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/WH58MR
Redundant rotary encoder with CANopen Safety
interface extension
User manual
066/19

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Summary of Contents for Siko WV58MR

  • Page 1 WV58MR/WH58MR Redundant rotary encoder with CANopen Safety interface extension User manual 066/19...

  • 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 / WH58MR to the master) ........14 Parameter data exchange ................15 5.4.1 Transmission of Service Data Objects (SDO) ............. 15 5.4.1.1...
  • Page 3 5.8.2.26 1A01h: 2. Transmit PDO Mapping Parameter ............76 5.8.2.27 2001h: Application offset ................. 77 5.8.2.28 2002h: Calibrate encoder value ................77 5.8.2.29 2003h: Limit speed low ..................78 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 3 von 110...
  • Page 4 5.8.2.62 6509h: Offset value ..................107 5.8.2.63 650Ah: Module Identification ................107 5.8.2.64 650Bh: Serial number ..................108 5.8.2.65 650Dh: Absolute accuracy ................109 5.8.2.66 650Eh: Device functionality ................109 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 4 von 110...

  • Page 5: General Information

    (e.g. 280h). Intended use The WV58MR / WH58MR consists of two encoders, which collect redundantly absolute travel information. By means of the CANopen protocol and CANopen Safety protocol, both encoders can be configured and read out via the CAN interface. The evaluation and assessment of the data must occur in the superordinate control unit.

  • Page 6: Switching On The Supply Voltage

    Fig. 1: Block diagram Switching on the supply voltage WV58MR / WH58MR 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

    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 Flickering Both LEDs alternately with the frequency of 10 Hz WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 7 von 110...

  • Page 8: Functional Description

    The measuring range depends on the chosen device design and the APU set. Design Default measuring With changed APU (Object 6001h) range Singleturn 0…16383 0…((APU*1) – 1) WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 8 von 110...

  • Page 9: Calibration

    The CANopen communication profile CiA DS-301 V4.2, the Device profile for Encoders CiA DS- 406 V4.02 as well as the indicator specification CiA DS-303 Part 3 V1.4.0 for CAN diagnosis form the basis for the WV58MR / WH58MR. The CANopen Safety protocol EN50325-5 is additionally implemented for safety-relevant applications.

  • Page 10: Telegram Structure

    1110b 1792d (700h) + Node-ID Node Guard message 1110b 1792d (700h) + Node-ID LSS (tx) 2021d (7E4h) LSS (rx) 2020d (7E5h) Table 7: Overview of COB identifiers WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 10 von 110...

  • Page 11: Node Control

    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 / WH58MR, the COB ID could be changed at any time.

  • Page 12: Nmt Communication States

    The exchange of process data is enabled as well. However, COB-ID and Transmit PDO Mapping parameters can no longer be changed in this status. NMT Status STOPPED Communication is stopped except for heartbeat and node guarding Only NMT communication is enabled. WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 12 von 110...

  • 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 / WH58MR supports the Transmit PDO services TPDO1 and TPDO2 according to CiA DS-301 and CiA DS-406.

  • Page 14: Transmit Pdo (From The Wv58Mr / Wh58Mr To The Master)

    Communication via CAN-Bus (CANopen and CANopen Safety) 5.3.1.1 Transmit PDO (from the WV58MR / WH58MR 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 / WH58MR): 600h + Node-ID  SDO (tx) (WV58MR / WH58MR  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 / WH58MR 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 and CANopen Safety) 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 / WH58MR: 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/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 18 von 110...
  • 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 / WH58MR with device address 1h. Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h...

  • Page 20: 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 / WH58MR 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 21: Example For Calculating A Checksum

    Example of change of a configuration  In the following example, the direction of information is to be changed from valid to invalid for SRDO2 while maintaining he configuration of SRDO1.  WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19...

