Kübler CANopen C100 Manual
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Kübler CANopen C100 Manual

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R67042.0002 - 6
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Draw-wire encoder C100
Draw-wire encoder D125

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Summary of Contents for Kübler CANopen C100

  • Page 1 R67042.0002 - 6 Draw-wire encoder C100 Manual Draw-wire encoder D125...

  • Page 2: Table Of Contents

    Table of Contents Kübler Group Table of Contents Document ........................General Information......................Target Group......................Symbols used / Warnings and Safety instructions ..........Product Description ....................... Technical Data C100 ....................Technical Data D125 ....................Interface Description CANopen ................Installation ........................Electrical Installation ....................4.1.1 General Information for the Connection ............
  • Page 3 Kübler Group Table of Contents 5.4.11 Objects not mentioned ................26 PDO Mapping ......................5.5.1 Mapping Parameters - TPDO1-2 .............. 5.5.2 PDO Mapping Position................27 5.5.3 PDO Mapping Angle ................. 28 Examples ........................ 5.6.1 Example: basic parameterizing ..............General CANopen Error Codes ..................Annex ..........................

  • Page 4: Document

    1 Document Kübler Group 1 Document This document is the English translation of the original German version. Publisher Kübler Group, Fritz Kübler GmbH Schubertstr. 47 78054 Villingen-Schwenningen Germany www.kuebler.com Issue date 04/2020 Language version German is the original language © Copyright 2020, Kübler Group, Fritz Kübler GmbH Text sources MicroControl Systemhaus für Automatisierung 2003,...

  • Page 5: General Information

    Kübler Group 2 General Information 2 General Information Please read this document carefully before working with the product, mounting it or starting it up. 2.1 Target Group The device may only be planned, mounted, commissioned and serviced by persons having the following qualifications and fulfilling the following conditions: •...
  • Page 6 2 General Information Kübler Group NOTICE Classification: Additional information relating to the operation of the product, and hints and recommendations for efficient and trouble-free operation. 6 - EN CANopen manual - C100/D125 - R67042.0002 - 06...

  • Page 7: Product Description

    Kübler Group 3 Product Description 3 Product Description 3.1 Technical Data C100 Measuring range 1 …. 5 m Measuring wire material Nylon-coated AISI304 steel wire ø 0.9 mm Diameter Wire fastening Eyelet Inside diameter ø 8 mm Outside diameter Height ø 15 mm Height 2 mm Max.

  • Page 8: Technical Data D125

    3 Product Description Kübler Group 3.2 Technical Data D125 Measuring range 6.0 ... 10.0 m Measuring wire material Nylon-coated AISI304 steel wire ø 0.9 mm Diameter Wire fastening Eyelet Inside diameter ø 8 mm Outside diameter Height ø 15 mm  Height 2 mm Max.
  • Page 9 Kübler Group 3 Product Description Source: MicroControl Systemhaus für Automatisierung 2003, Uwe Koppe CANopen manual - C100/D125 - R67042.0002 - 06 EN - 9...

  • Page 10: Installation

    4 Installation Kübler Group 4 Installation 4.1 Electrical Installation 4.1.1 General Information for the Connection ATTENTION Destruction of the device Before connecting or disconnecting the signal cable, always discon- nect the power supply and secure it against switching on again. NOTICE General safety instructions Make sure that the whole plant remains switched off during the elec-...
  • Page 11 Kübler Group 4 Installation CANopen manual - C100/D125 - R67042.0002 - 06 EN - 11...

  • Page 12: Commissioning And Operation

    5 Commissioning and Operation Kübler Group 5 Commissioning and Operation 5.1 Quick Start Guide 5.1.1 Default Settings All parameters are created as objects in CANopen. The original standard values (default values at the delivery) can be loaded again with Object 1011h (parameters restoration) and with the command load (0x6C6F6164).

  • Page 13: Setting The Baud Rate

    Kübler Group 5 Commissioning and Operation Service COB-ID Start remote node 0x000 0x01 Stop remote node 0x000 0x02 Enter Pre-operational mode 0x000 0x80 Reset node 0x000 0x81 Reset communication 0x000 0x82 For a precise definition of the commands NMT Commands [} 18]. NOTICE Broadcast If a NMT service is to address all nodes, it is also possible to send...

