node ID 42H LSB MSB Example Reading the position value object 6004H COB ID NodelD ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 601 40 04 60 00 00 00 00 00 581 43 04 60 00 34 12 Writing the object directory Master gt Slave COB ID NodelD ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Index Subindex reserved 600H Node ID 22H LSB MSB Slave gt Master COB ID NodelD ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Index Subindex reserved 580H Node ID 60H LSB MSB Example Writing the preset value 1000H object 6003H COB ID NodelD ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 601 22 03 60 00 00 10 00 00 581 60 03 60 00 00 10 15 mea 10 Communication Profile 10 Communication Profile Communication Profile Overview Communication Profile Index Object ObjectName Type Attr C1 C2 hex Code 1000 VAR Device type unsigned32 const m 1001 VAR Error register unsigned8 ro m 1002 VAR Manufacturer status register unsigned32 ro o o 1003 ARRAY Pre defined error field unsigned32 ro o o 1004 ARRAY Number of PDOs supported unsigned32 ro o o 1005 VAR COB ID SYNC message unsigned32 rw o o 1008 VAR Device name Vis String const o o 1009 VAR Hardware version Vis String const o o 100A VAR Software version Vis String const o o 100B VAR Node ID unsigned32 ro o o 100C VAR Guard time unsigned32 rw o o 100D
29. e Object Code Data Type Access Value Range Default Value 25 100DH Life Time Factor VAR unsigned8 rw unsigned8 OH mea 10 Communication Profile 10 15 Object 100EH Node Guarding Identifier Object 100EH Node Guarding Identifier Object 100EH contains the identifier for node guarding Object description Index 100EH Name Node Guarding Identifier Object Code VAR Data Type unsigned32 Value description Access rw Value Range unsigned32 Default Value 700H Node ID 1792 Node ID Note On changing the COB ID the current value only becomes valid following storage see object 1010H and subsequent encoder resetting 10 16 Object 100FH Number of SDO s supported Object 100FH Number of SDOs Supported Object 100FH contains the number of SDOs which are supported Object description Index 100FH Name Number of SDOs Supported Object Code VAR Data Type unsigned32 Value description Access rw Value Range unsigned32 Default Value 1H Parameter structure MSB Number of client SDOs LSB Number of server SDOs Example Encoder with node ID 1 SDO tx slave gt master 580H 1409 node ID 581H SDO rx master slave 600H 1537 node ID 601H Note The SDO identifiers cannot be changed 26 ee 10 Communication Profile 10 17 Object 1010H Store Parameters Object 1010H Store Parameters Parameter changes can be stored via object 1010H Store Parameters Subindex 01H In order to store the paramet
30. e offset value parameter The offset value is the position value which is calculated taking the preset value into consideration Not currently supported Index Name Object Code Data Type Access Value Range Default Value Offset value Byte 0 Byte 1 27 102 2 5to 28 48 6509H Offset Value VAR signed32 ro signed32 no Byte 2 Byte 3 223 to 216 231 to 22 TWK 11 Encoder Profile 11 2 11 Object 650AH Module Identification Object 650AH Module Identification Object 650AH contains the module identification parameter This parameter is subdivided as follows Subindex 00H Manufacturer Offset Value Manufacturer offset value referring to the encoders mechanical zero point Subindex 01H Manufacturer Minimum Position Value Lower work area Subindex 02H Manufacturer Maximum Position Value Upper work area Object description Index 650AH Name Module Identification Object Code RECORD Value description Sub Index 00H Description Manufacturer Offset Value Access ro Value Range signed32 Default Value OH Sub Index 01H Description Manufacturer min Position Value Object Class optional Access ro Value Range signed32 Default Value FFFFFH Sub Index 02H Description Manufacturer max Position Value Object Class optional Access ro Value Range signed32 Default Value 1 F00 000H 49 TWK 11 Encoder Profile 11 2 12 Object 650BH Serial Number Object 650BH Object description