  • Page 22: Node Monitoring

    0000h is output as well; the persisting error status is indicated in the error register, however. Identifier Byte 0 Byte 1 Byte 2 Byte Byte Byte Byte Byte WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 22 von 110...

  • Page 23: Node Guarding

    The answer of the node to the RTR frame of the master is formed as follows: Identifier Byte 0 700h + Node-ID Bit 7: Toggle Bit Bit 6 … 0 NMT state Toggle Bit: WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 23 von 110...

  • Page 24: 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 / WH58MR 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 25: State Change

    LEDs (see chapter LED-signal). Two LSS services are available:  LSS (rx) (LSS Master  WV58MR / WH58MR): 7E5h  LSS (tx) (WV58MR / WH58MR  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 26: Switch States Of Individual Lss Devices (Switch State Selective)

    5.7.1.2 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 / WH58MR COB- User data Byte 0...

  • Page 27: Configuration

    ID, the LSS slave must be set to the LSS Waiting mode, followed by an NMT "Reset Communication" 82h. Another possibility would be to execute power off/on after “Save configuration”. Master  WV58MR / WH58MR COB- User data...

  • Page 28: Activate Baud Rate (Activate Bit Timing Parameters)

    50 kbit/s 20 kbit/s not supported not supported The device supports only Table selector 00h and Table index 0 until 7. WV58MR / WH58MR  Master COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4...

  • Page 29: Store Configuration

    Communication via CAN-Bus (CANopen and CANopen Safety) Master  WV58MR / WH58MR COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h Switch delay Switch Delay: The Switch delay parameter defines the length of two delay periods (d1, d2) of the same length and must correspond with a multiple of 1 ms.

  • Page 30: Request Vendor Id

    Communication via CAN-Bus (CANopen and CANopen Safety) 5.7.3.1 Request Vendor ID Master  WV58MR / WH58MR COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h WV58MR / WH58MR  Master...

  • Page 31: Request Serial Number

    Communication via CAN-Bus (CANopen and CANopen Safety) 5.7.3.4 Request serial number Master  WV58MR / WH58MR COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h WV58MR / WH58MR  Master...

