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Summary of Contents for Kübler Sendix 7058
- Page 1 R60712.0002 Manual Sendix 7058 / 7078 / 7158 / 7178 Absolute Singleturn Encoder Sendix 7068 / 7088 / 7168 / 7188 Absolute Multiturn Encoder...
- Page 2 Document no. R60712.0002 Document-Title Manual Sendix 7058 / 7078 / 7158 / 7178 Sendix 7068 / 7088 / 7168 / 7188 Language version English (EN) – English is the original version Document version 28.06.2018, Document no. R60712.0002 - Index 3 Copyright ©2018, Kübler Group, Fritz Kübler GmbH...
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Page 3: Table Of Contents
1 Table of contents Table of contents Table of contents List of abbreviations 1. Technical details and characteristics ................6 1.1 CANopen Multiturn /Singleturn Encoder Series 58X8 ............6 1.2 The CANopen Communication Profile DS 301 V4.2.0 ............6 1.3 Encoder Device Profile DS 406 V3.1 ..................7 1.4 Objectives of LSS ......................... - Page 4 1 Table of contents 7.13 Object 6505h: Warnings ..................23 7.14 Object 6506h: Supported Warnings ................. 24 7.15 Object 6400h: Working Area State Register 2 values ..........24 7.16 Object 2100h: Baud rate ..................25 7.17 Object 2101h: Node address ................... 25 7.18 Object 2102h: CAN bus termination OFF/ON ............
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Page 5: List Of Abbreviations
1 List of abbreviations List of abbreviations Abbreviation Meaning CAN Application Layer. Application layer (Layer 7) in the CAN communication model Controller Area Network CAN in Automation. International association of CAN products users and manufacturers CAN Message Specification. Service element of CAL Communication Object. -
Page 6: Technical Details And Characteristics
1 Technical details and characteristics Technical details and characteristics CANopen Multiturn /Singleturn Encoder Series 58X8 The CANopen encoders of Series 7068/88 support the latest CANopen communication profile according DS 301 V4.02. In addition, device-specific profiles such as the encoder profile DS 406 V3.1 are adapted. -
Page 7: Encoder Device Profile Ds 406 V3.1
1 Technical details and characteristics Encoder Device Profile DS 406 V3.1 This profile describes a vendor-independent mandatory definition of the interface with regard to encoders. It is laid down in the profile, which CANopen functions are to be used as well as how they are to be used. -
Page 8: Objects And Function Code In The Predefined Connection Set
1 Technical details and characteristics The Process Data Objects (PDO) provide high-speed exchange of real-time data (e.g. encoder position, speed, comparative position status) with a maximum length of 8 byte. These data are transmitted with a high priority (low COB-Identifier). PDOs are broadcast messages and provide their real-time data simultaneously to all desired receivers. -
Page 9: Transmission Of Process Data
1 Technical details and characteristics Restricted, reserved Objects Figure 4 Transmission of Process Data With the CANopen encoder three PDO services PDO1 (tx) ,PDO2 (tx) and PDO3(tx) and a Receive- PDO are available. A PDO transmission can be triggered by a variety of events (see Object Dictionary Index 1800h): •... - Page 10 1 Technical details and characteristics 1Flags Status byte of the Working-area Object 6400h 2Speed 16-bit word Signed 3Acceleration 16-bit word Signed Transmit PDO 1 is made up (mapped) from the 32-bit position value state of the Working area registers (6400h). Transmit PDO 2 is made up from the 32-bit position values, 16-bit speed and 16-bit acceleration.
