Siko WV58MR User Manual
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Siko WV58MR User Manual

Redundant rotary encoder with canopen safety interface extension
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WV58MR
Redundant rotary encoder with CANopen Safety
interface extension
User manual
373/18

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Summary of Contents for Siko WV58MR

  • Page 1 WV58MR Redundant rotary encoder with CANopen Safety interface extension User manual 373/18...

  • Page 2: Table Of Contents

    3.2.2.11 6124h: Safety speed value ................22 3.2.2.12 6125h: Safety inverted speed value ..............23 3.2.2.13 61FEh: Safety application configuration .............. 24 3.2.2.14 61FFh: Safety configuration signature (checksum) ..........24 WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 2 von 25...

  • Page 3: General Information

    Both encoders are equipped with each 3 LEDs (yellow, red, green), which indicate error or status information for diagnostic purposes. The rotary encoder WV58MR is designed for redundant position and speed detection. It can be used for applications up to Performance Level D (PLd) in the overall system. For this purpose an overriding safe encoder evaluation device is required.

  • Page 4: Communication Via Can-Bus (Canopen And Canopen Safety)

    Safety-relevant applications as well as safety-non-relevant applications can be operated on a CAN bus. The WV58MR supports device class C3. The details required for a better understanding of safety-relevant operation are included in this documentation. If more in-depth information is required, we recommend reading the applicable technical literature on CANopen Safety.

  • Page 5: Safety Data Exchange

    NMT state. An SRDO consists always of 2 messages with different COB-IDs and bit-by-bit inverted data. A maximum of 8 bytes of user data can be transferred in an SRDO. The WV58MR supports the Safety Transmit services SRDO1for the position value (4 bytes) and SRDO2 for speed (2 bytes) according to EN50325-5 and CiA DS-406.

  • Page 6: Example For Calculating A Checksum

    600h + Node-ID For the checksum, the default value 0000h is entered. Therefore, both checksums must be indicated for the first change even if only one configuration is changed. WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 6 von 25...
  • Page 7 COB-ID User data Command Index Index Sub- Data 0 Data 1 Data 2 Data 3 index 600h + Node-ID WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 7 von 25...

  • Page 8: Directory Of Objects

    Table 3: Overview of objects 3.2.2 Object description 3.2.2.1 1301h: SRDO1 communication parameters The communication behavior of SRDO1 can be determined via object 1301h. WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 8 von 25...
  • Page 9 SRVT Access ro, if NMT state is operational rw, if NMT state is pre-operational PDO mapping Data typ UNSIGNED 8 Default EEPROM Data content WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 9 von 25...

  • Page 10: 1302H: Srdo2 Communication Parameters

    The communication behavior of SRDO2 can be determined via 1302h. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Direction of information WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 10 von 25...
  • Page 11 Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description COB-ID1 Access ro, if NMT state is operational rw, if NMT state is pre-operational WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 11 von 25...

  • Page 12: 1381H: Srdo1 Mapping Parameters

    SRDO1 message with the COB ID2 (data byte 0) Access PDO mapping Data type UNSIGNED 32 Default 61210108h (inverted position value object 6121h, sub-index 01h, 8bit) WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 12 von 25...
  • Page 13 SRDO1 message with the COB ID1 (data byte 3) Access PDO mapping Data type UNSIGNED 32 Default 61200408h (position value object 6120h, sub-index 04h, 8bit) WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 13 von 25...

  • Page 14: 1382H: Srdo2 Mapping Parameters

    UNSIGNED 32 Default 61250108h (inv. speed value object 6125h, sub-index 01h, 8bit) EEPROM Sub-index Description object of the SRDO2 message with the COB ID1 (data byte 1) WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 14 von 25...

  • Page 15: 13Feh: Safety Configuration

    Any change to the configuration will be valid only after passing. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 15 von 25...
  • Page 16 4 bytes 61200308h Sub-index 1 byte Inverted position value 4 bytes 61210308h byte Sub-index 1 byte Position value 4 byte 4 bytes 61200408h Sub-index 1 byte WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 16 von 25...

  • Page 17: 6100H: Safety Configuration Parameters Of Position

    6100h: Safety configuration parameters of position Via object 6100h, settings for the position and its transmission can be made. Sub-index Description indicates the largest supported sub-index Access WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 17 von 25...

  • Page 18: 6101H: Safety Configuration Parameters Of Speed

    Via object 6101h, settings for speed and its transmission can be made. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 18 von 25...
  • Page 19 Safety integration time of speed Access rw (write in the Pre-operational NMT state only) PDO mapping Data type UNSIGNED 16 Default EEPROM Data content 64h: 100 ms C8h: 200 ms WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 19 von 25...

  • Page 20: 6120H: Safety Position Value

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety position byte 1 Access PDO mapping Data type UNSIGNED 8 Default EEPROM WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 20 von 25...

  • Page 21: 6121H: Safety Inverted Position Value

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety inverted position value byte 1 Access PDO mapping Data type UNSIGNED 8 WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 21 von 25...

  • Page 22: 6124H: Safety Speed Value

    Via object 6124h, the speed value can be read byte by byte. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety speed value byte 1 WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 22 von 25...

  • Page 23: 6125H: Safety Inverted Speed Value

    Safety inverted speed value byte 1 Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety inverted speed value byte 2 Access PDO mapping Data type UNSIGNED 8 WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 23 von 25...

  • Page 24: 61Feh: Safety Application Configuration

    Signature of position (checksum) Access PDO mapping Data type UNSIGNED 16 Default 0000h EEPROM Data content The checksum CRC-16-CCITT is calculated via the content of the object 6100h. WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 24 von 25...
  • Page 25 Safety integration 2 bytes Object 6101h time of speed sub-index 05h Sub-index 1 byte Safety multiplier 2 bytes 0001h Sub-index 1 byte Safety divisor 2 bytes 0001h WV58MR Datum: 16.11.2018 Art. Nr. 89117 Änd. Stand 373/1 Seite 25 von 25...

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