Pepperl+Fuchs Absolute Rotary Encoder Manual
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Pepperl+Fuchs Absolute Rotary Encoder Manual

With canopen interface
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FACTORY AUTOMATION
MANUAL
Absolute Rotary Encoder
with CANopen Interface

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Summary of Contents for Pepperl+Fuchs Absolute Rotary Encoder

  • Page 1 FACTORY AUTOMATION MANUAL Absolute Rotary Encoder with CANopen Interface...
  • Page 2 Absolute Rotary Encoder With regard to the supply of products, the current issue of the following document is ap- plicable: The General Terms of Delivery for Products and Services of the Electrical Indus- try, published by the Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the...

  • Page 3: Table Of Contents

    General Information on System Integration ......12 Using this Manual ................12 General CANopen Information ............12 Installation of Photoelectric Absolute Rotary Encoder ..14 Signal Assignment of Terminal Block ..........14 Signal Assignment of Connector and Cable Variants ....16 Activation of the Terminator..............
  • Page 4 Absolute Rotary Encoder Quick Start Guide ..............23 Configure the Absolute Rotary Encoder for Integration into a CAN Network ................23 Configure application-specific encoder Parameters ...... 25 Configuration ................29 Operating Modes ................29 8.1.1 General..................... 29 8.1.2 Mode: Pre-operational..............29 8.1.3...
  • Page 5 Absolute Rotary Encoder Object Descriptions ................39 9.5.1 Object 1000h: Device Type .............. 39 9.5.2 Object 1001h: Error Register ............39 9.5.3 Object 1003h: Pre-Defined Error Field ..........39 9.5.4 Object 1005h: COB-ID Sync ............40 9.5.5 Object 1008h: Manufacturer Device Name ........40 9.5.6...
  • Page 6 Absolute Rotary Encoder 9.5.38 Object 3002h: Terminator ..............51 9.5.39 Object 3003h: Auto Baud Detection ..........51 9.5.40 Object 3005h: Auto Boot up ............. 52 9.5.41 Object 3010h: Speed Control ............53 9.5.42 Object 3011h: Speed Value.............. 53 9.5.43 Object 3020h: Acceleration Control..........53 9.5.44 Object 3021h: Acceleration Control..........
  • Page 7 Absolute Rotary Encoder 9.5.76 Object 6509h: Module identification..........67 9.5.77 Object 650Bh: Serial Number ............67 10 Troubleshooting................ 68 10.1 What to Do in Case of a Fault............68...

  • Page 8: Introduction

    Absolute Rotary Encoder Introduction Introduction Content of this Document This document contains information that you need in order to use your product throughout the applicable stages of the product life cycle. These can include the following: Product identification ■ Delivery, transport, and storage ■...
  • Page 9 Absolute Rotary Encoder Introduction Danger! This symbol indicates an imminent danger. Non-observance will result in personal injury or death. Warning! This symbol indicates a possible fault or danger. Non-observance may cause personal injury or serious property damage. Caution! This symbol indicates a possible fault.

  • Page 10: Declaration Of Conformity

    Absolute Rotary Encoder Declaration of conformity Declaration of conformity CE conformity This product was developed and manufactured under observance of the applicable European standards and guidelines. Note! A declaration of conformity can be requested from the manufacturer.

  • Page 11: Safety

    User modification and or repair are dangerous and will void the warranty and exclude the manufacturer from any liability. If serious faults occur, stop using the device. Secure the device against inadvertent operation. In the event of repairs, return the device to your local Pepperl+Fuchs representative or sales office. Note! Disposal Electronic waste is hazardous waste.

  • Page 12: General Information On System Integration

    Note! Further information on technical data, mechanical data, connection layouts, and available connection lines for the relevant absolute rotary encoder types can be found in the corresponding datasheet. General CANopen Information CANopen system is used in industrial applications. It is a multiple access system (maximum: 127 participants), which means that all devices can access the bus.
  • Page 13 The position value is sent every n SYNCs (n . 1). Other functions (offset values, resolution, etc) can be configured. The absolute rotary encoder corresponds to the class 2 encoder profile (DS 406 in which the characteristics of encoder with CANopen interface are defined).

  • Page 14: Installation Of Photoelectric Absolute Rotary Encoder

    Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder The following chapter describes all aspects helpful for installation of photoelectric absolute rotary encoders with bus cover. Depending on the rotary encoder model there are the following...
  • Page 15 Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder Bus Connection The bus cover fulfills the function of a T-coupler. From there the wiring must be done according to figure you find before. Please note the assignment of incoming and outgoing bus signals.

