Siko WV58MR User Manual
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Siko WV58MR User Manual

Redundant rotary encoder with canopen interface
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WV58MR
Redundant rotary encoder with CANopen
interface
User manual
307/17

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Summary of Contents for Siko WV58MR

  • Page 1 WV58MR Redundant rotary encoder with CANopen interface User manual 307/17...

  • Page 2: Table Of Contents

    Process data exchange .................... 13 5.3.1 Transfer of process data objects (PDO) ..............13 5.3.1.1 Transmit PDO (from the WV58MR to the master) ........... 14 Parameter data exchange ..................15 5.4.1 Transmission of Service Data Objects (SDO) ............. 15 5.4.1.1 Expedited Request/Response ................
  • Page 3 5.7.2.31 6004h: Position value ..................49 5.7.2.32 600Ch: Absolute accuracy ................. 50 5.7.2.33 6030h: Velocity value ..................50 5.7.2.34 6031h: Speed parameters .................. 51 5.7.2.35 6200h: Cycle timer ................... 52 WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 3 of 61...
  • Page 4 5.7.2.48 6509h: Offset value ..................58 5.7.2.49 650Ah: Module Identification ................59 5.7.2.50 650Bh: Serial number ..................60 5.7.2.51 650Dh: Absolute accuracy ................. 60 5.7.2.52 650Eh: Device functionality ................60 WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 4 of 61...

  • Page 5: General Information

    Both encoders are equipped with 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 6: Switching On The Supply Voltage

    Fig. 1: Block diagram Switching on the supply voltage WV58MR initializes after being switched on. During initialization, the LEDs light up one after the other and the configuration parameters are loaded from the non-volatile memory to the random memory of the controller.

  • Page 7: Led-Signal

    CAN diagnosis: The CiA DS-303 Part 3 V1.4.0 indicator specification is the basis of the CAN diagnosis LED status Description LED is permanently on LED is permanently off WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 7 of 61...
  • Page 8 Bus off Table 4: CAN Err LED CAN Run LED and CAN Err LED alternately: LSS state LED status configuration Flickering Table 5: LSS configuration WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 8 of 61...

  • Page 9: Functional Description

    406 V3.2 as well as the indicator specification CiA DS-303 Part 3 V1.4.0 for CAN diagnosis form the basis for the WV58MR. The WV58MR supports device class C2. The details required for a better understanding of the operation are included in this documentation. If more in-depth information is required, we recommend the applicable technical literature on CAN or Canopen.

  • Page 10: Telegram Structure

    The COB ID of the Sync object is an exception, where bit 30 must be = 0b to enable the COB ID to be changed. As bit 30 cannot be set to 1b in the WV58MR, the COB ID could be changed at any time.

  • Page 11: Node Control

    5.2.1: Network management (NMT) services). With the WV58MR rotary encoder, an encoder with the node ID 1 (1h) and the redundant encoder with the node ID 2 (2h) is delivered ex works. Control field: contains bit-by-bit information concerning the number of user data and determines whether a data frame or RTR frame (Remote Transmission Request frame) is concerned.

  • Page 12: Nmt Communication States

    . NMT Status STOPPED Communication is stopped except for heartbeat and node guarding Only NMT communication is enabled. WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 12 of 61...

  • Page 13: Toggling Between The Nmt Communication States

    Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of user data can be transferred in a PDO. The WV58MR supports the Transmit PDO services TPDO1 and TPDO2 according to CiA DS-301 and CiA DS-406.

  • Page 14: Transmit Pdo (From The Wv58Mr To The Master)

    Communication via CAN bus (CANopen) 5.3.1.1 Transmit PDO (from the WV58MR to the master) PDO transfer from the display to the bus master (TPDO) can be initiated as a result of various events:  asynchronous, controlled by an internal device timer ...

  • Page 15: Parameter Data Exchange

    The identifier is set to 11 bits and cannot be changed. Two SDO services are available:  SDO (rx) (Master  WV58MR): 600h + Node-ID  SDO (tx) (WV58MR  Master): 580h + Node-ID These SDO identifiers cannot be changed! 5.4.1.1...