  • Page 14: Protocol Features

    5 Commissioning and Operation Kübler Group NOTICE Valid node IDs Node ID‘s in the range 1 … 127 are allowed. 5.2 Protocol Features 5.2.1 CANopen Communication Profile DS 301 V4.02 CANopen uses four communication objects (COB) with various features Process Data Objects (PDO) for real-time data Service Data Objects (SDO) for parameters and program transmission Network Management (NMT, Life-Guarding, Heartbeat) Predefined objects (for synchronization, timestamp, emergency)

  • Page 15: Data Transmission

    Kübler Group 5 Commissioning and Operation • LSS master CAN-ID 2021 • LSS slave CAN-ID 2020 A product code, a revision number and a serial number are set by the manufacturer. The LSS address must be unequivocal in the network. LSS operative restrictions In order to ensure trouble-free LSS functionality, all devices in the network must support the LSS services.
  • Page 16 5 Commissioning and Operation Kübler Group 5.2.3.2 Service Data Transmission - SDO DO-COB-ID The following identifiers are available as a standard for the SDO services: • SDO (tx) (slave→master): 580h (1408) + node number • SDO (rx) (master→slave): 600h (1536) + node number The SDO identifiers cannot be modified.
  • Page 17 Kübler Group 5 Commissioning and Operation Code (dec.) Transmission type cyclic acyclic synchronous asynchronous RTR only 1 … 240 241 … 251 reserved Transmission type definition: After SYNC, but only in the event of a value change since the last SYNC. 1 ...

  • Page 18: Network Management

    5 Commissioning and Operation Kübler Group and thus supplies input data also if no event occurred currently. It must be noted for TT 255 that inhibit time > 100 must be set. Otherwise a CAN overrun error may occur, since the position of the last digit is constantly changing.

  • Page 19: Canopen Object Dictionary

    Kübler Group 5 Commissioning and Operation Byte 0 Byte 1 … 2 … 2 COB-ID = 0 Byte 0 = Command byte Byte 1 = Node number (e.g. 3F or 00 for all participants) The COB ID of the NMT object is always 0 The node is addressed via the node numbers.

  • Page 20: Structure Of The Object Dictionary

    5 Commissioning and Operation Kübler Group • DOMAIN larger variable volume of data, e. g. program code • DEFTYPE data types definition, e. g. boolean, float, unsigned16 • DEFSTRUCT definition of a record entry, e. g. PDO mapping structure • VAR single data value, e. g. boolean, float, unsigned16, string •...

  • Page 21: Communication Objects

    Kübler Group 5 Commissioning and Operation Variable ARRAY Array of variables Read/Write Read only Const Constant Name Object name Mandatory or optional 5.3.2 Communication Objects Objects - Communication profile Index Name Access Type Standard value Meaning 0x1000 Device type CONST Unsigned32 406: Encoders Sensor Type...

  • Page 22: Device-Specific Objects

    5 Commissioning and Operation Kübler Group Index Name Type Standard Meaning cess value 0x3000 Baud rate unsigned8 0x3 250 kbit/s 0x3001 Node address unsigned8 0x04 0x3003 Angle direction 0x01 Clockwise (cw) 0x3004 Angle measuring range 0x00 360° 0x3005 Behavior of the redundant 0x01 Opposite direc- angle signals...

  • Page 23: Object 1017H Producer Heartbeat Time

    Kübler Group 5 Commissioning and Operation Byte 4: 0x6C (ASCII code for L) Byte 5: 0x6F (ASCII code for O) Byte 6: 0x61 (ASCII code for A) Byte 7: 0x64 (ASCII code for D) 5.4.3 Object 1017h Producer Heartbeat Time This object defines the heartbeat cycle of the CAN device.

  • Page 24: Object 3001H - Node Address

    5 Commissioning and Operation Kübler Group Value Baud rate in kbit/s 1000 A new node number is only taken over at the following booting (reset/power-on) of the device or via a NMT Reset Node command. All other settings in the objects table remain retained. 5.4.6 Object 3001h - Node Address This object allows modifying the node address by software.

  • Page 25: Object 3004H - Angle Measurement Range

    Kübler Group 5 Commissioning and Operation COB-ID 0x600 + ID 0x2F 0x03 0x30 0x00 0x00 0x00 0x00 Direction Counter clockwise (ccw) Clockwise (cw) 5.4.8 Object 3004h - Angle Measurement Range The angle measurement range is set in Object 3004h. It can be defined as follows: 0x01 = ±...

