Table of Contents
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2.1
2.2
2.3
3.1
3.2
3.3
3.4
4 SDO Services
4.1
4.2
5.1
5.2
5.3
5.4
6.1
6.2
6.3
6.4
85201A_RK5C_User Manual_02-2017_ENG
RK-5 C
(CANopen OUTPUT)
SUMMARY
User Manual
Code 85201A Edition 02-2017
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Summary of Contents for gefran RK-5 C
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Page 1: Table Of Contents
RK-5 C (CANopen OUTPUT) User Manual Code 85201A Edition 02-2017 SUMMARY 1 Introduction page 2 Get started procedure page Node parameters setting Operating parameters setting Requesting process data 3 LSS Services page LSS switch state services LSS configuration services LSS inquiry services... -
Page 2: Introduction
If the baud rate configuration has to be performed, the GEFRAN RK5C sensor must be connected to a CAN bus that works at the same baud rate of the sensor. The baud rate of the actual CAN bus (with all devices connected to it) can also be temporary set equal to the sensor baud rate until configuration is done. - Page 3 Setting the Node-ID If the Node-ID of the sensor has to be changed, the LSS Configure Node-ID command must be used. Source COB-ID Data Destination 11h; 7Eh*; 00h; 00h; 00h; 00h; 00h; 00h Controller 7E5h Sensor Sensor 7E4h 11h; 00h**; 00h; 00h; 00h; 00h; 00h; 00h Controller Figure 2 - LSS Configure Node-ID command * the Node-ID value to be configured, within 1..127 (126 in this example).
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Page 4: Operating Parameters Setting
SDO Services are available in Pre-operational and Operational states only (see NMT Services section). 2.3 REQUESTING PROCESS DATA The GEFRAN RK5C CANopen position sensor provides one Transmit PDO (TPDO1), that includes position and speed data measured by the sensor. TPDO1 data format Position and speed data are mapped in TPDO1 as shown in the following figure. -
Page 5: Lss Services
The user can inquire the Revision number with LSS Inquire Revision Number command (see LSS Inquire Services). ** Actual Serial number is device specific. It is printed on the label attached to the GEFRAN RK5C transducer case, or it can be inquired with the LSS Inquire Serial Number command (see LSS Inquire Services). -
Page 6: Lss Configuration Services
The LSS master sends this message sequence to switch the GEFRAN RK5C CANopen device into configuration state (the slave sends the response message): Data COB-ID Rx/Tx 7E5h 7E5h 7E5h 01h* 00h* 01h* 00h* 7E5h 34h** 12h** 01h** 15h** 7E4h Figure 12 - LSS switch state selective message sequence... - Page 7 LSS configure bit timing parameters By means of this service, the LSS master device configures the pending bit rate of the LSS slave device. The LSS slave device confirms the success or the failure of the service execution. The allowed bit rate values with the associated table index, are specified in the following table. Table index Bit rate (kbit/s) 1000...
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Page 8: Lss Inquiry Services
The Switch delay parameter specifies the length of two delay periods of equal length, which are necessary to avoid operating the network with different bit rates. After “Switch delay” has elapsed the first time after service indication, the slave device stops communicating on the bus. - Page 9 The LSS master sends this message to inquire the Product-code (the slave sends the response message): Data COB-ID Rx/Tx 7E5h 7E4h Product code Figure 19 - LSS inquire identity Product-code message where Product-code is the LSS slave’s identity Product-code (Intel format byte ordering). The LSS master sends this message to inquire the Revision number (the slave sends the response message): Data COB-ID...
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Page 10: Lss Identification Services
3.4 LSS IDENTIFICATION SERVICES LSS identify remote slave By means of this service, the LSS master device requests all LSS slave devices to identify themselves by means of the 'LSS identify slave' service, whose LSS address meets the LSS_Address_sel. The LSS_Address_sel consists of a single vendor-ID and a single product code and a span of revision and serial numbers determined by a low and high number. - Page 11 LSS identify non-configured slave By means of this service, an LSS slave device indicates that it is an LSS slave device that got stuck in NMT Initialization state, owns an invalid (FFh) pending node-ID and no active node-ID. This service is executed in case a LSS identify non-configured remote slave service was initiated by the LSS master device.
- Page 12 SDO download The SDO client uses this service for transferring data to the object dictionary of the SDO server. SDO download ser- vice is therefore used to configure (write) communication, device and manufacturer parameters of the GEFRAN RK5C CANopen device.
- Page 13 Sub index is the object dictionary parameter sub index Abort code explain the reason of the SDO abort event. The following table contains the abort codes provided by the protocol SDO abort transfer of the GEFRAN RK5C CANopen device. Abort code...
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Page 14: Object Dictionary
OBJECT DICTIONARY The object dictionary of the GEFRAN RK5C CANopen device is specified in the following tables. Communication Profile Area Default Index Name Type Access Comment index value Multi-sensor encoder interface with 1000h Device type Unsigned32 000A0196h ds406 device profile... - Page 15 Manufacturer Profile Area Default Index Name Type Access Comment index value Number of Number of cursors set for position 2000h Unsigned8 cursors and speed measuring Device Profile Area Default Index Name Type Access Comment index value Operating Configuration of the operating 6000h Unsigned16 parameters...
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Page 16: Sdo Objects
This object provides error information. The CANopen device maps internal errors into this object. It is a part of an emergency object For the GEFRAN RK5C CANopen device two types of error conditions are defined: Device hardware error and Data set error. - Page 17 1002h – Manufacturer status register This object provides a common status register for manufacturer-specific purposes. The structure of the register is represented in the following figure. 16 15 Figure 31 Structure of the Manufacturer status register Where Status 0 = sensor in error state 1 = normal running state, valid position and velocity data transmitted Working state 0 = normal running state...