  • Page 16: Normal Request/Response

    Request/Response. This procedure is also initiated by an initialization message, and the actual user data will be transferred in the subsequent segment messages. For the WV58MR this is only the case with reading of the object 1008h: Manufacturer Device Name.

  • Page 17: Error Response In Sdo Exchange

    Communication via CAN bus (CANopen) Initialization and segment message: Command byte, byte 0: The command byte determines the type of access and the number of valid data bytes. The following command bytes are valid for the WV58MR: Command byte Type...

  • Page 18: Sdo Examples

    Calculation of the identifier: 600h + Node-ID = 600h + 1h = 601h Command: 2 bytes are to be written 2Bh Index: 6200h Sub-index: 00h The new value shall be 4500d = 1194h WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 18 of 61...
  • Page 19 Example of reading SDO parameters with normal Request/Response: The manufacturer device name stored in object 1008h of the directory of objects is to be read from the WV58MR with device address 1h. Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h...

  • Page 20: Node Monitoring

    The master assumes that a node error has occurred if status or toggle bits do not correspond with those expected by the master or if there is no response. WV58MR Date: 28.09.2017 Art. No. 88935 Mod.

  • Page 21: Heartbeat

    The master monitors the state of the slave device via Heartbeat protocol. While doing this, the device sends independently its NMT status cyclically. The WV58MR is a heartbeat producer, it does not receive nor process heartbeat protocols itself. The cycle time of the heartbeat message is set via object 1017h.

  • Page 22: Layer Setting Service (Lss)

    LEDs (see chapter LED-signal). Two LSS services are available:  LSS (rx) (LSS Master  WV58MR): 7E5h  LSS (tx) (WV58MR  LSS Master): 7E4h These LSS identifiers cannot be changed! A message consists always of 8 bytes. Byte 0 contains the command (Command – Specifier cs), followed by max.

  • Page 23: State Change

    5.6.1.2 Switch states of individual LSS devices (Switch state selective) With this command, Individual LSS slave devices can be set to the LSS Configuration state via the unique LSS number. Master  WV58MR COB-ID User data Byte 0 Byte 1...

  • Page 24: Configuration

    Communication via CAN bus (CANopen) 7E5h Serial number WV58MR  Master COB-ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h 5.6.2 Configuration 5.6.2.1 Setting the node ID (Configure Node-ID) The LSS master can configure the node ID of single LSS slaves switched to the configuration mode.

  • Page 25: Configuration Of The Baud Rate (Configure Bit Timing Parameters)

    LSS slave set to the LSS Waiting state. Another possibility of activating the new baud rate would be to execute power off/on after “Save configuration”. Master  WV58MR COB-ID User data Byte 0 Byte 1...

  • Page 26: Activate Baud Rate (Activate Bit Timing Parameters)

    Activate baud rate (Activate bit timing parameters) This command activates the new baud rate set via 5.6.2.2 Configuration of the baud rate (Configure bit timing parameters) without requiring Power off/on. Master  WV58MR COB-ID User data Byte 0 Byte 1 Byte 2...

  • Page 27: Requesting Parameters

    5.6.3 Requesting parameters The following requests must only be executed if only one LSS slave is in the configuration mode. 5.6.3.1 Request Vendor ID Master  WV58MR COB-ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4...

  • Page 28: Request Serial Number

    Communication via CAN bus (CANopen) 7E5h WV58MR  Master COB-ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Revision number (Object 1018.3h) 5.6.3.4 Request serial number Master  WV58MR...

  • Page 29: Directory Of Objects

    (is added to the position value encoder-internally) 2002h: Calibrate encoder value Set the position value to the calibration value 2003h: Limit speed low Setting of the lower limit speed WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 29 of 61...
  • Page 30 650Bh: Serial number Indicates the serial number 650Dh: Absolute accuracy provides the absolute accuracy of the encoder in bits WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 30 of 61...

  • Page 31: Object Description

    3002h: Absolute multi-turn encoder 5.7.2.2 1001h: Error Register Object 1001h indicates the error state of the device. Sub-index Description pending error status Access PDO mapping Data type UNSIGNED 8 WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 31 of 61...

