1. Manuals
  2. Brands
  3. Baumer Manuals
  4. Media Converter
  5. CiA DS-301
  6. Manual

Baumer CiA DS-301 Manual

Absolute encoder with canopen
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Manual
Absolute Encoder with
Firmware version from 1.00
Baumer Hübner GmbH
Max-Dohrn-Str. 2+4
D-10589 Berlin
Phone +49 (0)30 690 03 - 0
Fax +49 (0)30 690 03 -104
info@baumerhuebner.com
www.baumer.com

Advertisement

Table of Contents
loading

Related Manuals for Baumer CiA DS-301

Summary of Contents for Baumer CiA DS-301

  • Page 1 Manual Absolute Encoder with Firmware version from 1.00 Baumer Hübner GmbH Max-Dohrn-Str. 2+4 D-10589 Berlin Phone +49 (0)30 690 03 - 0 Fax +49 (0)30 690 03 -104 info@baumerhuebner.com www.baumer.com...

  • Page 2: Table Of Contents

    Setting the user address ........................ 53 6.1.2 Setting the baud rate ........................53 6.1.3 Terminating resistor ........................53 6.1.4 Bus cover connection ........................54 6.1.5 Terminal assignment ........................55 Display elements (status display) ....................55 BUDE_Manual-CANopen_EN.doc 2/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 3 Disclaimer of liability The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer Huebner GmbH rejects any liability for the information compiled in the present manual. Baumer Huebner GmbH nor the author will accept any liability for direct or indirect damages resulting from the use of the present information.

  • Page 4: Introduction

    HEAG 162 SC 13 0x0B CO13.eds HEAG 162 converter 13 bit HEAG 162 SC 18 0x0F CO18.eds HEAG 162 converter 18 bit HEAG 162 SC 29 0x0A CO29.eds HEAG 162 converter 29 bit BUDE_Manual-CANopen_EN.doc 4/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 5: Safety And Operating Instructions

    Do not open the encoder or make any mechanical changes to it. The shaft, ball bearings, glass pane or electronic components can be damaged. In this case, safe and reliable operation cannot be guaranteed. BUDE_Manual-CANopen_EN.doc 5/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 6 Failure to observe these instructions can result in malfunctions, material damage or personal injury. Disposal • Dispose of encoder/converter in accordance with locally applicable legislation. BUDE_Manual-CANopen_EN.doc 6/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 7: Can Bus And Canopen Communication

    • PCs • Input and output modules • Drive control systems • Analysis devices, such as a CAN monitor • Control and input devices as Human Machine Interfaces (HMI) • Sensors and actuators BUDE_Manual-CANopen_EN.doc 7/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 8: Canopen

    According to CiA, this object directory is subdivided into three different parts. Communication profile, device profile and a manufacturer-specific profile (see object directory). BUDE_Manual-CANopen_EN.doc 8/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 9: Canopen Communication

    A CAN telegram is made up of the COB ID and up to 8 bytes of data: COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 The precise telegram is outlined in more detail at a later point. BUDE_Manual-CANopen_EN.doc 9/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 10: Service Data Communication

    Upload response Max. 4 byte Parameter to master with max. 4 byte Upload response 4 byte Upload response 2 byte Upload response 1 byte Abort message Encoder/converter signals error code to master BUDE_Manual-CANopen_EN.doc 10/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 11 06090011h : Subindex is not supported 06090030h : Value outside the limit 06090031h : Value too great 08000000h : General error 08000020h : Incorrect save signature 08000021h : Data cannot be stored BUDE_Manual-CANopen_EN.doc 11/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 12: Process Data Communication

    NMT reset, i.e. unless it is changed, the position is transmitted five times. If the position changes, it is transmitted a further five times. In synchronous operation, the PDO is requested by the master via the Sync telegram. Byte 0 Byte 1 COB ID = 80 BUDE_Manual-CANopen_EN.doc 12/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 13 : Current position in increments PDO2 telegram structure: Byte 1 Byte 2 Byte 3 Byte 4 281h : 280h + node ID Length : 4 DataByte Byte1 - 4 : Current position in increments BUDE_Manual-CANopen_EN.doc 13/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 14: Emergency Service