  • Page 16: Signal Assignment Of Connector And Cable Variants

    Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder Signal Assignment of Connector and Cable Variants The rotary encoders with cable- and connector-exit were designed in accordance to CiA normative DR303-1 cabeling and connector pin assignment. They also have a removable bus cover with all possibilities to set node number, baud rate and acitvate terminator.

  • Page 17: Activation Of The Terminator

    Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder Caution! Activated bus termination separates "Bus in" and "Bus out". Non-observance of separation of "Bus in" and "Bus out" causes interferences on the CANopen bus. If you activate the bus termination on the rotary encoder ensure that the rotary encoder is the last CANopen bus participant in the bus line.
  • Page 18 Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder Setting Node Number The setting of the node number is done by turning the BCD coded rotary switches x10 and x1 in the bus cover. Possible (valid) addresses lie between 0 and 89 whereby every address can only be used once.

  • Page 19: Status Of The Bus Cover Leds

    Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder Status of the Bus Cover LEDs The LED behaviour was designed in accordance to the CiA normative DR 303-3 CANopen indicator specification. Figure 5.5 CAN Run LED State Description Flickering AutoBitrate / LSS...
  • Page 20 Absolute Rotary Encoder Installation of Photoelectric Absolute Rotary Encoder Err LED State Description Triple flash Sync. error The sync. message has not been received within the configured communication cycle period time out (see objekt 1006h) Quadruple flash Error, event-timer An expected PDO has not been received before...

  • Page 21: Installation Of Magnetic Absolute Rotary Encoder

    Activation of Terminator Note! The magnetic absolute rotary encoder is equipped with an internal terminator, which can be used as a line termination. Be aware, that the terminator is only activated, when the encoder is powered, because the microcontroller is internally needed to switch on the terminator.

  • Page 22: Status Of The Leds

    Absolute Rotary Encoder Installation of Magnetic Absolute Rotary Encoder Setting Node Number via LSS The node number can also be adjusted via Layer Setting Services (LSS). For further information regard chapter "Usage of Layer Setting Services (LSS)" Setting Baud Rate via LSS The baud rate can also be adjusted via Layer Setting Services (LSS).

  • Page 23: Quick Start Guide

    For this purpose you need to set up the node number and the baud rate first. Depending on your absolute rotary encoder model there are different ways to do so. Photoelectric absolute rotary encoder with bus cover: Setting is possible via BCD coded ■...
  • Page 24 Absolute Rotary Encoder Quick Start Guide 3. If necessary activate the terminator of the encoder by setting the relevant switch in the bus cover. 4. If "Bd = 9" continue by reading and writing data into the relevant following objects.

  • Page 25: Configure Application-Specific Encoder Parameters

    Absolute Rotary Encoder Quick Start Guide Message received from Encoder Identifier DLC Command Index Subindex Service/Process data Download 3001h Byte 4 Byte 5 Byte 6 Byte 7 580h + NN = 5A0h Table 7.5 Store Configuration Object 1010h, Subindex 01 Signature "save"...
  • Page 26 Absolute Rotary Encoder Quick Start Guide Message sent to Encoder Identifier DLC Command Index Subindex Service/Process data NN = Bh Download 6001h Byte 4 Byte 5 Byte 6 Byte 7 600h + NN = 60Bh Table 7.8 Message received from Encoder...
  • Page 27 Absolute Rotary Encoder Quick Start Guide Message sent to Encoder Identifier DLC Command Index Subindex Service/Process data NN = Bh Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 600h + NN = 60Bh Table 7.12 Message received from Encoder...
  • Page 28 Absolute Rotary Encoder Quick Start Guide Store Configuration Object 1010h, Subindex 01 Signature "save" >> "73617665" Message sent to Encoder Identifier DLC Command Index Subindex Service/Process data NN = 20h Download 1010h Byte 4 Byte 5 Byte 6 Byte 7...

  • Page 29: Configuration

    Absolute Rotary Encoder Configuration Configuration The following chapter describes the configuration of photoelectric and magnetic absolute rotary encoders with CANopen interface. Operating Modes 8.1.1 General The rotary encoder accesses the CAN network after power-up in preoperational mode: Bootup message: 700 hex + node number It is recommended that the parameters can be changed by the user when the rotary encoder is in pre-operational mode.

  • Page 30: Normal Operating

    Absolute Rotary Encoder Configuration Identifier Byte 0 Byte 1 Description Reset communication Reset node Table 8.4 NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode. Note! After reinitialization, the encoder accesses the bus in pre-operational mode.