31. ed32 Default Value no Position Value Byte 0 Byte 1 Byte 2 Byte 3 2 to 2 2 5 to 28 233 to 216 23 to 2 38 TWK 11 Encoder Profile 11 1 6 Object 6200H Cyclic Timer Object 6200H Object description Value description Cyclic Timer Object 6200H contains the parameter Cyclical Timer The cyclical timer defines the cycle time for all asynchronous PDOs also see object 1800H 1st Transmit PDO The cyclical transmission of the position value of the encoder is carried out at a value gt 0 The range of values for the cyclical timer is between 1 and 65535 ms Example 1ms 1H 256 ms 100H Index 6200H Name Cyclic Timer Object Code VAR Data Type unsigned16 Access rw Value Range unsigned16 Default Value OH 39 TWK 11 Encoder Profile 11 1 7 Object 6400H Area State Register Object 6400H Object description Value description Parameter structure Area State Register Object 6400H the area state register displays the position of the position value in the work area In this case a distinguishment is made between a lower and upper work area and outside of the work area Index Name Object Code Data Type Sub Index Description Access Default Value Sub Index Description Access Value Range Default Value 6400H Area State Register ARRAY unsigned8 00H Number of available channels ro 01H 01H Work Area State Channel 1 ro unsigned8 no Work area state Bi
32. er revolution parameter specifies the number of measuring units in reference to one revolution Object description Index 6001H Name Measuring Units per Revolution Object Code VAR Data Type unsigned32 Access rw Value description Access rw Value Range unsigned32 Parameter structure Default Value Byte 0 Byte 1 2 to 2 25 to 28 zB 2 1000H 2000H Measuring units per revolution Byte 2 Byte 3 2 3 to 216 231 to 2 TWK 11 Encoder Profile 11 1 3 Object 6002H Total Measuring Range in Measuring Units Object 6002H Total Measuring Range in Measuring Units Object 6002H contains the total measuring range in measuring units Total measuring range in measuring units measuring units per revolution x measuring range Measuring units per revolution measuring units per revolution Measuring range number of revolutions Object description Index 6002H Name Total Measuring Range in Measuring Units Object Code VAR Data Type unsigned32 Value description Access rw Value Range unsigned32 Default Value 1 000 000H 2 000 000H Parameter structure Total measuring range in measuring units Byte 0 Byte 1 Byte 2 Byte 3 2 to 2 2 5 to 28 2 to 2 6 231 to 2 Note If the encoder is used in endless operation the total measuring range in measuring units may only be specified in 2 powers n 1 2 12 Example Total measuring range in measuring units 2 power Measuring units per revolution 1024 Total measuring range in mea
33. ers the word save must be entered Signature MSB LSB ASCII e V a S hex 65H 76H 61H 73H Example 0x65766173 The values only become valid after resetting Object description Index 1010H Name Store Parameters Object Code Array Data Type unsigned32 Value description Sub Index 00H Description Largest supported Sub Index Access ro Value Range unsigned8 Default Value 01H Sub Index 01H Description Save all Parameters Access rw Value Range unsigned32 Default Value save on storage 27 ear 40 Communication Profile 10 18 Object 1011H Restore Default Parameters Object 1011H Restore Default Parameters The default parameters can be restored via object 1011H Load parameters Subindex 01H In order to restore the parameters the word load must be entered Signature MSB LSB ASCII d a o hex 64H 61H 6FH 6CH Example 0x64616F6C The values only become valid after resetting Object description Index 1011H Name Restore default Parameters Object Code Array Data Type unsigned32 Value description Sub Index 00H Description Largest supported Sub Index Access ro Value Range unsigned8 Default Value 01H Sub Index 01H Description Restore all default Parameters Access rw Value Range unsigned32 Default Value load on restoring 28 TWK 10 Communication Profile 10 19 Object 1014H COB ID Emergency Message Object 1014H Object description Value description COB ID Emergency Message Object 1014H contains the CO
34. essage Node guarding Simple boot up according to DS 301 Transmission Types can be adjusted for all PDOs CAN LED support for bus state DIP switch support for setting the node address 6bits and the Baudrate 2 bits for the connecting cap version Node ID and Baudrate setting across manufacturer specific object range by means of SDO Encoder programming parameters Code sequence single turn resolution total measuring range in measuring units preset value lower and upper work area Schematic circuit diagram 1 i GaAlAs Foto CAN TRANSCEIVER Dioden transistoren i i 1 dey i 1 1 l gt 1 i i y hd T2 ETE a ls CE E i RH S 2 P qi y gt si e cl a amp 9 o 1 S o EIS 8 9 o gt T Y z n H 1 1 Opto Analo I Kray Asc TWK 4 Network Management 4 Network Management 4 1 Minimum Capability Device Boot up The encoders are designed as Minimum Capability Devices according to CANopen see CiA DS 302 i e they behave according to the following state diagram For switching between the different states the following CANopen services are required or are independently carried out by the encoder power on Le Initialisation Pre Operation SE Operational Start Remote Node start the CANopen node 1 2 Stop