  • Page 32: Directory Of Objects

    1017h: Producer Heartbeat Setting of the cycle time of the heartbeat timer Time 1018h: Identity Object Contains the manufacturer number 1200h: Server SDO Parameter SDO parameter WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 32 von 110...
  • Page 33 NMT state is pre-operational PDO mapping Data type UNSIGNED 16 Default EEPROM Data content 10…65535 Sub-index Description tx: reserved rx: SRVT Access ro, if NMT state is operational WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 33 von 110...
  • Page 34 NMT state is pre-operational PDO mapping Data type UNSIGNED 32 Default 00000100h + 2*Node ID EEPROM Data content 258…384. Only even numbers are allowed. 5.8.1.2 1302h: SRDO2 communication parameters WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 34 von 110...
  • Page 35 SRVT Access ro, if NMT state is operational rw, if NMT state is pre-operational PDO mapping Data type UNSIGNED 8 Default EEPROM nein Dateninhalt WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 35 von 110...
  • Page 36 Object 1381h determines the objects that are mapped in the first Transmit SRDO (SRDO1). Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 36 von 110...
  • Page 37 61210208h (inverted position value object 6121h, sub-index 02h, 8bit) EEPROM Sub-index Description object of the SRDO1 message with the COB ID1 (data byte 2) Access PDO mapping Data type UNSIGNED 32 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 37 von 110...
  • Page 38 Safety Transmit SRDO (SRDO2). Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 38 von 110...
  • Page 39 Data type UNSIGNED 32 Default 61250208h (inv. speed value object 6125h, sub-index 02h, 8bit) EEPROM 5.8.1.5 13FEh: Safety configuration The SRDO configuration can be switched to valid WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 39 von 110...
  • Page 40 Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description SRDO1 signature (checksum) Access WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 40 von 110...
  • Page 41 61210308h byte Sub-index 1 byte Position value 4 byte 4 bytes 61200408h Sub-index 1 byte Inverted position value 4 bytes 61210408h byte Sub-index Description SRDO2 signature (checksum) WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 41 von 110...
  • Page 42 (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/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 42 von 110...
  • Page 43 (offset with calibration and offset value) 600Ch: Absolute accuracy Raw value of position 6030h: Velocity value Velocity value 6031h: Speed parameters adjustment the speed parameter WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 43 von 110...
  • Page 44 Encoder type Default With changed APU (object 6001h) Single-turn 0…16383 0…((APU*1)-1) 4 bit multi-turn 0…262143 0…((APU*16)-1) 8 bit Multi-turn 0…4194303 0…((APU*256)-1) 12 bit multi- 0…67108863 0…((APU*4096)-1) turn WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 44 von 110...
  • Page 45 Encoder type Default With changed APU (Object 6001h) Single-turn 0…16383 0…((APU*1)-1) 4 bit multi-turn 0…262143 0…((APU*16)-1) 8 bit multi-turn 0…4194303 0…((APU*256)-1) 12 bit multi- 0…67108863 0…((APU*4096)-1) turn WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 45 von 110...
  • Page 46 Default EEPROM Data content Speed value [Inc/ms] = (new raw position value object 600Ch - old raw position value object 600Ch) / (integration time [ms] object 6101h WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 46 von 110...
  • Page 47 Safety position byte 2 Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety position byte 3 Access PDO mapping Data type UNSIGNED 8 Default WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 47 von 110...
  • Page 48 Safety inverted position value byte 1 Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety inverted position value byte 2 Access PDO mapping Data type UNSIGNED 8 Default EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 48 von 110...
  • Page 49 UNSIGNED 8 Default EEPROM Sub-index Description Safety speed value byte 1 Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety speed value byte 2 Access WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 49 von 110...
  • Page 50 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 Default EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 50 von 110...
  • Page 51 Any change to the configuration will be valid only after passing. Sub-index Description indicates the largest supported sub-index Access PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 51 von 110...
  • Page 52 Safety sense of 2 bytes Object 6101h direction sub-index 01h Sub-index 1 byte Safety Preset value 4 bytes Object 6101h (calibration value) sub-index 02h Sub-index 1 byte WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 52 von 110...
  • Page 53 Indicates the serial number 650Dh: Absolute accuracy provides the absolute accuracy of the encoder in bits 650Eh: Device functionality provides information on device functionality Table 18: Overview of objects WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 53 von 110...

  • Page 54: Object Description

    CAN bus (passive or bus-off) manufacturer-specific (sensor error) 1-3, 5-6 Not used Faults and errors are signaled at the time of their occurrence by an emergency message WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 54 von 110...

  • Page 55: 1002H: Manufacturer Status Register

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index 01h-08h Description error messages that occurred Access PDO mapping Data type UNSIGNED 32 Default EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 55 von 110...

  • Page 56: 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 / WH58MR EEPROM Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 ("W") ("V") ("5") ("8")

  • Page 57: 100Ah: Manufacturer Software Version

    Object 100Dh indicates the life time factor set in the master for node guarding (see chapter 5.6.2: Node Guarding). Value “‘0h’” means that Node Guarding is deactivated. Sub-index Description Life Time Factor Access PDO mapping Data type UNSIGNED 8 Default EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 57 von 110...

  • Page 58: 1010H: Store Parameter

    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/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 58 von 110...

  • Page 59: 1011H: Restore Parameter

    1010h: Store Parameter. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 59 von 110...
  • Page 60 1: Device permits loading of default parameters. Sub-index Description Set only application parameters to factory settings (6000h-9FFFh, CiA DS- 406) Access PDO mapping Data type UNSIGNED 32 Default EEPROM Data content Write: WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 60 von 110...