  • Page 31: Storing Parameter

    Absolute Rotary Encoder Configuration Storing Parameter 8.3.1 List of storable Parameters Object Magnetic Absolute Photoelectric Absolute Index Object Description Rotary Encoder Rotary Encoder 1005h COB-ID Sync 100Ch Guard Time 100Dh Life Time Factor 1016h Consumer Heartbeat Time 1017h Producer Heartbeat Time...

  • Page 32: Restoring Parameters

    Absolute Rotary Encoder Configuration Note! The stored parameters are copied after a RESET (Power on, NMT-Reset) from the E PROM to the RAM (volatile memory). Storing without Reset By using the object 1010h from the communication profile-related object dictionary you can store the parameters into the non-volatile memory without a reset.
  • Page 33 Absolute Rotary Encoder Configuration LSS with magnetic rotary encoders To configure the encoder via LSS the encoder will be the LSS slave device and the control has to support LSS master device functionality. The LSS master device requests services, that are performed by the LSS slave devices (encoder).

  • Page 34: Programmable Parameters

    Absolute Rotary Encoder Programmable Parameters Programmable Parameters Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org) General Command Byte Description Command Function Telegram Description Domain Download Request Parameter to Encoder Recommended Method 23h, 27h, Domain Download...

  • Page 35: Programming Example: Preset Value

    Absolute Rotary Encoder Programmable Parameters Programming example: Preset Value If a CANopen device is connected and configured with the right baud rate and also configured to an unused node number, it will start up into the pre-operational mode and send a bootup massage to the master.

  • Page 36: Communication Profile Ds301 Specific Objects From 1000H - 1Fffh

    Absolute Rotary Encoder Programmable Parameters Communication Profile DS301 specific objects from 1000h – 1FFFh In this manual we refer to the communication profile DS301 V4.02. Object Dictionary 1000h - 1FFFh Magnetic Absolute Photoelectric Absolute Object Object Description Rotary Encoder Rotary Encoder...

  • Page 37: Manufacturer Specific Objects From 2000H - 5Fffh

    Absolute Rotary Encoder Programmable Parameters Manufacturer specific objects from 2000h – 5FFFh Object Dictionary 2000h - 5FFFh Magnetic Absolute Photoelectric Absolute Object Object Description Rotary Encoder Rotary Encoder 2000h Position Value 2100h Operating Parameters 2101h Resolution per Revolution 2102h Total Resolution...

  • Page 38: Application Specific Objects From 6000H - 67Feh

    Absolute Rotary Encoder Programmable Parameters Application specific objects from 6000h – 67FEh Object Dictionary 6000h - 6FFFh Magnetic Absolute Photoelectric Absolute Object Object Description Rotary Encoder Rotary Encoder 6000h Operating Parameters 6001h Measuring Units per Revolution 6002h Total Measuring Range in...

  • Page 39: Object Descriptions

    Access Boot up Unsigned 32 Table 9.12 Absolute rotary encoder single turn: 10196h Absolute rotary encoder multi turn: 20196h 9.5.2 Object 1001h: Error Register This object is used by the device to display internal faults. When a fault is detected, the corresponding bit is therefore activated.

  • Page 40: Object 1005H: Cob-Id Sync

    Absolute Rotary Encoder Programmable Parameters Restore after Subindex Description Data Type Default Value Access Boot up Number of recorded Unsigned 8 errors Most recent errors Unsigned 32 Second to last error Unsigned 32 Table 9.15 Clearing Error Log The error log can be cleared by writing 0 to subindex 0 of object 1003h.

  • Page 41: Object 100Ch: Guard Time

    Absolute Rotary Encoder Programmable Parameters 9.5.8 Object 100Ch: Guard Time This object contains the guard time in milliseconds. Restore after Subindex Description Data Type Default Value Access Boot up Unsigned 16 Table 9.20 9.5.9 Object 100Dh: Life Time Factor This object contains the life time factor parameters. The life time factor multiplied with the guard time gives the life time for the node guarding protocol.

  • Page 42: Object 1012H: Cob-Id Time Stamp Object

    Absolute Rotary Encoder Programmable Parameters Storing procedure To save the parameters to non volatile memory the access signature “load” has to be sent to the corresponding subindex of the device. Most significant word Least significant word ASCII Hex Value Note! The restoration of parameters will only be taken into account after a power up or reset command.

  • Page 43: Object 1017H: Producer Heartbeat Time

    Absolute Rotary Encoder Programmable Parameters The context of subindex 1 is as follows: 31 to 24 23 to 16 15 to 0 Value 0h (reserved) Address of monitored Monitoring time (ms) device Table 9.28 9.5.16 Object 1017h: Producer Heartbeat Time The object contains the time intervall in milliseconds in which the device has to produce the a heartbeat message.