  • Page 32: 1002H: Manufacturer Status Register

     The entries in the error list have the format described in chapter 5.5.1: Emergency Service (EMCY) Sub-index Description number of the error messages stored Access PDO mapping Data type UNSIGNED 8 Default WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 32 of 61...

  • Page 33: 1005H: Cob-Id Sync-Message

    SDO (see chapter 5.4.1.2: Normal Request/Response). Sub-index Description Device name in ASCII notation Access Const PDO mapping Data type Visible_String Default WV58MR EEPROM Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 ("W") ("V") ("5") ("8")

  • Page 34: 1009H: Manufacturer Hardware Version

    Guarding). The cycle time is indicated in milliseconds Value “‘0h’” means that Node Guarding is deactivated. Sub-index Description Guard Time Access PDO mapping Data type UNSIGNED 16 Default EEPROM WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 34 of 61...

  • Page 35: 100Dh: Life Time Factor

    0 = reserved Bit 1 0: Device does not independently store parameters Bit 0 1: Device stores parameters after command Sub-index Description Save only communication parameters (1000h-1FFFh, CiA DS-301) WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 35 of 61...
  • Page 36 65h ("e") Read: Bit 31 … 2 0 = reserved Bit 1 0: Device does not independently store parameters Bit 0 1: Device stores parameters after command WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 36 of 61...

  • Page 37: 1011H: Restore Parameter

    Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0 = reserved Bit 0 1: Device permits loading of default parameters. WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 37 of 61...

  • Page 38: 1014H: Cob-Id Emergency Message

    Defines the COB ID of the Emergency object (EMCY) Access rw (writable in the “Pre-Operational” state only see chapter 5.1: Telegram structure) PDO mapping Data type UNSIGNED 32 Default 80h + Node-ID WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 38 of 61...

  • Page 39: 1017H: Producer Heartbeat Time

    Access const PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description The manufacturer identification number (vendor ID) for the company SIKO GmbH allocated by the CiA Access PDO mapping Data type UNSIGNED 32 Default 195h WV58MR Date: 28.09.2017 Art.

  • Page 40: 1200H: Server Sdo Parameter

    The COB IDs for the server SDOs are indicated via object 1200h. The COB IDs cannot be changed. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 40 of 61...

  • Page 41: 1800H: 1. 3Rd Transmit Pdo Parameter

    (writable in the “Pre-Operational” state only see chapter 5.1) PDO mapping Data type UNSIGNED 32 Default 180h + Node-ID EEPROM Sub-index Description Transmission Type Access PDO mapping Data type UNSIGNED 8 WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 41 of 61...

  • Page 42: 1801H: 2. 3Rd Transmit Pdo Parameter

    TPDO2 is used for synchronous PDO transfer according to CiA DS-406. The communication parameters for TPDO2 are set via object 1801h. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 42 of 61...
  • Page 43 04h (is not used, access attempt generates error message) Sub-index Description Event timer (function is not supported, only compatibility entry for various configurators) Access PDO mapping Data type UNSIGNED 16 Default EEPROM WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 43 of 61...

  • Page 44: 1A00H: 1. Transmit Pdo Mapping Parameter

    Object 1A01h determines the objects that are mapped in the second Transmit PDO (TPDO2). Sub-index Description number of objects mapped Access const PDO mapping Data type UNSIGNED 8 Default WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 44 of 61...

  • Page 45: 2001H: Application Offset

    Single-turn -16384…16383 4 Bit Multi-turn -262144…262143 8 Bit Multi-turn -4194304…4194303 12 Bit Multi-turn -67108864…67108863 5.7.2.22 2002h: Calibrate encoder value Calibration can be executed via Object 2002h. Sub-index WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 45 of 61...

  • Page 46: 2003H: Limit Speed Low

    A prioritized list of CAN bus errors occurring can be read via Object 5000h. Sub-index Description Indicates the CAN Bus errors Acknowledge, Form, CRC and Stuff Error sorted by frequency. Access WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 46 of 61...