    Position error active Byte 5 - 6 Warning Meaning Value = 0 Value = 1 CPU watchdog status Reset executed Battery charge Charge too deep (only AMG 81 C 29) Byte 7: Not used BUDE_Manual-CANopen_EN.doc 14/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 15: Network Management Services

    Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be read and written. In order to request PDO parameters, the encoder must first be moved to the operational mode status. Power on oder Hardware Reset Init BootUp Message Pre-Operational Stopped/Prepared Operational BUDE_Manual-CANopen_EN.doc 15/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 16 Reset remote node (4) or reset communication (5) With the reset command, the encoder is re-initialized. Reset remote node (4): COB ID Command byte Node number 0..127 Reset communication (5): COB ID Command byte Node number 0..127 BUDE_Manual-CANopen_EN.doc 16/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 17 00h (0d) 701h FFh (255d) 701h 00h (0d) 701h 7Fh (127d) Possible NMT node states: BootUp-Event Stopped Operational 127: Pre-operational In other words, the encoder is in the pre-operational mode (7Fh = 127). BUDE_Manual-CANopen_EN.doc 17/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 18 In other words, the encoder is in the pre-operational mode (7Fh = 127). Attention: Only one each of the above node guarding mechanism can be set. Default: Heartbeat Optional: NodeGuarding (siehe Objekt 2110h) BUDE_Manual-CANopen_EN.doc 18/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 19: Layer Setting Services

    : Internal product code for the respective encoder Revision number : Current revision number of the encoder Serial number : Unique, consecutive serial number Mode : The encoder's response is the new mode (0=operating mode; 1=configuration mode) BUDE_Manual-CANopen_EN.doc 19/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 20 7E5h  17h reserved 7E4h  17h ErrCode SpecError Reserved Error code : 0=OK; 1=Saving not supported; 2=Access error; 3 - 254=reserved; 255Specific error : If error code=255  Application-specific error code. Specific error BUDE_Manual-CANopen_EN.doc 20/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 21 Request serial number Request serial number of a selected encoder 7E5h  5Dh reserved 7E4h  5Dh 32 bit serial number reserved Serial number : Unique consecutive serial number of the encoder/converter BUDE_Manual-CANopen_EN.doc 21/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 22 Revision number HIGH reserved 7E5h  4Ah Serial number LOW reserved 7E5h  4Bh Serial number HIGH reserved Each encoder with the relevant parameters logs on with the following message: 7E4h  4Fh reserved BUDE_Manual-CANopen_EN.doc 22/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 23: Encoder/Converter Profile

    "CO18" 18 bit encoder/converter "CO29" "CO29" 29 bit encoder/converter actual value Hardware version in ASCII 1009h Hardware version actual value Software version in ASCII 100Ah Software version 0h yes Node Guarding timer 100Ch Guard time BUDE_Manual-CANopen_EN.doc 23/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 24 100h yes Cycle time in ms 05h Event timer 1A00h Transmit PDO1 mapping 00h Biggest subindex 60040020h 01h Content of PDO1 1A01h Transmit PDO2 mapping 00h Biggest subindex 60040020h 01h Content of PDO2 BUDE_Manual-CANopen_EN.doc 24/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 25 Optional data can be stored in this object 00h Biggest subindex 01h Data0 0h yes 02h Data1 0h yes 03h Data2 0h yes 04h Data3 0h yes 05h Data4 0h yes 06h Data5 0h yes 07h Data6 0h yes BUDE_Manual-CANopen_EN.doc 25/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 26 6508h Operating time Time in 1/10 hours since last reset 0h yes Offset calculated from preset  6003h 6509h Offset 650Bh Serial number actual value yes Linked with serial number object 1018h-4h BUDE_Manual-CANopen_EN.doc 26/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 27: Detailed Object List (Ds-301)