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Page 11: Electrical Installation And Can Bus
2 Electrical installation and CAN bus Electrical installation and CAN bus Supply voltage (Power supply) Connect the Supply voltage to the lead 1 and 2 (0V) and (+ VDC). Figure 6 CANbus lines Connect the CANBUS Input-lines to lead 4 and 5 (CAN_H) and ( CAN_L) and for outgoing lines to lead 7 and 8. -
Page 12: Bus Termination
2 Electrical installation and CAN bus Bus Termination If the device represents the final station on the bus, then the looped-through CANbus must be terminated at both ends with a bus termination resistor between CAN_H and CAN_L. At closed housings it is necessary to order with termination adjusted the right way, otherwise it is mandatory to adapt an external resistor. -
Page 13: Grounding And Equipotential Bonding
3 Grounding and equipotential bonding Grounding and equipotential bonding Effective grounding and equipotential bonding are very important for the interference immunity of CANbus networks. Grounding and bonding is thus primarily to ensure correct functioning of CANbus, and not for safety reasons. Proper grounding of the cable shield ensures that electrostatic interference is reduced, so minimizing pickup. -
Page 14: Quick Start Guide - Default Settings On Delivery
4 Quick Start Guide - Default settings on delivery Quick Start Guide - Default settings on delivery Encoders with cable outlet Description Setting Switch Software Baud rate 250 Kbit/s Switch setting 5 Object 2100h = 5h Node address Switch setting 3Fh Object 2100h = 3Fh Termination Switch setting off... -
Page 15: Encoder Profile
4 Quick Start Guide - Default settings on delivery Transmission Type 255 / 0xFFh (synch) Inhibit Time 0 [steps in 100µs] Event Timer 0 [steps in ms] 1A00h TPD01 Mapping 1. Mapped Object 0x60040020 1A01h TPD02 Mapping 2. Mapped Object 0x60300110 1A02h TPD03 Mapping... - Page 16 4 Quick Start Guide - Default settings on delivery The default setting for the Mapping of the Transmit PDO: Figure 13 The CANopen encoder supports variable mapping on all 3 Transmit PDOs. R60712.0002 EN - 16...
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Page 17: Emergency Objects
5 Emergency Objects Emergency Objects Emergency Objects arise with error situations within a CAN network and are triggered depending on the event and transmitted over the bus with a high priority. Important: an Emergency Object is only triggered once per “Event”. No new object is generated while the error still exists. -
Page 18: Heartbeat Protocol
6 Heartbeat Protocol Heartbeat Protocol Figure 15 Nowadays as an alternative to Node Guarding the modern Heartbeat Protocol should be used. The protocol is activated if a value > 0 is written to Object 1017h Producer Heartbeat Time. A “Heartbeat–Producer” cyclically transmits this Heartbeat message. One or more “Heartbeat- Consumer(s)”... -
Page 19: Objects Of Encoder Profile Ds 306
7 Objects of Encoder Profile DS 306 Objects of Encoder Profile DS 306 Object 6000h Operating Parameters Bit 0: Code sequence: 0 = increasing when turning clockwise (cw) 1 = increasing when turning counter-clockwise (ccw) Default: Bit = 0 Bit 2: Scaling Function: 0 = disable, 1 = enable;... -
Page 20: Object 6001H: Measuring Steps Per Revolution (Resolution)
7 Objects of Encoder Profile DS 306 Object 6001h: measuring steps per revolution (Resolution) This parameter configures the desired resolution per revolution. The encoder itself then internally calculates the appropriate scale factor. The calculated scaling factor MUR (by which the physical position value will be multiplied) is worked out according to the following formula: MURF = Measuring steps per revolution (6001h) / phys. -
Page 21: Object 6004H: Position Value
7 Objects of Encoder Profile DS 306 Object 6004h: Position Value The encoder transmits the current position value (adjusted possibly by the scaling factor) Data content: Range of values: 1..maximum physical resolution (268435456) 28-bit Object 6030h: Speed Value The encoder outputs the current calculated speed (possibly with scaling factor) as a 16-bit value. The speed is dependent on the settings of Object 2130h. -
Page 22: Object 6200H: Cyclic Timer
7 Objects of Encoder Profile DS 306 Object 6200h: Cyclic Timer Defines the cycle time, with which the current position will be output by means of PDO 1 (see Object 1800h).The timer-controlled output becomes active, as soon as a cycle time >0 is entered. This Object is only present for reasons of compatibility with earlier profile versions. -
