IFM RM8 Series Device Manual
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IFM RM8 Series Device Manual

IFM RM8 Series Device Manual

Absolute magnetic encoder with canopen interface
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Device manual
Absolute magnetic encoder
with CANopen interface
UK
RM8xxx
RM9xxx

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  • Page 1 Device manual Absolute magnetic encoder with CANopen interface RM8xxx RM9xxx...

  • Page 2: Table Of Contents

    CANopen encoder Contents 1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�1 Symbols used�...
  • Page 3 CANopen encoder 8 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30 Licences and trademarks Microsoft , Windows...

  • Page 4: Preliminary Note

    CANopen encoder 1 Preliminary note 1.1 Symbols used ► Instruction > Reaction, result […] Designation of pushbuttons, buttons or indications → Cross-reference Important note Non-compliance can result in malfunction or interference� Information Supplementary note 1.2 Warning signs used NOTE Warning of damage to property� 2 Safety instructions These instructions are part of the device�...

  • Page 5: General Information

    CANopen encoder 3 General information 3.1 CANopen technology The CANopen communication profile is based on the CAN Application Layer (CAL) specification of the CiA organisation� CANopen is considered as a robust fieldbus with highly flexible configuration options� It is used in many various applications which are based on different application profiles�...

  • Page 6: Functions And Features

    CANopen encoder 4 Functions and features ● There are 1 SDO server and 2 default value PDOs according to CiA DS 301� The PDO mapping can be changed (dynamic PDO mapping)� The default value identifiers have been assigned according to the "predefined connection set" in the CANopen specification�...

  • Page 7: 5�3 Setting Of The Node Number

    CANopen encoder 5.3 Setting of the node number 5.3.1 Setting of the node number via SDO objects For devices without terminal cap the address can only be set via SDO objects� The address of an encoder without terminal cap is set to 32 as standard� Details on changing the node number →...

  • Page 8: Configuration

    CANopen encoder 6 Configuration This chapter describes the configuration of the parameters of an absolute encoder with CANopen interface� 6.1 Operating modes 6.1.1 General information In the preoperational mode the encoder replies to the CAN bus after sending its boot up message� Boot up message: 700 hex + node number (further details in the Communication Profile chapter 7�3�) ►...

  • Page 9: 6�1�4 Start/Stop Mode

    CANopen encoder 6.1.4 Start/stop mode To set the encoder to the stop mode, the master must send the following message: Identifier Byte 0 Byte 1 Description 02 h NMT stop, all nodes 02 h NMT stop, NN NN: node number It is possible to set all nodes (byte 1 = 0) or individual nodes (byte 1 NN) to the stop mode�...

  • Page 10: 6�3�2 Saving Process

    CANopen encoder Object Index Object description 1017h producer heartbeat time 1020h verify configuration 1800h communication parameter PDO 1 1801h communication parameter PDO 2 1A00h transmit PDO1 mapping parameter 1A01h transmit PDO2 mapping parameter 2100h operating parameters 2101h resolution per revolution 2102h total resolution 2103h...

  • Page 11: 6�3�5 Restoring The Parameters

    CANopen encoder 6.3.5 Restoring the parameters The factory-set parameters can be restored� The settings stored in the EEPROM are not overwritten� Only after the storage command has been sent again will the default settings be stored in the EEPROM non-volatilely� The restored parameters are identical for each CANopen encoder of this type and may possibly not correspond to the original parameters�...

  • Page 12: 7�2 Programming Example: Preset Value

    CANopen encoder Index (hex) Object 0040-005F manufacturer-specific data types 0060-0FFF reserved 1000-1FFF area of the communication profile 2000-5FFF manufacturer-specific area 6000-9FFF device-specific area A000-FFFF reserved 7.2 Programming example: preset value The receipt of the SDO answer is to be monitored in the program since the request is sent permanently without confirmation of receipt�...

  • Page 13: (Communication Profile Ds301 V4�02)

    CANopen encoder Non-volatile storage of the preset value Identifier Command Index Sub index Service data NN 1 download 1010h byte 4 byte 5 byte 6 byte 7 Response from the encoder Identifier Command Index Sub index Service data NN 1 download 6003h byte 4...
  • Page 14 CANopen encoder Index S-Idx Name Type, default value Description access 100C Guard time u16, rw This object contains the 'guard time' in milliseconds� 100D Life time factor u8, rw This object contains the life time factor parameter� The life time factor multiplied with the guard time results in the life time for the guarding protocol�...
  • Page 15 CANopen encoder Index S-Idx Name Type, default value Description access 1012 COB ID time u32, rw 100h The object contains the COB ID of the stamp object time stamp object� 1013 High resolution u32, rw The object contains a time stamp with a time stamp resolution of 1 µs�...
  • Page 16 CANopen encoder Index S-Idx Name Type, default value Description access 1020 Verify The object indexes the loaded configuration configuration, date and time� Number of u8, ro entries Configuration u32, rw date Configuration u32, rw time 1029 Error behaviour The object shows the error behaviour� Number of u8, ro entries...
  • Page 17 CANopen encoder Index S-Idx Name Type, default value Description access 1801 2nd transmit The object contains the communication parameters of the second transmit PDO� communication Please note! This object is only activated parameter with C6 CANopen encoders� Number of sub u8, ro indices COB ID...
  • Page 18 CANopen encoder after the timer has elapsed� The value of the timer is written in subindex 5 of the respective PDO� The data is also transferred without any changes to the data� The value range is between 1-65536 ms� Index S-Idx Name Type,...