    This object saves the last occurred errors or warnings. Subindex Data type Unsigned 8 Access Read write Default EEPROM Description Read: Number of errors or warnings Write 0: Reset error Values 0..8 BUDE_Manual-CANopen_EN.doc 27/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 28 "CO29" = 43h 4Fh 32h 39h Object 1009 Manufacturer hardware version Subindex Data type Unsigned 32 Access Read only Default EEPROM Description Hardware version in ASCII Values Data 0..3 31h 2Eh 30h 30h = "1.00“ BUDE_Manual-CANopen_EN.doc 28/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 29 Timer für Nodeguarding in ms Werte 0 - 65535 Objekt 100D Life Time Factor SubIndex DatenTyp Unsigned 8 Zugriff ReadWrite Default EEPROM Beschreibung Life Time Factor x Guard Time = Life time Werte 0 - 255 BUDE_Manual-CANopen_EN.doc 29/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 30 13 bit encoder/converter 40000h 18 bit encoder/converter 20000000h 29 bit encoder/converter 6003h Preset value in increments 6200h Cyclical timer for PDO1 203h (see Object 1800h-5h) 6509h Offset 650Bh Serial number xyz (see Object 1018h-4h) BUDE_Manual-CANopen_EN.doc 30/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 31 Producer heartbeat time Subindex Data type Unsigned 16 Access Read write Default EEPROM Description Defines repeat time of the heartbeat watchdog service Values 0 = Disabled 1 - 65535 = Repeat time in ms BUDE_Manual-CANopen_EN.doc 31/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 32 Data 2,3 = 01h 00h = 0001h = Version Subindex Data type Unsigned 32 Access Read only Default EEPROM Description Consecutive unique serial number of the sensor Values Is defined in the factory during final testing BUDE_Manual-CANopen_EN.doc 32/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 33 1..n..F0h = PDO has synchronous characteristics (the PDO is transmitted to each nth SYNC telegram) FEh = PDO has asynchronous characteristics (PDOs are transmitted cyclically depending on the event timer and event trigger) BUDE_Manual-CANopen_EN.doc 33/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 34 Biggest supported subindex Values Subindex Data type Unsigned 32 Access Read only (defined by CiA as read write) Default 6004h EEPROM Description Describes the content of the PDO2 message Values 6004h = Position BUDE_Manual-CANopen_EN.doc 34/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 35 Read or reset the node ID of the sensor.  After setting, parameters must be stored in the EEPROM with the object 1010h and then the sensor re-initialized Values 1 - 127 BUDE_Manual-CANopen_EN.doc 35/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 36 Bit9 = Responce by write to object Resolution/overall resolution 0 Offset reset 1 Offset not reset (V1.08+) Bit10 = Response by Reset Node (V 1.09+) 0 HW Reset 1 Init NMT state BUDE_Manual-CANopen_EN.doc 36/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 37 Any optional data can be stored in this object Values Subindex 1...8 Data type Unsigned 16 Access Read write Default EEPROM Description For each subindex, a 16 bit value can be stored (Save in the EEPROM via object 1010h) Values BUDE_Manual-CANopen_EN.doc 37/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 38 Read write Default EEPROM Description Operating parameter Bit 0 sense of rotation = 0  clockwise Values 1  counterclockwise 0  max. resolution Bit 2 scaling function = 1  saved resolution BUDE_Manual-CANopen_EN.doc 38/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 39 Data type Unsigned 32 Access Read write Default EEPROM Description Freely selectable position value. Preset and internal position result in offset ( Object 6509h) Values 0..current overall measurement range -1 (Object 6002h) BUDE_Manual-CANopen_EN.doc 39/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 40 2000h = 8192 29 bit encoder/converter EEPROM Description Maximum singleturn resolution in increments Values 2000h = 8192 13 bit encoder/converter 40000h = 262144 18 bit encoder/converter 2000h = 8192 29 bit encoder/converter BUDE_Manual-CANopen_EN.doc 40/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 41 Warnings as per object 6506h Values Multiturn: Bit 2 = 1  CPU watchdog reset Bit 4 = 1  Battery charge (only AMG 81 C 29) Singleturn: Bit 2 = 1  CPU Watchdog reset BUDE_Manual-CANopen_EN.doc 41/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 42 Subindex Data type Unsigned 32 Access Read only Default EEPROM Description Operating time in 1/10 hours, since the last sensor reset Values 0..n..4294967295 = n * 6 minutes operating time without reset BUDE_Manual-CANopen_EN.doc 42/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 43 Serial number Subindex Data type Unsigned 32 Access Read only Default EEPROM Description Progressive serial number Values 0..4294967295 = Is directly linked with the serial number of the end test (see object 1018h-4h) BUDE_Manual-CANopen_EN.doc 43/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 44: Diagnosis And Useful Information

