Profibus-dp profile for encoders, up to 13-bit singleturn encoder 8,192 cpr, up to 25-bit multiturn encoder 8,192 cpr x 4,096 rev., connection caps, profibus dp configurable as class 1 and class 2 slave (68 pages)
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Tous droits réservés. This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies, film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.
Typographic and iconographic conventions In this guide, to make it easier to understand and read the text the following typographic and iconographic conventions are used: parameters and objects both of the device and the interface are coloured in ORANGE; • alarms are coloured in RED;...
Preliminary information This guide is designed to describe the technical characteristics, installation and use of the CANopen encoders of the AM58K series. These encoders are offered with AISI 303 stainless steel enclosure and specific increased characteristics to withstand the harsh requirements of the food & beverage industry as well as the most aggressive operating environments such as chemical and petrochemical industry, mobile equipment, marine installations, pharmaceutical, medical and surgical applications.
failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety standards of design, manufacture, and intended use of the equipment; Lika Electronic s.r.l. assumes no liability for the customer's failure to comply with these requirements. Electrical safety ...
Information is listed in the delivery document too. Please always quote the ordering code and the serial number when reaching Lika Electronic s.r.l. for purchasing spare parts or needing assistance. For any information on the technical characteristics of the product refer to the technical catalogue.
AM58K CANopen® 3 - Mounting instructions WARNING Installation and maintenance operations have to be carried out by qualified personnel only, with power supply disconnected and mechanical parts absolutely in stop. 3.1 Solid shaft encoders • Mount the flexible coupling 1 on the encoder shaft; •...
AM58K CANopen® 4 - Electrical connections WARNING Power supply must be turned off before performing any electrical connection! 4.1 Connection cap WARNING Do not remove or mount the connection cap with power supply switched ON. Damage may be caused to internal components. The terminal connectors for connecting the power supply and the BUS IN and BUS OUT cables as well as the dip-switches meant to set the baud rate and the node ID and activate the termination resistance are located inside the encoder...
AM58K CANopen® 4.2 Ground connection Minimize noise by connecting the shield and/or the connector housing and/or the frame to ground. Make sure that ground is not affected by noise. The connection point to ground can be situated both on the device side and on user’s side.
AM58K CANopen® 4.4 Connection cap with M12 connectors The connection cap has two M12 connectors with pin-out in compliance with CANopen® standard. Therefore you can use standard CAN cables commercially available. M12 connector A coding (frontal side) male female (BUS IN) (BUS OUT) Description Case...
AM58K CANopen® 4.6 RT Bus termination WARNING Power supply must be turned off before performing this operation! A bus termination resistance is provided in the connection cap and has to be activated as line termination in the last device of the transmission line. Use RT Switch to activate or deactivate the bus termination.
AM58K CANopen® 4.8 Baud rate: DIP A WARNING Power supply must be turned off before performing this operation! Transmission rate can be set either via hardware or via software. If DIP A bit 4 = ”OFF” the bit rate is set through object 3000-00 Baud rate the “Object Dictionary”...
AM58K CANopen® 4.9 Node number: DIP B WARNING Power supply must be turned off before performing this operation! Node number can be set both via hardware or via software. Allowed node addresses range between 1 and 127. The default value is 1. If all bits of DIP B are ”OFF”...
AM58K CANopen® 5 - Quick reference 5.1 Hardware resolution WARNING Make sure the physical resolution of the encoder matches the set resolution. Different resolutions may be set if the encoder and the connection cap have been ordered / supplied separately. Examples 6501-00 Hardware counts per revolution AM58K 13/4096CB-xx...
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AM58K CANopen® Encoder Master COB-ID Index Process data 580+ID Step 3 - Set object 6502-00 Hardware number of turns See resolution table below in the page for B4, B5, B6 and B7 values. Master Encoder COB-ID Index Process data 600+ID Encoder ...
AM58K CANopen® 5.2 Using the default settings Using the default settings provided by the manufacturer, you can switch on the device and read immediately its position. Follow the instructions below to: read the device resolution; set the operational mode;...
AM58K CANopen® 6 - CANopen® interface Lika encoders are always slave devices and comply with “Device profile for encoders”, Class 2. For any omitted information, refer to the “CiA Draft Standard 301” and “CiA Draft Standard 406” documents available at www.can-cia.org.