  • Page 61: 1014H: Cob-Id Emergency Message

    0: if Bit 29 = 0b X: Bits 28 – 11 of the EMCY-COB-ID, if Bit 29 = 1b Bit 10 … 0 X: bits 10 – 0 of the EMCY-COB-ID WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19...

  • Page 62: 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 EEPROM Sub-index...

  • Page 63: 1200H: Server Sdo Parameter

    Sub-index Description COB-ID Client -> Server (rx) Access PDO mapping Data type UNSIGNED 32 Default 00000600h + Node-ID EEPROM Sub-index Description COB-ID Server -> Client (tx) Access WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 63 von 110...

  • Page 64: 1301H: Srdo1 Communication Parameters

    NMT state is operational rw, if NMT state is pre-operational PDO mapping Data type UNSIGNED 16 Default EEPROM Data content 10…65535 Sub-index Description tx: reserved rx: SRVT WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 64 von 110...

  • Page 65: 1302H: Srdo2 Communication Parameters

    00000100h + 2*Node ID EEPROM Data content 258…384. Only even numbers are allowed. 5.8.2.18 1302h: SRDO2 communication parameters The communication behavior of SRDO2 can be determined via 1302h. Sub-index WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 65 von 110...
  • Page 66 Access ro, if NMT state is operational rw, if NMT state is pre-operational PDO mapping Data type UNSIGNED 8 Default EEPROM nein Dateninhalt Sub-index Description transmission type WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 66 von 110...

  • Page 67: 1381H: Srdo1 Mapping Parameters

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description object of the SRDO1 message with the COB ID1 (data byte 0) Access PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 67 von 110...
  • Page 68 UNSIGNED 32 Default 61200308h (position value object 6120h, sub-index 03h, 8bit) EEPROM Sub-index Description object of the SRDO1 message with the COB-ID2 (data byte 2) Access PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 68 von 110...

  • Page 69: 1382H: Srdo2 Mapping Parameters

    SRDO2 message with the COB ID1 (data byte 0) Access PDO mapping Data type UNSIGNED 32 Default 61240108h (speed value object 6124h, sub-index 01h, 8bit) EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 69 von 110...

  • Page 70: 13Feh: Safety Configuration

    13FFh. Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content A5h: SRDO1 and SRDO2 configuration valid 00h…A4h and A6h…FFh: SRDO1 and SRDO2 configuration invalid WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 70 von 110...

  • Page 71: 13Ffh: Safety Configuration Signature (Checksum)

    Position value 1 byte 4 bytes 61200108h Sub-index 1 byte Inverted position value 4 bytes 61210108h byte Sub-index 1 byte Position value 2 byte 4 bytes 61200208h WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 71 von 110...
  • Page 72 Highest sub-index 1 byte Sub-index 1 byte speed value 1 byte 4 bytes 61240108h Sub-index 1 byte Inverted speed value 1 4 bytes 61250108h byte Sub-index 1 byte WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 72 von 110...

  • Page 73: 1800H: 1. Transmit Pdo Parameter

    Device responds only to RTR request if RTR Bit 30 is enabled in the COB-ID. Sub-index Description Inhibit time (function is not supported, only compatibility entry for various configurators) Access WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 73 von 110...

  • Page 74: 1801H: 2. Transmit Pdo Parameter

    COB ID of the PDO2 Access rw (writable in the “Pre-Operational” state only see chapter 5.1) PDO mapping Data type UNSIGNED 32 Default 280h + Node-ID EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 74 von 110...

  • Page 75: 1A00H: 1. Transmit Pdo Mapping Parameter

    1A00h: 1. Transmit PDO Mapping Parameter Object 1A00h determines the objects that are mapped on the first Transmit PDO (TPDO1). Sub-index Description number of objects mapped Access const PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 75 von 110...

  • Page 76: 1A01H: 2. Transmit Pdo Mapping Parameter

    1. Object of the PDO2 message (data byte 0 to 3) Access PDO mapping Data type UNSIGNED 32 Default 60040020h (position value object 6004h, sub-index 00h, 32bit) EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 76 von 110...