Page 23: Object 6503H: Alarms
7 Objects of Encoder Profile DS 306 7.11 Object 6503h: Alarms In addition to the errors that are signalled via emergency messages, Object 6503h provides for further error messages. The corresponding error bit is set to 1 for as long as the error condition applies. Data content: Figure 17 If an error occurs, then in both cases an emergency message (ID=80h+node number) with the error... -
Page 24: Object 6506H: Supported Warnings
7 Objects of Encoder Profile DS 306 Figure 18 When Bit 2 or 3 is active then simultaneously an emergency message (ID=80h+node number) with the Error code 5200h (Device Hardware) is sent. 7.14 Object 6506h: Supported Warnings This Object is used to display which warning messages are supported by the encoder (see Object 6505h). -
Page 25: Object 2100H: Baud Rate
7 Objects of Encoder Profile DS 306 Object 6401h: Working Area Low Limit 2 values Object 6402h: Working Area High Limit 2 values These two parameters configure the working area. The state inside and outside this area can be signaled by means of Flag bytes (Object 6400h Working Area State). These area markers can also be used as software limit switches. -
Page 26: Object 2102H: Can Bus Termination Off/On
7 Objects of Encoder Profile DS 306 The acceptance of a new node number only becomes effective when the encoder is rebooted (Reset/Power-on) or by means of an NMT Reset Node command. All other settings within the object table are however retained. 7.18 Object 2102h: CAN bus termination OFF/ON This Object can be used to set the bus termination via software. -
Page 27: Objekt 2110H: Sensor Configuration Data
7 Objects of Encoder Profile DS 306 Byte 0: 65h (ASCII-Code for "e") value range: „save“ in hexadecimal 0x65766173 7.21 Objekt 2110h: Sensor Configuration Data This Object is used to get information about the configuration of the sensor. The default is downloaded as a factory default, which means that normally no change will be necessary. -
Page 28: Objekt 2120,2H: Actual Temperature Lower Limit Position-Sensor
7 Objects of Encoder Profile DS 306 7.23 Objekt 2120,2h: Actual temperature lower limit Position- Sensor 7.24 Objekt 2120,3h: Actual temperature upper limit Position- Sensor These two parameters configure the temperature working area. The state outside this area can be signalled by means of an Emergency Message. -
Page 29: Object 2140H: Customer Memory (16 Bytes)
7 Objects of Encoder Profile DS 306 2130h Sub 1 Speed Calculation Multiplier Default setting: 10 2130h Sub 2 Speed Calculation Divisor Defautl setting: 10 2130h Sub 3 Speed Avarage Calc Value Defautl setting: 10 7.26 Object 2140h: Customer Memory (16 Bytes) These 4 parameters constitute a memory area for the user. - Page 30 7 Objects of Encoder Profile DS 306 • Bus Off state of the CAN interface • Life guarding event has occurred • Heartbeat monitoring has failed 1029h,Subindex 2 Device Profile Specific • Sensor error and Controller error • Temperature error 1029h,Subindex 3 Manufacturer Profile Specific •...
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Page 31: Network Management
8 Network Management Network Management The encoder supports the simplified Network Management as defined in the profile for "minimum capability devices" (minimum boot up). The following function state diagram acc. to DS 301 shows the various node states and the corresponding network commands (controlled by the Network Master via NMT services): At Power on the NMT state initialisation is entered autonomously NMT state Initialisation finished - enter NMT state Pre-operational automatically... -
Page 32: Nmt Commands
9 NMT Commands NMT Commands NMT Commands All NMT commands are transferred as an unconfirmed NMT Object. Because of the broadcast (network-wide) communication model, the NMT commands are recognized by each station. An NMT Object is structured as follows: COB-ID = 0 Byte 0 = Command byte Byte 1 = Node number The COB-ID of the NMT Object is always 0... -
Page 33: Glossary
10 Glossary 10. Glossary Baud rate: The baud rate is the transmission rate. It is related with the nominal bit timing. The maximum possible baud rate depends on many factors that influence the signal propagation time on the bus. There is a substantial link between the maximum baud rate and the bus length and cable type. - Page 34 Kübler Group Fritz Kübler GmbH Schubertstr. 47 78054 Villingen-Schwenningen Germany Tel.: +49 7720 3903-0 Fax: +49 7720 21564 info@kuebler.com www.kuebler.com...
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