    In this object, the eight last occurring error codes from objects 6503h and 6505h are saved, whereby the latest error is stored in subindex 1 and the oldest error in subindex 8. Object emergency Error message of a user. BUDE_Manual-CANopen_EN.doc 44/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 45: Useful Information Relating To The Sensor

    Useful information relating to the sensor Resetting the node ID 1. The node ID is reset using the Baumer specific object 2100h. 2. After setting the node ID, this must be saved in the EEPROM with object 1010h. 3. On next initialization, the sensor logs on with the new node ID.

  • Page 46: Applications

    The node ID can be changed in object 2101h between 1 and 127. A save routine should then be executed using object 1010h. On the next initialization, the encoder/converter logs on with the new node ID. BUDE_Manual-CANopen_EN.doc 46/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 47: Configuration

    Object H Subindex Data 0 Data 1 Data 2 Data 3 600h+node ID Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID BUDE_Manual-CANopen_EN.doc 47/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 48 Data 1 Data 2 Data 3 600h+node ID 73 's’ 61 'a’ 76 'v’ 65 'e’ COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3 580h+node ID BUDE_Manual-CANopen_EN.doc 48/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 49: Operation

    Every 5ms the PDO is sent double if a change has occurred. Transmit PDO switched off Transmit PDO switched off Transmit with each third sync telegram With each sync telegram but in total only 43 times (=2Bh). BUDE_Manual-CANopen_EN.doc 49/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 50 The heartbeat messages are made up of the COB ID and one byte. IN this byte, the NMT status is supplied. BootUp-Event Stopped Operational 127: Pre-operational i.e. the encoder/converter is in the pre-operational modus (7Fh = 127). BUDE_Manual-CANopen_EN.doc 50/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 51: Use The Encoder Via Can Interface

    Parameter values see chapter Network management services COB ID = 0x600 + Node ID SDO Command Object Index 6002 Object Subindex 00 Data 0x10000000 For more detailed description see chapter ‚service data communication’ BUDE_Manual-CANopen_EN.doc 51/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...
  • Page 52 Encoder(converter in state Operational Run, transmitting cyclic Position-Data COB ID = 0x180 + Node ID Encoder/converter in state Pre-operational Encoder/converter in state Stopped Encoder/converter Reset Boot up Message COB ID = 0x700+Node iD BUDE_Manual-CANopen_EN.doc 52/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 53: Terminal Assignment And Commissioning

    The resistor is in the bus cover and is connected using a one-pole DIP switch. The terminating resistor must be switched to "ON" at the last user with a 1-pole DIP switch (default setting OFF). ON = Final user OFF = User X BUDE_Manual-CANopen_EN.doc 53/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 54: Bus Cover Connection

    Insert the cores using the shortest route from the cable gland to the terminal strip. Observe the admissible core cross-section, in the case of flexible cores use ferrules. • Avoid crossing over data lines with the supply voltage line. • Close unused cable glands with sealing bolts (supplied). BUDE_Manual-CANopen_EN.doc 54/55 Baumer Hübner GmbH 23.10.2012/bja Berlin, Germany...

  • Page 55: Terminal Assignment

    Stopped/Prepared mode Flashing Warning Error BUDE_Manual-CANopen_EN.doc 55/55 Baumer Hübner GmbH MB703.E – 12A1 – Firmware version 1.0 P.O. Box 12 69 43 · D-10609 Berlin, Germany 23.10.2012 / bja Phone: +49 (0)30/69003-0 · Fax: +49 (0)30/69003-104 info@baumerhuebner.com · www.baumer.com Technical modification reserved...

Table of Contents