35. ge Message Actual Command Actual_ Messages Messages Messages Command Messages j n s e uto Ee EE Samples taken at SYNC Actuation based on for ACTUAL message COMMAND at next SYNC 7 Emergency Message supported Error Codes In the event of an error an emergency telegram is output via the COB ID emergency message see object 1014H standard 80H node ID This contains the emergency error code byte 0 1 see below and the error register byte 2 The error register is described under object 1001H Emergency Designation Comment Error code hex 0000 Error reset or no error Error reset or no error present 5000 Device hardware MSA and or expander error 5100 Hardware memory error ROM code error 8100 Communication Communication error Master Encoder communication e g interrupted FFFF Device specific Manufacturer specific see object 6503 Alarms Object 6503 Alarms Meaning in the case of emergency message FFFFH Bit Designation value Supported Bit 11 0 0 no Bit 12 EEPROM error yes Bit 13 CRC error EEPROM yes Bit 14 XRAM error yes Bit 15 0 no Object 6504 Supported Alarms see above zd Os me instatlation Instructions 8 Installation Instructions 8 1 Node ID Baudrate Terminal Resistor Connecting cap version DIP switch ONE f Configuration Range of values Example Node ID Switch 1 6 1 64 Value 1 Node ID 3 Baudrate Switch 7 8 0x0 20 kBaud 20 kBaud 0x1 125 kBaud Ox2
36. he node ID the service is transmitted to all subscribers Command byte Description cs 1 Start Remote Node Switch to Operational cs 2 Stop Remote Node Switch to Prepared cs 128 Enter Pre Operational State Switch to Pre operational cs 129 Reset Node cs 130 Reset Communication 1 The parameters of the entire object directory are set to power on values 2 The parameters of the object directory communication profile section are set to power on values Example of switching nodes with node ID 1 to active Master gt Slave ib pe Dep Biet Bvei ctr 1 1 Software CANalyzer Slave gt Master No confirmation or acknowledgement 5 Node Guarding The guarding of subscribers in the bus especially in the case of event controlled processes is a sensible feature A differentiation is made between lifeguarding and node guarding In the case of lifeguarding the NMT master is also guarded by the NMT slaves in addition to the guarding of the slaves by the NMT master Node Guarding alone is implemented in the encoder This means that the NMT master guards the NMT slave via corresponding services On activation of node guarding the network master transmits an RTR telegram with the COB ID for node guarding 700H node ID to the node at regular intervals guard time The slave NMT responds under COB ID with the status in Byte 0 5 Node Guarding Byte 0 Bit7 Bit6 BitS Bit4 Bit3 Bit2 Bit1 BitO Bi
37. n control Disa Enab m yes 3 15 Reserved for further use no 43 TWK 11 2 2 Object 6501H Single Turn Resolution Object 6501H Single Turn Resolution 11 Encoder Profile The parameter single turn resolution specifies the number of measuring units in reference to a revolution 360 Object description Index Name Object Code Data Type Value description Access Value Range Default Value Parameter structure Single Turn resolution Byte 0 Byte 1 27 to 2 215 to 28 6501H Single Turn Resolution VAR unsigned32 ro unsigned32 0x1000 0x2000 Byte 2 Byte 3 2 3 to 216 231 to 2 11 2 3 Object 6502H Number of Distinguishable Revolutions Object 6502H Number of Distinguishable Revolutions Object 6502H contains the measuring range Total measuring range in measuring units measuring units per revolution x measuring range Measuring units per revolution measuring units per revolution Measuring range number of revolutions Object description Index 6502H Name Number of Distinguishable Revolutions Object Code VAR Data Type unsigned16 Value description Access ro Value Range unsigned16 Default Value 1000H Parameter structure Number of distinguishable revolutions Byte 0 Byte 1 Byte 3 2 to 2 2 5 to 28 44 223 to 216 231 to 224 TWK 11 Encoder Profile 11 2 4 Object 6503H Alarms Object 6503H Alarms An alarm message is output in the event of an error This message is only extinguished when