  • Page 47: 5F0Ah: Node-Id And Baud Rate Bus Can

    1h (redundant encoder 2h) EEPROM Data content 01h … 7Fh Sub-index Description Baud rate of the CAN bus Access PDO mapping Data type UNSIGNED 8 Default 5h (500kBaud) EEPROM WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 47 of 61...

  • Page 48: 6000H: Operating Parameters

    The number of measurement steps is determined via Object 6001h. Sub-index Description Number of measurement steps per revolution Access PDO mapping Data type UNSIGNED 32 Default 16384d (4000h) EEPROM Data content 1d…65535d (1h…FFFFh) WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 48 of 61...

  • Page 49: 6002H: Overall Number Of Measurement Steps

    0…((APU*256) – 1) 12 Bit Multi-turn 0…67108863 0…((APU*4096) – 1) 5.7.2.31 6004h: Position value Object 6004h indicates the actual position value of the device. Sub-index Description Position value WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 49 of 61...

  • Page 50: 600Ch: Absolute Accuracy

    PDO mapping Data type SIGNED 16 Default EEPROM Conversion of increments per ms in rpm Speed [rpm] = speed value [Inc/ms] * 6000 [rpm] / 1638.4 [Inc/ms] WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 50 of 61...

  • Page 51: 6031H: Speed Parameters

    UNSIGNED 16 Default EEPROM Data content 64h: 100 ms C8h: 200 ms Subindex Description Multiplikator Access PDO-Mapping Data type UNSIGNED 16 Default EEPROM Data content Subindex Description Divisor WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 51 of 61...

  • Page 52: 6200H: Cycle Timer

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Status of operating range 1 Access PDO mapping Data type UNSIGNED 8 Default WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 52 of 61...

  • Page 53: 6401H: Work Area Low Limit

    Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Lower limit of work area 1 Access PDO mapping WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 53 of 61...

  • Page 54: 6402H: Work Area High Limit

    Sub-index Description Upper limit of work area 1 Access PDO mapping Data type SIGNED 32 Default EEPROM Data content Encoder type Default With changed APU (Object 6001h) WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 54 of 61...

  • Page 55: 6500H: Operating Status

    0: Clockwise (CW) sense of rotation I 1: Counter-clockwise (CCW) sense of rotation E 5.7.2.40 6501h: Single-turn resolution Object 6501h indicates the physical number of measurement steps per revolution. Sub-index Description Physical resolution WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 55 of 61...

  • Page 56: 6502H: Number Of Distinguishable Revolutions

    0: Position value within work area 1 1: Position limit 1 exceeded or undershot (Work area 1) Bit 11 … 1 Not used Bit 0 0: Position value valid 1: position value invalid WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 56 of 61...

  • Page 57: 6504H: Supported Alarms

    5.7.2.45 6506h: Supported Warnings The Object 6506h indicates the warnings that are supported. Sub-index Description Supported warnings Access PDO mapping Data type UNSIGNED 16 Default 0001h EEPROM WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 57 of 61...

  • Page 58: 6507H: Profile And Software Version

    The Object 6509h indicates the difference between encoder value and the scaled and offset against preset and application offset position value. Sub-index Description Encoder state at the time of calibration Access PDO mapping Data type SIGNED 32 Default EEPROM WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 58 of 61...

  • Page 59: 650Ah: Module Identification

    262143 1048559 ((65535 * 16) - 1) 8 Bit Multi-turn 4194303 16776959 ((65535 * 256) - 1) 12 Bit Multi-turn 67108863 268431359 ((65535 * 4096) - 1) WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 59 of 61...

  • Page 60: 650Bh: Serial Number

    Bit 7 … 6 00: CANopen Safety 01 … 11: not used Bit 5 0: Safety is not supported 1: Safety is supported Bit 4 not used WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 60 of 61...
  • Page 61 Communication via CAN bus (CANopen) Bit 3 0: normal resolution 1: high resolution Bit 2 … 0 000: reserved 001: class C1 010: class C2 011: class C3 WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 61 of 61...

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