  • Page 44: Object 1800H: 1St Transmit Pdo Communication Parameter

    Absolute Rotary Encoder Programmable Parameters 9.5.20 Object 1800h: 1 Transmit PDO Communication Parameter This object contains the communication parameter of the 1 transmit PDO. Restore after Subindex Description Data Type Default Value Access Boot up Number of sub Unsigned 8...

  • Page 45: Object 1A00H: 1St Transmit Pdo Mapping Parameter

    Absolute Rotary Encoder Programmable Parameters Transmission Mode The transmission mode can be configured as described below: Transmission Mode Transfer Value (decimal) Cyclic Acyclic Synchr. Asynchr. only Notes Send PDO on first Sync message following an event 1-240 Send PDO every x Sync...

  • Page 46: Object 1F50H: Download Program Area

    Absolute Rotary Encoder Programmable Parameters Restore after Subindex Description Data Type Default Value Access Boot up Number of sub Unsigned 8 indices 2nd mapped object Unsigned 32 60040020h Table 9.36 9.5.24 Object 1F50h: Download Program Area This is a special object that has functionality for the bootloader feature (see Bootloader chapter).

  • Page 47: Object 2101H: Resolution Per Revolution

    Absolute Rotary Encoder Programmable Parameters Calculation Example: Target: Absolute rotary encoder with direction CCW increasing, limit switch min enabled and limit switch max disabled. Bitmatrix: Bit 0 = 1 Direction increasing CCW ■ Bit 1 = 1 Limit switch min. enabled ■...

  • Page 48: Object 2103H: Preset Value

    Absolute Rotary Encoder Programmable Parameters Total resolution Calculation example: Customer handicap: AU = 2048 ■ Encoder type sign: PGA = 24 bit, PAU = 12 bit ■ GA = (167772216 * 2048) / 4096 >> GA = 8388608 If the total resolution of the encoder is less than the physical total resolution, the parameter total resolution must be a multiple of the physical total resolution.

  • Page 49: Object 2160H: Customer Storage

    Absolute Rotary Encoder Programmable Parameters Restore after Subindex Description Data Type Default Value Access Boot up Limit Switch, max. Unsigned 32 Table 9.44 The limit switch, max sets Bit 31=1 with the next message telegram, if the process value reaches or passes under the value of the limit switch:...

  • Page 50: Object 2600H: High-Resolution Postion Value

    See type label to get the information about the maximum resolution of your device. Mutliturn encoder with resolution 32 Bits is available upon request at Pepperl+Fuchs GmbH but there are the following functional restrictions: Preset function and scaling function are not possible.

  • Page 51: Object 3001H: Baud Rate

    Absolute Rotary Encoder Programmable Parameters 9.5.37 Object 3001h: Baud Rate This object contains the baud rate of the device. Restore after Subindex Description Data Type Default Value Access Boot up Baud rate Unsigned 8 Table 9.50 Eight different baud rates are provided. To adjust the baud rate only one byte is used.

  • Page 52: Object 3005H: Auto Boot Up

    Absolute Rotary Encoder Programmable Parameters Reason for non successful baud rate detection Time out: Within the time-out period no valid CAN message is sent. ■ Corrective action: increase the time-out value to a value that for minimum 1 message is sent or better more.

  • Page 53: Object 3010H: Speed Control

    Absolute Rotary Encoder Programmable Parameters 9.5.41 Object 3010h: Speed Control This object contains the speed control. The speed measurement is disabled by default. Restore after Subindex Description Data Type Default Value Access Boot up Number of subindices Unsigned 8 Speed Unit...

  • Page 54: Object 3030H: Backward Compatible Mode

    Absolute Rotary Encoder Programmable Parameters 9.5.45 Object 3030h: Backward Compatible Mode This object contains the acceleration control. Acceleration output is not supported by this device. This object is present only for compatibility reasons. Restore after Subindex Description Data Type Default Value...

  • Page 55: Object 3040H: Life Cycle Counter

    Absolute Rotary Encoder Programmable Parameters 9.5.46 Object 3040h: Life Cycle Counter Diagnostic value to monitor, if the position value is updated compared to last transmission. This feature is interesting for safety applications to detect for example, if the value in the CAN controller is frozen.

  • Page 56: Object 4010H: Ppr Incremental Encoder

    Absolute Rotary Encoder Programmable Parameters 9.5.49 Object 4010h: PPR Incremental Encoder This object controls the incremental resolution per revolution as pulses per channel for A and Restore after Subindex Description Data Type Default Value Access Boot up PPR Incremental Unsigned 16...

