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Related Manuals for IFM Efector 400 RM7 Series
Summary of Contents for IFM Efector 400 RM7 Series
- Page 1 Device manual Encoder with CANopen interface RM7xxx RN7xxx...
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Page 2: Table Of Contents
CANopen encoder Contents 1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�1 Symbols used�... - Page 3 CANopen encoder 6�11�1 Diagnosis of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22 6�11�2 Operating status �...
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Page 4: Preliminary Note
CANopen encoder Preliminary note Symbols used ► Instruction > Reaction, result […] Designation of pushbuttons, buttons or indications → Cross-reference Important note Non-compliance can result in malfunctions or interference� Information Supplementary note Warning signs used ATTENTION Warning of damage to property� Safety instructions This manual is part of the device�... -
Page 5: General Information
CANopen encoder General information Absolute encoders For an absolute encoder each angular position is assigned a coded position value� This is generated by a coded disc with several parallel fine code segments which are detected individually� For singleturn encoders, i�e� an encoder producing absolute positions within one revolution, the absolute position information is repeated with every revolution�... -
Page 6: 3�3�1 Abbreviations
CANopen encoder 3.3.1 Abbreviations Controller Area Network CAN in Automation CAN Application Layer Electronic Data Sheet Device Configuration File Service Data Object Process Data Object TPDO Transmit PDO COB-ID Communication Object Identifier Network Management Isochronous Real Time Installation of the encoder Settings of the encoder The node address of the encoder, the baud rate and the bus termination must be configured during the set-up of the device�... -
Page 7: 4�2 Node Address
CANopen encoder supply +U zero set button screw terminals for bus and power supply connection Node address The node address of the device can be set via two decimal rotary switches in the device� The step increment x10 and x1 is specified next to the switches� The permitted address range is between 3 and 98�... -
Page 8: 4�5 Electrical Connection Of The Encoder
CANopen encoder Settings baud rate switch Baud rate [kbits] Baud rate switch 1000 Electrical connection of the encoder NOTE The unit must be connected by a qualified electrician� Disconnect power before connecting the unit� � � � � � � �... -
Page 9: 4�6 Bus Lines
CANopen encoder The (+) terminal is used for the connection to the +U line (9���36 V DC)� The (-) terminal is used for the connection to the 0 V line� BUS lines � � � � � � � � �... -
Page 10: 4�7 Shield
Therefore a compensation wire for the potential is recommended� EDS file An EDS file can be downloaded from our website: → www�ifm�com Contents of the EDS file: ● communication functions and objects as defined in the CANopen communication profile DS-301 ●... -
Page 11: 4�10 Led Display
CANopen encoder The position data is directly affected by some parameters and changes directly after such a parameter message� ► Only change scaling function parameters and the code sequence if the shaft is stationary� The parameter setting process depends on your configuration tool� In case of problems please contact your controller supplier�... -
Page 12: 4�10�2 Status Led
CANopen encoder 4.10.2 Status LED The status LED is a two-colour LED with two functions; a green LED (run status) and a red LED (error status)� Display green flashing encoder in the NMT status operational green blinking encoder in the NMT status stopped green lighting encoder in the NMT status pre-operational red out... -
Page 13: Functionality Of The Encoder
CANopen encoder ● Alarms and warnings All programming and diagnostic parameters can be accessed via SDOs� The output position value of the encoder is represented in binary format� Functionality of the encoder Basic functionality of the encoder The figure below gives an overview of the basic functions of the encoder and how they are implemented in the encoder�... -
Page 14: 6�3 Boot Message
CANopen encoder The following broadcast objects with default identifiers are available in the encoder: Object Function Resulting identifier (COB- Priority group code (binary) 0000 SYNC 0001 The following peer-to-peer objects with default identifiers are available in the encoder: Object Function code Resulting Priority group (binary) -
Page 15: 6�4 Operating Parameters
CANopen encoder Operating parameters Object 6000h, operating parameters, controls the functions for code sequence and scaling� Function Bit = 0 Bit = 1 Class 1 Class 2 code sequence scaling function switched off enabled control 4���11 reserved for further use 12���15 manufacturer- specific parameters... -
Page 16: 6�5�2 Scaling Formulas
CANopen encoder Format of the singleturn scaling parameters Byte 31 - 24 23 - 16 15 - 8 7 - 0 Data object 6001h - steps per revolution Format of the multiturn scaling parameters Byte 31 - 24 23 - 16 15 - 8 7 - 0 Data... -
Page 17: 6�6�2 Calculation Of The Preset Value
CANopen encoder The encoder reads the current position value and calculates an offset value from the preset value and the read position value� The position value is shifted by the calculated offset value� The offset value can be read with the diagnostic function (object 6509h), is stored in a non-volatile memory and reloaded at each start-up�... -
Page 18: 6�7 Zero Setting
CANopen encoder Zero setting Two methods can be used for zero setting� Setting via software If the preset object is used and the preset value is set to zero (00 00 00 00h), the encoder is set to zero� Setting via pushbutton If the zero set button is pressed for at least 1 second, the position of the encoder is set to zero (00 00 00 00h)�... -
Page 19: 6�9�1 Pdo Configuration
CANopen encoder The structure of the entries of the object "transmit PDO mapping parameter" in subindices 1���3 is as follows: Byte MSB Byte MSB - 1 Byte LSB + 1 Byte LSB object subindex object length (number of bits) 6.9.1 PDO configuration To change the PDO mapping the encoder must be in the NMT mode pre- operational�... -
Page 20: 6�9�2 Pdo Configuration Example
CANopen encoder 6.9.2 PDO configuration example The following chapter shows how to map PDO1 with position and speed (the address of the encoder is 0x0F, all data in hexadecimal format)� Step Data Note 80 0F Set the encoder in the NMT mode pre-operational 23 00 18 01 8F 01 00 80 Set PDO1 to not valid and COB- ID to 0x18F... -
Page 21: 6�10 Heartbeat
CANopen encoder To save the PDO mapping in the EEPROM transmit: Data Note 60F 23 10 10 02 73 61 76 65 Save all communication parameters by trans- mitting the ASCII code for "SAVE" to object 0x1010, subindex 2 6.10 Heartbeat The RM and RN type encoders can act as heartbeat producer�... -
Page 22: 6�12 Alarms And Warnings
CANopen encoder Parameter no indication scaling function control 3���14 no indication read position at SYNC Operating parameters (object 0x6000) 6.11.1 Diagnosis of the encoder The diagnosis of the encoder can be read by the objects 65xxh� The operating status, alarm and warning diagnosis is described in the following chapters� For a complete overview of the supported diagnosis please refer to the EDS file�... -
Page 23: Manufacturer-Specific Objects
CANopen encoder Supported warnings 3���15 Warnings (object 0x6504/0x6503) Manufacturer-specific objects Object 0x5003, speed type The object 0x5003 sets the update time and resolution (steps / second or rpm) of the speed information� This object affects the speed object (0x6030) and the acceleration object (0x6040)�... -
Page 24: 7�2 Object 0X5A03, Serial Number 2
CANopen encoder Object 0x5A03, serial number 2 The object 0x5A03 is a manufacturer-specific object where the serial number can be read� Example encoder configuration This example shows a simple set-up of the encoder for the cyclic transmission of the position value� 1�... - Page 25 CANopen encoder...