  • Page 19: 7�4 Manufacturer-Specific Objects From 2000H To 5Fffh

    CANopen encoder 7.4 Manufacturer-specific objects from 2000h to 5FFFh Index S-Idx Name Type, default value Description access 2000 Position value u32, ro 2100 Operating u16, rw The counting direction of the encoder as parameters an operating parameter can be changed and the two limit switches can be switched on or off�...
  • Page 20 CANopen encoder Index S-Idx Name Type, default value Description access 2102 Total u32, rw 0x1000000 Total resolution of the encoder resolution This parameter is used to set the requested total resolution� The parameter must not exceed the physical measuring range of the encoder� The total resolution and the resolution per revolution must be entered using the following formula: GA = (PGA x AU) / PAU...
  • Page 21 CANopen encoder Index S-Idx Name Type, default value Description access 2105 Limit switch, u32, rw Two position vaues can be programmed as max� limit switch positions� When one of these values has been reached, one of the 32-bit position values is set� Both values must not exceed the total physical resolution of the encoder to avoid runtime errors�...
  • Page 22 CANopen encoder Index S-Idx Name Type, default value Description access Eight different baud rates are supported� Only one byte is used to set the baud rate� Baud rate Byte [kbits/s] 0x00 0x01 0x02 0x03 0x04 0x05 0x06 1000 0x07 3010 Speed control Speed measurement, the measurement is switched off in the factory setting�...

  • Page 23: 7�5 Device-Profile-Specific Objects From 6000H To 9Ffff

    The encoder is waiting for new programming� Due to this behaviour the security code for prevention is not published in this manual but is only available from ifm on request� 7.5 Device-profile-specific objects from 6000h to 9FFFF Index S-Idx...
  • Page 24 CANopen encoder Index S-Idx Name Type, default value Description access 6001 Measuring u32, rw Setting steps per revolution units per type label revolution 6002 Total u32, rw Setting the total resolution of the measuring type label measuring range range in measuring units 6003...
  • Page 25 CANopen encoder 6310h Cam 1 low limit Highest sub-index supported Cam 1 low limit channel 1 6311h Cam 2 low limit Highest sub-index supported Cam 2 low limit channel 1 6312h Cam 3 low limit Highest sub-index supported Cam 3 low limit channel 1 6313h Cam 4 low limit Highest sub-index supported...
  • Page 26 CANopen encoder Highest sub-index supported Cam 5 high limit channel 1 6325h Cam 6 high limit Highest sub-index supported Cam 6 high limit channel 1 6326h Cam 7 high limit Highest sub-index supported Cam 7 high limit channel 1 6327h Cam 8 high limit Highest sub-index supported Cam 8 high limit channel 1...
  • Page 27 CANopen encoder Index S-Idx Name Type, default value Description access 6400 Area state The object describes the area state register register� In this object the status of the encoder value is indicated in the area defined before� Measuring u8, ro units per revolution Total...
  • Page 28 CANopen encoder Index S-Idx Name Type, default value Description access 6402 Work area high The object indicates the upper value of limit the working area� Bit 1 of the working status existing in object 6400h will change when the working area is exceeded�...
  • Page 29 CANopen encoder Index S-Idx Name Type, default value Description access 650A Module The object indicates the manufacturer- identification specific offset, the manufacturer-specific minimum and maximum of the position value� Largest integer sub index 32, ro Manufacturer- integer specific offset 32, ro Manufacturer- integer specific min�...
  • Page 30 CANopen encoder 8 Terms and abbreviations 0b ��� Binary value (for bit coding), e�g� 0b0001 0000 0d ��� Decimal value, e�g� 0d100 0x ��� Hexadecimal value, e�g� 0x64 (= 100 decimal) Baud rate Transmission speed (1 baud = 1 bit/s) CAN Application Layer CAN-based network protocol on application level Controller Area Network (bus system for the use in mobile vehicles)
  • Page 31 CANopen encoder higher-level master node as well as monitoring of this polling process by the slave participants� Node ID Nodal point identifier (identification of a participant in the CANopen network) Object (also OBJ) Term for data/messages which can be exchanged in the CANopen network Object directory Contains all CANopen communication parameters of a device...
  • Page 32 CANopen encoder Tx queue (Transmit) Transmission buffer u8 (16, 32) Data type unsigned 8 (16, 32) bits (without sign, 8 (16, 32) bit-format write only...
  • Page 33 CANopen encoder...
  • Page 34 CANopen encoder...
  • Page 35 CANopen encoder...

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Rm9 series

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