  • Page 26: Objects Not Mentioned

    5 Commissioning and Operation Kübler Group COB-ID 0x600 + ID 8 0x2B 0x10 0x30 0x00 0x01 0x00 0x00 0x00 Reset 0x600 + ID 8 0x2B 0x10 0x30 0x00 0x00 0x00 0x00 0x00 5.4.11 Objects not mentioned All objects not mentioned are used for additional information and can be found in the respective CANopen profile.

  • Page 27: Pdo Mapping Position

    Kübler Group 5 Commissioning and Operation Name Value Default bindex 0x01 COB-ID 180h + node number 0x02 Transmission type 255 (asynch) 0x03 Inhibit time 0 (step 100 μs) 0x05 Event timer 0 (step 1 ms) 0x64 1801h TPD02 Communication parameters Name Value Default...

  • Page 28: Pdo Mapping Angle

    5 Commissioning and Operation Kübler Group Example for a resolution of 0.1 mm: Signal COB-ID DLC D0 Position 0x180 + ID 8 0x10 0x27 0x00 0x00 0xBB 0xBB 0xBB 0xBB (LSB) (MSB) (LSB) (MSB) P = 0x00002710 (10000 decimal) = 1000 mm 5.5.3 PDO Mapping Angle Angles Z1 and Z2 The suffixes 0xZ1 and 0xZ2 represent channels Z1 and Z2.

  • Page 29: Examples

    Kübler Group 5 Commissioning and Operation 5.6 Examples 5.6.1 Example: basic parameterizing Baud rate ü Set baud rate to 0x05 through index 3000h subindex 00 a) Perform a power off/power on cycle or a Reset Node b) Set the network to the new baud rate ð...
  • Page 30 5 Commissioning and Operation Kübler Group Inclinometer direction Setting the inclinometer direction to ccw 0x00 through index 3004 subindex 00 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Request Response Same-direction angle signals Setting same-direction angle signals 0x00 through index 3005 subindex 00 Byte 0 Byte 1...

  • Page 31: General Canopen Error Codes

    Kübler Group 6 General CANopen Error Codes 6 General CANopen Error Codes Error Code Description 0x0503 0000 Toggle bit not changed 0x 0504 0000 SDO protocol timeout 0x 0504 0001 Client / server command specifier invalid or unknown 0x 0504 0002 Invalid block size (only block mode) 0x 0504 0003 Invalid sequence number (only block mode)
  • Page 32 6 General CANopen Error Codes Kübler Group Example of an error code Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Request Response 80 The device sends an error because of the attempt to write Object 0x5000, which can only be read.

  • Page 33: Annex

    Kübler Group 7 Annex 7 Annex 7.1 Decimal / Hexadecimal conversion table CANopen manual - C100/D125 - R67042.0002 - 06 EN - 33...
  • Page 34 7 Annex Kübler Group 34 - EN CANopen manual - C100/D125 - R67042.0002 - 06...

  • Page 35: Contact

    Kübler Group 8 Contact 8 Contact You want to contact us: Technical support Kübler's worldwide applications team is available on site all over the world for technical advice, analysis or installation support. International support (English-speaking) +49 7720 3903 952 support@kuebler.com Kübler Germany +49 7720 3903 849 Kübler France +33 3 89 53 45 45 Kübler Italy...

  • Page 36: Glossary

    Glossary Kübler Group Glossary Baud Rate The baud rate is the transmission rate. CAN in Automation. International asso- It is related with the nominal bit timing. ciation of CAN products users and The maximum possible baud rate de- manufacturers pends on many factors that influence the signal propagation time on the bus.
  • Page 37 Kübler Group Glossary Node number Draft Standard Proposal Within a CanOpen network, every device is defined by its node number (node ID). The permissible node num- EDS File bers are in the range of 1-127 and can The EDS (Electronic Data Sheet) file is only be used once within a network.
  • Page 38 Kübler Group Fritz Kübler GmbH Schubertstr. 47 D-78054 Villingen-Schwenningen Germany Phone +49 7720 3903-0 Fax +49 7720 21564 info@kuebler.com www.kuebler.com...

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Canopen d125

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