  • Page 57: Object 6001H: Measuring Units Per Revolution

    Absolute Rotary Encoder Programmable Parameters Use MS MS MS MS R MD SFC CD CS Manufacturer Specific Function (not available) Reserved for future use Measuring direction (not available) SFC Scaling function (0 = disable, 1 = enable) Commissioning diagnostic control (not available) Code sequence (0 = CW Up, 1 = CCW Up) Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h.

  • Page 58: Object 6008H: High Resolution Position Value

    See nameplate to get the information about the maximum resolution of your device. Mutliturn encoder with resolution 32 bits is available upon request at Pepperl+Fuchs GmbH but there are the following functional restrictions: Preset function and scaling function are not possible.

  • Page 59: Object 6040H: Acceleration Value

    Absolute Rotary Encoder Programmable Parameters 1. Enable the TPDO2 by setting the transmission type (1801Sub2) to FE: 601 8 22 01 18 02 FE 00 00 00 2. Change the Event Timer from 0x00 to the desired value (e.g.: 100 ms -> 0x64) 601 8 22 01 18 05 64 00 00 00 3.

  • Page 60: Object 6300H: Cam State Register

    Absolute Rotary Encoder Programmable Parameters 9.5.60 Object 6300h: Cam State Register This object contains the cam state register. The subindices 1h to FEh contain the cam state of channel 1 to 254. Restore after Subindex Description Data Type Default Value...
  • Page 61 Absolute Rotary Encoder Programmable Parameters Index Subindex Type Description Data Type Access Value Highest subindex Unsigned 8 supported Cam4 low limit channel 1 6314h Cam5 low limit Highest subindex Unsigned 8 supported Cam5 low limit channel 1 6315h Cam6 low limit...
  • Page 62 Absolute Rotary Encoder Programmable Parameters Index Subindex Type Description Data Type Access Value 6325h Cam6 high limit Highest subindex Unsigned 8 supported Cam6 high limit channel 1 6326h Cam7 high limit Highest subindex Unsigned 8 supported Cam7 high limit channel 1...

  • Page 63: Object 6400H: Area State Register

    Absolute Rotary Encoder Programmable Parameters Index Subindex Type Description Data Type Access Value Cam7 hysteresis channel 1 6337h Cam8 hysteresis Highest subindex Unsigned 8 supported Cam8 hysteresis channel 1 Table 9.78 9.5.63 Object 6400h: Area State Register This object contains the area state register. The object provides the actual area status of the encoder position.

  • Page 64: Object 6402H: Work Area High Limit

    Default Value Access Boot up Operating status Unsigned 16 Table 9.82 9.5.67 Object 6501h: Singleturn Resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder. Restore after Subindex Description Data Type Default Value Access Boot up...

  • Page 65: Object 6503H: Alarms

    Absolute Rotary Encoder Programmable Parameters 9.5.69 Object 6503h: Alarms Additionally to the emergency messages in CiA301, this object shall provide further alarm messages. An alarm shall be set if a malfunction in the encoder could lead to incorrect position value. If an alarm occurs, the according bit shall indicate the alarm til the alarm is cleared and the encoder is able to provide an accurate position value.

  • Page 66: Object 6506H: Supported Warnings

    Supported warnings Unsigned 16 1000h Table 9.88 Currently there are not supported warnings available for an optocode absolute rotary encoder. The CA-encoder supports the manufacture specific warning (Bit 12). 9.5.73 Object 6507h: Profile and Software Version This object provides the implemented encoder device profile version and the manufacturer- specific software version.

  • Page 67: Object 6508H: Operating Time

    Absolute Rotary Encoder Programmable Parameters Software Version 4.4 Profile Version 3.2 Upper Software Lower Software Upper Profile Version Lower Profile Version Version Version 9.5.74 Object 6508h: Operating Time This object indicates the operating time of the device. Currently the operating time is not supported and the value of this object will always be FFFFFFFFh.

  • Page 68: Troubleshooting

    Absolute Rotary Encoder Troubleshooting Troubleshooting 10.1 What to Do in Case of a Fault In case of a fault, check whether a encoder fault can be remedied according to the following checklist. Checklist Problem Description Possible Solution Power on –encoder doesn’t...
  • Page 69 Twinsburg, Ohio 44087 · USA Tel. +1 330 4253555 E-mail: sales@us.pepperl-fuchs.com Asia Pacific Headquarters Pepperl+Fuchs Pte Ltd. Company Registration No. 199003130E Singapore 139942 Tel. +65 67799091 E-mail: sales@sg.pepperl-fuchs.com www.pepperl-fuchs.com Subject to modifications / DOCT-5694 Copyright PEPPERL+FUCHS • Printed in Germany 07/2018...

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