AM58K CANopen® 6.2.1 Initialization state This is the first state the CANopen® device enters after power is turned on or after a hardware reset. As soon as the basic CANopen® device initialization is carried out, device reads and loads the parameters saved on EPROM, sends a Pre-operational boot-up message and then switches automatically to state.
AM58K CANopen® 6.3 Communication objects Four different kinds of communication messages are used in a CANopen® network: Network management NMT protocol: NMT protocols are used to issue state machine change commands (i.e. to start and stop the devices), detect remote device boot-ups and error conditions.
AM58K CANopen® 6.4 NMT objects NMT structure: COB-ID (11 bit) 2 CAN Data Bytes Func.code Node ID Command Slave ID 0000 NMT Func. Slave ID If Slave ID = 00h, the NMT message is issued to all network nodes. NMT Function: Command NMT Function State node...
AM58K CANopen® 6.6 PDO objects PDO (tx) messages are always made up of 4 CAN Data Bytes and are used by the encoder to transmit the position value and/or the velocity value. PDO structure: IDENTIFIER 4 CAN Data Bytes COB-ID(hex) Byte 0 Byte 1 Byte 2...
AM58K CANopen® 6.7 SDO objects SDO messages are used to set and read values from the object dictionary of the encoder. These parameters are described in the “Object dictionary” section (page 28). 4 bytes at the most are used for CAN data, other 4 bytes are used for Command, Index and Sub-index fields.
AM58K CANopen® 6.8 Object dictionary In the following pages the objects implemented are listed and described as follows: Index-subindex Object name [data types, attribute] Index and subindex are expressed in hexadecimal notation. Attribute: ro = read only access rw = read and write access Unsigned16 data type: Process data bytes...
[Unsigned32, rw] Default = 0000 0080h 1008-00 Name of device manufacturer [String, ro] It shows the name of the device manufacturer. Default = “LIKA SRL” 1009-00 Hardware version [String, ro] It shows the hardware version of the device. 100A-00 Software version [String, ro] It shows the software version of the device.
[Unsig32, rw] This object allows the operator to restore all parameters to default values (default values are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode).
AM58K CANopen® 1014-00 COB-ID EMCY [Unsigned32, rw] This object defines the COB-ID used for sending emergency messages (EMCY). If the node address is set using the internal dip-switches (i.e. at least one dip- switch for setting the node has HIGH logic level = 1), when the power is turned on, this object is always forced to the default value.
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AM58K CANopen® WARNING It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed). This means that “No RTR is allowed on the PDO”. If the node address is set using the internal dip-switches (i.e. at least one dip-switch for setting the node has HIGH logic level = 1), when the power is turned on, this object is always forced to the default value.
AM58K CANopen® 1801 PDO2 parameters PDO2 message is used by default for synchronous transmission of the position value. For more information refer to section “6.6 PDO objects” on page 26. 01 COB-ID of the PDO2 [Unsigned32, rw] Bit number Value Meaning PDO exists / is valid 31 (MSB)
AM58K CANopen® Position value is transmitted after the set number of SYNC commands. 1801 PDO2 Interval in SYNC commands must be set next to this object parameters, sub 2. WARNING Transmission Type Following an attempt to set the to 0, the value is accepted but the PDO message is not sent;...
AM58K CANopen® 02 Transmission type [Unsigned8, rw] Transmission type PDO transmission 00h (0) Acyclic, synchronous not implemented 01h … F0h (1 … 240) Cyclic, synchronous implemented F1h … FBh (241 … 251) not implemented - reserved FCh (252) Synchronous, RTR only not implemented FDh (253) Asynchronous, RTR only not implemented...
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AM58K CANopen® 29-bit ID (CAN 2.0B) if bit 29 = 0 28 … 11 if bit 29 = 1: bits 28-11 of 29-bit-COB-ID 10 … 0 (LSB) bits 10-0 of COB-ID Default = C000 0480h+NodeID (no RTR, COB-ID) WARNING It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed). This means that “No RTR is allowed on the PDO”.
