Hengstler RA 58-P Technical Manual
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Hengstler RA 58-P Technical Manual

With can-bus layer 2
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Technical Manual
RA 58-P
with CAN-Bus (Layer 2)
Item no. 2 542 052
Release 3140799hu
Item No. 2 542 052; Release 3140799hu
1 of 32

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Summary of Contents for Hengstler RA 58-P

  • Page 1 Technical Manual RA 58-P with CAN-Bus (Layer 2) Item no. 2 542 052 Release 3140799hu Item No. 2 542 052; Release 3140799hu 1 of 32...

  • Page 2: Ra 58-P With Can-Bus (Layer

    RA 58-P with CAN-Bus (Layer 2) © by HENGSTLER HENGSTLER claims copyright protection for this documentation. This documentation shall not be modified, amended, copied, or given to third parties without prior written approval by HENGSTLER. HENGSTLER GmbH Postfach 11 51...

  • Page 3: Table Of Contents

    RA 58-P with CAN-Bus (Layer 2) Contents Safety and Operating Instructions _____________________________________ 4 General Information _________________________________________________ 5 Introduction_________________________________________________________ 5 Range of Application _________________________________________________ 5 Software Description ________________________________________________ 6 Operating Modes ____________________________________________________ 6 Data Memory _______________________________________________________ 6 Warning Positions____________________________________________________ 6 Communication______________________________________________________ 6...

  • Page 4: Safety And Operating Instructions

    This sign marks paragraphs particularly to be observed to assure proper use and to avoid risks. • The absolute shaft encoders of the type RA 58-P/RA 59-P model series are quality products manufactured in accordance with established electrical engineering standards.

  • Page 5: General Information

    RA 58-P with CAN-Bus (Layer 2) 2 General Information 2.1 Introduction The RA58 is an absolute shaft encoder (encoder, angle encoder), which - in the version described here - transmits its current position to another bus participant via the "CAN bus"...

  • Page 6: Software Description

    RA 58-P with CAN-Bus (Layer 2) 3 Software Description 3.1 Operating Modes Polling mode: The connected host polls the current position value of the encoder via an RTR telegram (Remote Transmission Request). The encoder sends the position value back along with the same identifier.

  • Page 7: Baud Rate

    RA 58-P with CAN-Bus (Layer 2) 3.5 Baud rate The baud rate can be set at 8 levels via three DIP switches: (see Fehler! Verweisquelle konnte nicht gefunden werden. Fehler! Verweisquelle konnte nicht gefunden werden.) DIP switch ("ON"=1) Baud rate in KBit/s...

  • Page 8: Base Identifier

    RA 58-P with CAN-Bus (Layer 2) An identifier that is changed via parameterization (see sections 4.5 to 4.8) first becomes effective after the next reset (switching ON/OFF or, reset command). Therefore, the following sequence is necessary for the immediate validity of the identifier change: •...

  • Page 9: Position Value Transfer

    RA 58-P with CAN-Bus (Layer 2) 3.7 Position Value Transfer The position value is transmitted to the host in a telegram along with the identifier for the position value transfer, either cyclically or on demand, according to the set operating mode (see section "Operating Modes").

  • Page 10: Current Encoder Status

    RA 58-P with CAN-Bus (Layer 2) 3.9 Current Encoder Status This parameter is not a value that can be transmitted from another bus participant to the encoder. It is the current status of the encoder that the encoder transmits as acknowledgement to every other parameter transfer, as well as that with which it answers the "Status Request"...

  • Page 11: Parameters

    RA 58-P with CAN-Bus (Layer 2) 4 Parameters Certain parameters are necessary for the operation of the encoder. These parameters influence the behaviour of the encoder and adapt the characteristics of the encoder to the relevant conditions. The parameters have a default setting that can be set by the "Reset Parameter“ command.

  • Page 12: Warning Position Message

    RA 58-P with CAN-Bus (Layer 2) 4.1 Warning position message Along with the warning positions, additional information as to whether the warning position message is sent if the position value exceeds or falls short of the warning position is transferred. The warning positions are transferred with the following telegram: Prefixed identifier: Identifier for "Reception of Parameters/Commands"...

  • Page 13: Cycle Time For Auto Mode

    RA 58-P with CAN-Bus (Layer 2) 4.3 Cycle Time for Auto Mode If the encoder is working in Auto mode, the time interval in milliseconds at which the encoder transmits the position value cyclically can be set by means of the following telegram: Prefixed identifier: Identifier for "Reception of Parameters/Commands"...

  • Page 14: Position Value Identifier

    RA 58-P with CAN-Bus (Layer 2) 4.5 Position Value Identifier After the reset of the encoder, the position value identifier is accepted from the position of the DIP switches if this has changed since the previous reset. However, it can also be changed via the bus: Prefixed identifier: Identifier for "Reception of Parameters/Commands"...

  • Page 15: Transmission Identifier For "Encoder Status

    RA 58-P with CAN-Bus (Layer 2) 4.7 Transmission Identifier for "Encoder Status" This identifier can likewise be changed via the bus: Prefixed identifier: Identifier for "Reception of Parameters/Commands" Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte no.