  • Page 77: 2001H: Application Offset

    Position value = measured value + calibration value + application offset Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content Writing of the value 1h sets the position value to the calibration value. WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 77 von 110...

  • Page 78: 2003H: Limit Speed Low

    0, 1, 2, 3, 4 0, 1, 2, 3, 4 0, 1, 2, 3, 4 Explanation of the data content 0: No error occurring at all 4: Error occurring most frequently WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 78 von 110...

  • Page 79: 5F0Ah: Node-Id And Baud Rate Bus Can

    6: 800 kbit/s 7: 1000 kbit/s 5.8.2.33 6000h: Operating Parameters Settings of the operating parameters can be made through object 6000h. Sub-index Description Operating Parameters Access PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 79 von 110...

  • Page 80: 6001H: Measurement Steps Per Revolution (Display Per Revolution = Apu)

    Overall number of measuring units Access PDO mapping Data type UNSIGNED 32 Default Single-turn 16384 4 Bit Multi-turn 262144 8 Bit Multi-turn 4194304 12 Bit Multi- 67108864 turn WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 80 von 110...

  • Page 81: 6003H: Preset Value (Calibration Value)

    Object 6004h indicates the actual position value of the device. Sub-index Description Position value Access PDO mapping Data type UNSIGNED 32 Default EEPROM Position value = measured value + calibration value + application offset WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 81 von 110...

  • Page 82: 600Ch: Absolute Accuracy

    Speed [rpm] = speed value [Inc/ms] * 6000 [rpm] / 1638.4 [Inc/ms] 5.8.2.40 6031h: Speed parameters Speed settings can be made via object 6031h. Subindex Description Indicates the largest supported sub-index Access PDO-Mapping Data type UNSIGNED 8 Default WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 82 von 110...
  • Page 83 Velocity value [Inc/ms] = (new raw position value object 600Ch- old raw position value object 600Ch) / (Integration time [ms] object 6031h sub-index 02h * 10-3) * multiplier object 6031h sub-index 03h / divisor object 6031h sub-index 04h WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd.

  • Page 84: 6100H: Safety Configuration Parameters Of Position

    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 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 84 von 110...
  • Page 85 02h: Object 600C raw value of position is used Sub-index Description Safety integration time of speed Access rw (write in the Pre-operational NMT state only) PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 85 von 110...

  • Page 86: 6120H: Safety Position Value

    Via object 6120h, the position 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 position byte 1 Access WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 86 von 110...

  • Page 87: 6121H: Safety Inverted Position Value

    Via object 6121h, the inverted position 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 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 87 von 110...

  • Page 88: 6124H: Safety Speed Value

    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 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 88 von 110...

  • Page 89: 6125H: Safety Inverted Speed Value

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Safety inverted speed value byte 1 Access PDO mapping Data type UNSIGNED 8 Default EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 89 von 110...

  • Page 90: 61Feh: Safety Application Configuration

    Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description Signature of position (checksum) Access PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 90 von 110...
  • Page 91 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/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 91 von 110...