AM58K CANopen® NOTE - Transmission of PDO1, PDO2, PDO3 and PDO4 messages can be enabled (or disabled) by setting to “0” (or “1”) the most significant bit (MSB) used by PDO (object 180xh, sub1). - Cyclic transmission or synchronous transmission can be modified by setting the object 180xh sub 2:...
AM58K CANopen® 6.8.2 Manufacturer specific objects 2104-00 Limit switch min. [Unsigned32, rw] This object can be used to set the lowest software limit switch (-). If the encoder position is below the value set in this object, bit 12 of object 6500-00 Operating states will be set to 1.
AM58K CANopen® Master Encoder COB-ID Index Data byte 600+ID see table Encoder Master (confirmation) COB-ID Index Data byte 580+ID Master Encoder (Reset node) COB-ID Slave ID Set the master device to the new baud rate: Encoder Master (Boot-up with new baud rate) COB-ID 700+ID NOTE...
AM58K CANopen® Master Encoder (Reset node) COB-ID Slave ID old ID Encoder Master (Boot-up with new Node-ID) COB-ID 700+ID NOTE To save the new Node-ID value execute the store parameters function (see 1010-01 Store parameters). object When the power is turned off, parameters not saved will be lost. 3005-00 Velocity format [Unsigned8, rw] This attribute defines the engineering units for the velocity value.
AM58K CANopen® 6.8.3 Device profile objects (DS 406) 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 CCW (counter Code sequence (clockwise) clockwise) not used Scaling function disabled enabled 3…11 not used Limit switch min. disabled enabled Limit switch max.
AM58K CANopen® 6001-00 Counts per revolution [Unsig32, rw] This object sets a custom number of distinguishable steps per revolution. Scaling function 6000-00 Operating Enabled if bit 2 in the object parameters = ”1”. To avoid counting errors, check that 6501-00 Hardware counts per revolution = integer value.
AM58K CANopen® 6004-00 Position value [Unsigned32, ro] This object contains the position value, transmitted value is calculated considering the scaling values. Value is transmitted cyclically or synchronously 1800 PDO1 parameters, 1801 PDO2 according to the settings in the objects parameters 1802 PDO3 parameters.
AM58K CANopen® Scaling function It shows whether the scaling function is disabled or enabled. To disable / enable Scaling function the scaling function you must set the bit 2 of the object 6000-00 Operating parameters to 0 / 1. Limit switch min. 2104-00 Limit If the encoder position is over the value set in the object switch...
AM58K CANopen® 6.9 Warning objects For the complete list and meaning of the warning messages please refer to “SDO abort codes” section in “CiA Draft Standard 301” document available at www.can-cia.org. 6.10 Emergency objects Emergency (EMCY) objects are issued by the device when an internal error occurs.
AM58K CANopen® 6.11 Node guarding protocol At system boot the “Node guarding protocol” is disabled; this protocol is enabled automatically as soon as the master device sends a RTR message (Remote Transmission Request) the first time. Master Slave request response Guard NodeGuard.
AM58K CANopen® 7 – Setting-up Here following are some examples of transmission between Master and Slave devices. A generic “ID” value is used to indicate the encoder address; Master address is always 0. All values are expressed in hexadecimal notation. Set Operational, Pre-operational state...
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AM58K CANopen® Set the preset value 6003-00 Preset value (preset = 1000 = 03E8h) Master Encoder (Set request) COB-ID Index Process data 600+ID Encoder Master (Set confirmation) COB-ID Index Process data 580+ID Set Sync counter 1801 PDO2 parameters, sub 2 (n = 5 = 05h) Master ...
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AM58K CANopen® Enable Cyclic mode 6200-00 Cyclic time Set cyclic time (100 ms = 64h) Master Encoder (Set request) COB-ID Index Process data 600+ID Encoder Master (Set confirmation) COB-ID Index Process data 580+ID (1800 PDO1 parameters, sub 1): Read COB-ID used by PDO1 Master ...
1000-00 Device type 0x00020196 1001-00 Error register 0x00 1003 Pre-defined error field 1005-00 COB_ID SYNC message 0x00000080 1008-00 Name of device LIKA SRL* manufacturer 1009-00 Hardware version 100A-00 Software version 100C-00 Guard time 0x0000 100D-00 Life time factor 0x00 1014-00 COB-ID EMCY...
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