  • Page 16: Type Of Encoder

    RA 58-P with CAN-Bus (Layer 2) 4.9 Type of Encoder Encoders come in single-turn and multiturn versions. The single-turn models are specified by the number of increments per revolution. This data is described by the parameter "type". This parameter is pre-set in the factory prior to delivery of the encoder and should not be modified later.

  • Page 17: Commands

    RA 58-P with CAN-Bus (Layer 2) 5 Commands A list of the commands to the encoder: Prefixed identifier: Identifier for "Reception of Parameters/Commands" Telegram Subindex Meaning (decimal) Status request Request for the status of the encoder Reset encoder Trigger a warm start of the encoder...

  • Page 18: Reset Parameters

    RA 58-P with CAN-Bus (Layer 2) 5.3 Reset Parameters The parameters are set to their default values in the working memory (see Chapter 4 Parameters). Note: This command has no effect on the permanent memory (EEPROM) of the encoder. Parameters stored there remain in effect.

  • Page 19: Initial Operation

    RA 58-P with CAN-Bus (Layer 2) 6 Initial Operation 6.1 Bus Connection of the Encoder The continuous CAN bus must be terminated on both ends with a bus terminal resistor of 120 Ohm between CAN+ and CAN- ! The screen must be connected with ground on both ends. Also the voltage supply lines should be screened completely.

  • Page 20: Cable Or Connector With Connection Type "Double Bus Lines

    RA 58-P with CAN-Bus (Layer 2) The assignments correspond to the CiA-guidelines. Line TPE-Cable Connector Signal Description pairs green CAN- CAN- bus line (dominant L) Pair 1 yellow CAN+ CAN+ bus line (dominant H) Pair 2 blue and brown 3 and11...

  • Page 21: Connector 2-Fold, 9-Pole (Internal T-Manifold)

    RA 58-P with CAN-Bus (Layer 2) Connection assignment "Double bus lines": Line TPE-Cable Connector Signal Description pairs yellow CAN+ IN CAN+ bus line (dominant H) Pair 1 green CAN- IN CAN- bus line (dominant L) pink CAN+ OUT CAN+ bus line (dominant H)

  • Page 22: Bus Terminal Box (Internal T-Manifold)

    RA 58-P with CAN-Bus (Layer 2) Connection assignment connector 2-fold: Connector with Line Pin-No. Description pairs pin insert (IN) socket insert (OUT) CAN + CAN+ CAN+ bus line (dominant H) Pair 1 CAN – CAN – CAN – bus line (dominant L)

  • Page 23: Control Elements

    RA 58-P with CAN-Bus (Layer 2) Connection diagram 1-5: Base identifier 6-8: Baud rate Both set to "ON" = bus termination resistor active 6.2 Control Elements By means of the 8-DIPswitches, the base identifier and the baud rate are set.

  • Page 24: Technical Data

    RA 58-P with CAN-Bus (Layer 2) 7 Technical Data Mechanical: Shaft diameter 6 mm (synchro-flange), 10 mm (clamping flange) Shaft load 6-mm shaft: axial 60 N (13 lbs), radial 110 N (24 lbs) 10-mm shaft: axial 107 N (24 lbs), radial 160 N (35 lbs)
  • Page 25 RA 58-P with CAN-Bus (Layer 2) Electrical: General design according to EN 61010-part 1, protection class III, contamination level 2, overvoltage category II Supply voltage 10 ... 30 V DC (SELV) Induced current absorption; max. 0,2 A; recommended external fuse...

  • Page 26: Dimensioned Drawing

    RA 58-P with CAN-Bus (Layer 2) 8 Dimensioned Drawing Cable 26 of 32 Item No. 2 542 052; Release 3140799hu...
  • Page 27 RA 58-P with CAN-Bus (Layer 2) Connector Item No. 2 542 052; Release 3140799hu 27 of 32...
  • Page 28 RA 58-P with CAN-Bus (Layer 2) Connector 2-fold Output Input (socket) (pins) Output Input (socket) (pins) 28 of 32 Item No. 2 542 052; Release 3140799hu...
  • Page 29 RA 58-P with CAN-Bus (Layer 2) Bus terminal box ST = Single turn MT = Multi turn Required diameter of connecting cables: 7.0 ... 7.4 mm Item No. 2 542 052; Release 3140799hu 29 of 32...
  • Page 30 RA 58-P with CAN-Bus (Layer 2) Notes: 30 of 32 Item No. 2 542 052; Release 3140799hu...
  • Page 31 RA 58-P with CAN-Bus (Layer 2) Notes: Item No. 2 542 052; Release 3140799hu 31 of 32...

  • Page 32: Ordering Data

    RA 58-P with CAN-Bus (Layer 2) 9 Ordering Data Version Shaft diameter Interface Code Protection Supply Mounting P Programmable class 1 6 mm C CAN B Binary voltage K Clamping flange 4 IP 64 (Flange S) E 10 … 30 VDC...

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