- Page 18 The user can change the default COB-ID SYNC value in the range of the allowed values, ensuring that no conflicts with other COB-IDs are generated. The value is also automatically changed in accordance with the “default scheme” when changing the Node-ID value. Object description Index Name...
- Page 19 100Ah – Manufacturer software version This object provides the manufacturer software version description. Object description Index Name 100Ah Manufacturer software version Entry description SUB Index Name Access Data Type Value Range Default Manufacturer Visible_string Visible_string software version 1010h – Store parameters This object controls the saving of parameters in non-volatile memory.
- Page 20 Restore default Power cycle Default values valid Figure 35 - Restore procedure For the GEFRAN RK5C CANopen device, the Restore default parameters command does not apply to these objects: COB-ID SYNC (1005h) COB-ID EMCY (1014h) COB-ID of TPDO1 (1800h, sub-index 1) COB-IDs of 1st SDO (1200h, sub-index 1 and 2) The value of the above listed objects is modified only after a change of the Node-ID value.
- Page 21 1014h – COB-ID EMCY This object indicates the configured COB-ID of the EMCY write service. The structure of this object is specified in the following figure. 11 10 valid res. frame Reserved (0 0000h) 11-bit CAN-ID Figure 36 - Structure of EMCY COB-ID The value definition is given in the following table.
- Page 22 Sub-index 1: contains the unique value that is allocated uniquely to each vendor of a CANopen device. For GEFRAN s.p.a. manufacturer it is 00000093h. Sub-index 2: contain the unique value that identifies a specific type of CANopen device. For the GEFRAN RK5C CANopen device it is 43354B52h.
- Page 23 Entry description SUB Index Name Access Data Type Value Range Default Highest sub-index Unsigned8 supported Vendor-ID Unsigned32 00000093h 00000093h Product code Unsigned32 43354B52h 43354B52h Revision number Unsigned32 Serial number Unsigned32 The user can also get the identity object values using the LSS inquire identity services (see LSS protocol description section).
- Page 24 1800h – TPDO1 communication parameter This object contains the communication parameters for the PDOs the CANopen device is able to transmit. Sub-index 1 contains the COB-ID of the TPDO1. The object structure is specified in the following figure. 11 10 valid frame Reserved (0 0000h)
- Page 25 Sub-index 5 contains the event-timer. The time is the maximum interval for PDO transmission if the transmission type is set to FEh and FFh. Its value is given in multiples of 1 ms. The value of 0 disables the event-timer (no PDO is transmitted). Object description Index Name...
- Page 26 0000h 0000h parameters This object is not supported by the GEFRAN RK5C CANopen device. 6005h – Linear encoder measuring step settings This object indicates the measuring step settings for position and speed for linear encoders. The value of position step setting (sub-index 1) is given in multiples of 0,001 μm.
- Page 27 6010h – Preset values for multi-sensor devices This object indicates the preset value for the output position value of the device. Using the preset function, the user can set the actual output position value to the value specified in sub-index 1 of the object. The preset value is accepted only if the measuring function of the device is in normal running state (see Manufacturer Status Register, object 1002h), i.e.
- Page 28 This object provides the operating status of the encoder functions configured in the object 6000h.. Object description Index Name 6500h Operating status Entry description SUB Index Name Access Data Type Value Range Default Operating status Unsigned16 0000h 0000h This object is not supported by the GEFRAN RK5C CANopen device. 85201A_RK5C_User Manual_02-2017_ENG...
- Page 29 6501h – Measuring step This object provides the position measuring step that is an output of the encoder. The measuring step is given in mul- tiples of 0,001 μm. This object is similar to the object 6005h, sub-index 1. Object description Index Name 6501h...
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Page 30: Pdo Services
Communication parameters of the PDO, as COB-ID, transmission mode and transmission frequency, are also specified in the object dictionary. For the PDO1 see object 1800h. Since the GEFRAN RK5C CANopen device is a PDO producer, its PDO is also called Transmit PDO (TPDO). PDO MESSAGE FORMAT... - Page 31 Asynchronous Transmission with RTR frames The transmission of the PDO is performed after the CANopen device receive the PDO remote frame. The format of the PDO remote frame is explained in the following figure. Data COB-ID Rx/Tx PDO COB-ID + RTR bit Figure 43 - RTR message format Asynchronous Transmission The transmission of the PDO is performed cyclically after the event-timer has elapsed.
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Page 32: Nmt Services
6. NMT SERVICES Through NMT services the NMT master controls the state of the NMT slave devices. The state attribute is one of these: √ Initialization √ Pre-operational √ Operational √ Stopped NMT DEVICE STATES Initialization state In the NMT state initialization the CANopen device is initialized. The CANopen device parameters are set to their power-on values (last stored parameters in non-volatile memory). -
Page 33: Nmt States And Communication Objects
All possible NMT states and state transitions are shown in the following figure. Figure 45 - NMT states and state transitions NMT STATES AND COMMUNICATION OBJECTS Specific services can only be executed if the devices involved in the communication are in the appropriate communica- tion states. -
Page 34: Boot-Up Services
CANopen device. If one or more error conditions change, the CANopen device transmits the emergency object with the updated error code. The error register value inside the EMCY object is also updated. For the GEFRAN RK5C CANopen device two types of error conditions are defined: Device hardware error and Data set error. -
Page 35: Error Control Services
Table 13 - NMT state field in heartbeat message For the RK5 CANopen device the heartbeat is disabled by default. It can be programmed through object 1017h. GEFRAN spa via Sebina, 74 - 25050 PROVAGLIO D’ISEO (BS) - ITALIA tel. 0309888.1 - fax. 0309839063 Internet: http://www.gefran.com 85201A_RK5C_User Manual_02-2017_ENG...
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