  • Page 92: 6200H: Cycle Timer

    10…65535 Sub-index Description tx: reserved rx: SRVT Access ro, if NMT state is operational rw, if NMT state is pre-operational PDO mapping Data typ UNSIGNED 8 Default WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 92 von 110...
  • Page 93 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 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 93 von 110...
  • Page 94 NMT state is pre-operational PDO mapping Data type UNSIGNED 8 Default EEPROM nein Dateninhalt Sub-index Description transmission type Access PDO mapping Data type UNSIGNED 8 Default EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 94 von 110...
  • Page 95 1st object of the SRDO1 message with the COB ID1 (data byte 0) Access PDO mapping Data type UNSIGNED 32 Default 61200108h (position value object 6120h, sub-index 01h, 8bit) EEPROM Sub-index WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 95 von 110...
  • Page 96 3rd object of the SRDO1 message with the COB-ID2 (data byte 2) Access PDO mapping Data type UNSIGNED 32 Default 61200308h (inverted position value object 6121h, sub-index 03h, 8bit) EEPROM Sub-index WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 96 von 110...
  • Page 97 1st object of the SRDO2 message with the COB ID2 (data byte 0) Access PDO mapping Data type UNSIGNED 32 Default 61250108h (inv. speed value object 6125h, sub-index 01h, 8bit) WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 97 von 110...
  • Page 98 Any change to the configuration will be valid only after passing. Sub-index Description indicates the largest supported sub-index WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 98 von 110...
  • Page 99 4 bytes 61200208h Sub-index 1 byte Inverted position value 4 bytes 61210208h 2nd byte Sub-index 1 byte Position value 3rd byte 4 bytes 61200308h Sub-index 1 byte WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 99 von 110...
  • Page 100 1800h: 1. Transmit PDO Parameter sub-index 05h. Timer-controlled output is active as soon as a valid cycle time has been entered and the device is operated in the operational mode. Value 0h disables the function. WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd.

  • Page 101: 6400H: Operating Range (Area State Register)

    0: Position value is within the work area set 1: Position value is beyond the work area set Sub-index Description Status of work area 2 Access PDO mapping Data type UNSIGNED 8 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 101 von 110...

  • Page 102: 6401H: Work Area Low Limit

    0…4194303 0…((APU*256) – 1) 12 Bit Multi- 0…67108863 0…((APU*4096) – 1) turn Sub-index Description Lower limit of work area 2 Access PDO mapping Data type SIGNED 32 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 102 von 110...

  • Page 103: 6402H: Work Area High Limit

    0…((APU*256) – 1) 12 Bit Multi- 0…67108863 0…((APU*4096) – 1) turn Sub-index Description Upper limit of work area 2 Access PDO mapping Data type SIGNED 32 Default EEPROM WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 103 von 110...

  • Page 104: 6500H: Operating Status

    Default 16384d (4000h) EEPROM 5.8.2.60 6502h: Number of distinguishable revolutions Object 6502h indicates the number of resolutions the encoder is able to sense. Sub-index Description Physical resolution WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 104 von 110...

  • Page 105: 6503H: Alarms

    This Object 6504h indicates the alarm messages that are supported. The relevant bits are set. Sub-index Description Supported alarm messages Access PDO mapping Data type UNSIGNED 16 Default 3001h EEPROM Data content Bit 15 … 14 Not used WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 105 von 110...

  • Page 106: 6505H: Warnings

    The object 6507h indicates the encoder profile used (CANopen Device profile for encoders) and the version number of the firmware state. Sub-index Description Profile and Software Version Access WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 106 von 110...

  • Page 107: 6508H: Operating Time

    Object 650Ah Indicates the manufacturer-specific offset value as well as the smallest and largest transferable position value. Sub-index Description indicates the largest supported sub-index Access PDO mapping Data type UNSIGNED 8 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 107 von 110...

  • Page 108: 650Bh: Serial Number

    Object 650Bh provides the serial number of the encoder. The serial number is composed of the imprinted serial number and a suffixed 1 or 2 to enable unambiguous identification of each encoder. Sub-index Description Serial number Access PDO mapping WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 108 von 110...

  • Page 109: 650Dh: Absolute Accuracy

    Bit 4 not used Bit 3 0: normal resolution 1: high resolution Bit 2 … 0 000: reserved 001: class C1 010: class C2 011: class C3 WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 109 von 110...

  • Page 110: Seite 3 Von

    Communication via CAN-Bus (CANopen and CANopen Safety) WV58MR/WH58MR Datum: 05.03.2019 Art. Nr. 89117 Änd. Stand 066/19 Seite 110 von 110...

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