38. rts the transmission of synchronous and asynchronous messages As a result of synchronous message transmission network wide data capture and processing with universal reference is possible Defined communication objects for this purpose are SYNC message Time Stamp Message The transmission of the synchronisation object is carried out via the SYNC master which controls network wide data capture processing and transmission Asynchronous messages are result dependent and may be transmitted at any desired point in time Differentiation is made between four functionally dependent message groups Administration Messages Layer Management Network Management Identifier Distribution Management Service Data Messages Process Data Messages Pre defined Messages Synchronisation Time Stamp Emergency Administration Messages refer to those messages which are exchanged on use of CAL services for network configuration network administration and identifier allocation The services and protocols LMT NMT DBT and CMS and are contained in the CAL standard The Service Data Messages are exchanged in the event of direct write or read access to object directory entries The objects which are to be exchanged are designated as the Service Data Object The main application of this type of message is in device configuration The real time transmission of current process data is realised with the Process Data Messages The objects which are transferred are designated
39. scription Access Value Range Designation Number of entries Position value MSB LSB Index 16 bit Subindex 8 bit Object length 8 bit 285 2 1A00H 1st Transmit PDO Asynchronous Transmission Mapping RECORD PDOMapping 00H Number of mapped objects default 1 ro unsigned8 01H Position value ro unsigned32 Default value 1 60040020H 6004 00 20 see Table 10 4 DS 301 TWK 10 Communication Profile 10 23 Object 1802H 2nd Transmit PDO Synchronous Transmission Object 1802H Object description Value description Index 1802H Subindex 01 Subindex 0 1 2nd Transmit PDO Synchronous Transmission On request object 1802H cyclically transmits the position data of the encoder The request is carried out via a remote frame and or via a SYNC telegram Index 1802H Name 1st Transmit PDO Asynchronous Transmission Object Code RECORD Data Type PDOCommPar See above object 1800H Designation Default value Number of entries 3 COB ID PDO 1 0x280 node ID and release Transmission type 1 Inhibit time 0 Bit 0 10 11 bit ID 280H node ID Bit 11 29 0 reserved 29 bit ID Bit 30 0 RTR enabled cannot be changed Bit 31 0 PDO enabled default 1 PDO disabled 289 2 TWK 10 Communication Profile 10 24 Object 1A02H 2nd Transmit PDO Asynchronous Transmission Mapping Object 1A02H Object description Value description Index Subindex 1A02H 0
40. suring units 8192 Measuring range 8 0 8191 0 8191 0 8191 etc Total measuring range in measuring units 2 power Measuring units per revolution 1024 Total measuring range in measuring units 3600 Measuring range 3 5156 0 3599 0 3599 0 4563 Measuring value jump dependent on actual physical position of the encoder ram TWK 11 Encoder Profile 11 1 4 Object 6003H Preset Value Object 6003H Object description Value description Parameter structure Preset Value The preset value is used to compare the machine zero point with the encoder zero point To achieve this the encoder position value is set to the preset value An offset value which takes the preset value into consideration is calculated internally If the values for code sequence measuring units per revolution and total measuring range in measuring units are changed the preset value is deleted and preassigned with the value 0 Index 6003H Name Preset Value Object Code VAR Data Type unsigned32 Access rw Default Value OH Preset value Byte 0 Byte 1 Byte 2 Byte 3 2 to 2 2 5 to 25 2 to 2 6 2 to 274 11 1 5 Object 6004H Position Value Object 6004H Object description Value description Parameter structure Position Value Object 6004H is the position value of the encoder Index 6004H Name Position Value Object Code VAR Data Type unsigned32 Access ro PDO Mapping yes Value Range unsign
41. t 7 O NWA OOD Value reserved reserved reserved reserved reserved range underflow range overflow out of range also see object 650A Meaning Position value in the work area Position value outside of the work area Position value greater than the work area Position value less than the work area 40 TWK 11 1 8 Object 6401H Work Area Low Limit Object 6401H Object description Value description Parameter structure Work Area Low Limit 11 Encoder Profile Object 6401H the Work Area Low Limit is the lower limit of the work area On reaching the lower limit of the work area bit 2 of object 6400H subindex 01 is set Index Name Object Code Data Type Sub Index Description Access Default Value Sub Index Description Access Value Range Default Value Work area low limit Byte 0 Byte 1 27 to 2 215 to 28 41 6401H Work Area Low Limit ARRAY Integer32 00H Number of available channels ro 01H 01H Work Area Low Limit Channel 1 rw Integer32 OxFFFFF Byte 2 Byte 3 223 to 216 231 to 22 TWK 11 1 9 Object 6402H Work Area High Limit Object 6402H Object description Value description Parameter structure Work Area High Limit 11 Encoder Profile Object 6402H the Work Area High Limit is the upper limit of the work area On reaching the upper limit of the work area bit 1 of object 6400H subindex 01 is set Index Name Object Co
