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.
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"...
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.
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...
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: •...
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").
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"...
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.
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"...
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"...
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"...
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.
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.
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...
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.
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.
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...
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)
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)
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.
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)
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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...
RA 58-P with CAN-Bus (Layer 2) 8 Dimensioned Drawing Cable 26 of 32 Item No. 2 542 052; Release 3140799hu...
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RA 58-P with CAN-Bus (Layer 2) Connector Item No. 2 542 052; Release 3140799hu 27 of 32...
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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...
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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...
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RA 58-P with CAN-Bus (Layer 2) Notes: 30 of 32 Item No. 2 542 052; Release 3140799hu...
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RA 58-P with CAN-Bus (Layer 2) Notes: Item No. 2 542 052; Release 3140799hu 31 of 32...
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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