42. t 7 Toggle Bit If this bit does not change between two successive responses an error has occurred The value at the start 1st response of guarding is 0 The toggle bit is switched in the case of successive data frames in order to guarantee that the application and not only the CAN Controller responds to guarding Bit 0 6 Status 4 Prepared 5 Operational 127 Pre Operational The guard time object 100CH multiplied with the life time factor object 100DH reveals the life time period for the node guarding protocol If the subscriber does not respond within the life time period corresponding application specific precautions must be implemented An example of this is e g the implementation of a change of state from Operational to Prepared for the defective node Example 1 Guard time 100CH and life time factor 100DH 0 Encoder in state Operational NMT guarding e g Id 702 DLC R1 Data 0 see CANalyzer 1st response Data 05H NMT guarding e g 1d 702 DLC R1 Data 0 see CANalyzer 2nd response Data 85H NMT guarding e g 1d 702 DLC R1 Data 0 see CANalyzer 3rd response Data 05H Guard time 100CH 100H and life time factor 100DH 1H Encoder in state Operational 1st NMT guarding e g Id 702 DLC R1 Data 0 see CANalyzer within the life time 1st response Data 05H 2nd NMT guarding e g 1d 702 DLC R1 Data 0 see CANalyzer within the life time 2nd response Data 85H 3rd NMT guarding e
43. the error is no longer Object description Index 6503H Name Alarms Object Code VAR Data Type unsigned16 Access ro Parameter structure Bit Function Supported 0 Position error no 1 Commissioning diagnostics no 2 11 Reserved for further use 12 EEPROM error yes 13 CRC error EEPROM yes 14 XRAM error yes 15 Manufacturer specific not currently assigned 11 2 5 Object 6504H Supported Alarms Object 6504H Supported Alarms Object 6504H displays the alarm messages which are supported by the encoder Also see object 6503H Object description Index 6504H Name Supported Alarms Object Code VAR Data Type unsigned16 Access ro Parameter structure see object 6503H pit 15 14 13 12 1 10 9 8 7 SC E EE KEE ee 45 TWK 11 2 6 Object 6505H Wa Object 6505H Object description 11 Encoder Profile rnings Warnings If the tolerances of relevant internal encoder parameters are exceeded this is displayed via warnings Index 6505H Name Warnings Object Code VAR Data Type unsigned16 Access ro Parameter structure Bit Function Supported 0 Frequency exceeded no 1 Light control reserve no 2 CPU watchdog status no 3 Operating time limit warning no 4 Battery charge no 5 Reference point 0 reached yes 1 not reached 6 11 Reserved for further use 12 15 Manufacturer specific functions no 11 2 7 Object 6506H Supported warnings Object 6506H Object description Supported Warnings Object 650
44. the subscriber generates SYNC messages or merely reacts to SYNCs Object description Index 1005H Name COB ID SYNC Message Object Code VAR Data Type unsigned32 Value description Access rw Value Range unsigned32 Default Value 80H Parameter structure Bit Value Meaning 31 MSB 0 Device does not consume SYNC message 1 Device consumes SYNC message 30 0 Device does not generate SYNC message 1 Device generates SYNC message 29 0 11 Bit ID CAN 2 0A 1 29 Bit ID CAN 2 0B 28 11 0 if bit 29 0 x if bit 29 1 Bits 28 11 of 29 bit SYNC COB ID 10 0 LSB D bits 10 0 of SYNC COB ID Standard ID 80H Example Encoder 0x80000080 Note On changing the COB ID the current value only becomes valid following storage see object 1010H and subsequent encoder resetting e E 40 Communication Profile 10 7 Object 1006H Communication Cycle Period Object 1006H Communication Cycle Period Object 1006H defines the communication cycle period in ms If the value is 0 this object is not used Object description Index 1006H Name Communication Cycle Period Object Code VAR Data Type unsigned32 Value description Access rw Value Range unsigned32 Default Value OH 10 8 Object 1007H Synchronous Window Length Object 1007H Synchronous Window Length Object 1007H defines the synchronous window length parameter in ms If the value is 0 this object is not used Object description Index 1007H Name Synchronous Window Length Object Code VAR Data Type
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