Siko WV36M/CAN User Manual
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Siko WV36M/CAN User Manual

Rotary encoder
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Absolute ROTARY ENCODER
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WV36M/CAN

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Summary of Contents for Siko WV36M/CAN

  • Page 1 User manual Absolute ROTARY ENCODER with interface WV36M/CAN...

  • Page 2: Table Of Contents

    5.5.18 Object 1020h: Verify configuration ....................18 5.5.19 Object 1029h: Error behavior ....................18 5.5.20 Object 1800h: 1 Transmit PDO Communication Parameter ...........18 5.5.21 Object 1801h: 2 Transmit PDO Communication Parameter...........18 WV36M/CAN Date: 03.02.2015 Page 2 of 36 Art.No. 85655 Mod. status 45/15...
  • Page 3 5.5.67 Object 6508h: Operating time ....................32 5.5.68 Object 6509h: Offset value ......................32 5.5.69 Object 650Ah: Module identification ..................33 5.5.70 Object 650Bh: Serial number ....................33 Diagnosis ........................33 6.1.1 Troubleshooting .........................33 WV36M/CAN Date: 03.02.2015 Page 3 of 36 Art.No. 85655 Mod. status 45/15...
  • Page 4 Malfunction of the position value during transmission ...............33 6.1.4 Too much ERROR-Frames .......................33 6.1.5 Limit switches without function ....................34 6.1.6 Baud rate and Node Number changes ..................34 Appendix: Glossary ....................35 WV36M/CAN Date: 03.02.2015 Page 4 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 5: General Security Advise

    Please Note Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by SIKO for any consequences arising out of the use of this material. This document is not intended as an instruction manual for untrained people.

  • Page 6: Introduction

    Introduction This manual explains how to install and configure WV36M/CAN absolute rotary encoder with CANopen interface applicable for both military and industrial applications with CANopen interface. The products are fully compliant with standard DS406. Measuring System Magnetic rotary encoder determine positions using the Hall effect sensor technology developed for the automotive mass market.

  • Page 7: Installation

    CiA Draft Standard 305 Layer Setting Services CiA Draft Standard 406 Device Profile for Encoders Note: All datasheets and manuals can be downloaded for free from our website www.siko.de We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to change without notice.

  • Page 8: Configuration

    4.1.5 Reinitialization of the Encoder If a node is not operating correctly, it is advisable to carry out a reinitialization: Command Index Description 82 h Reset Communication 81 h Reset Node WV36M/CAN Date: 03.02.2015 Page 8 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 9: Normal Operating

    3001h Baud rate 3002h Termination Resistor 6000h Operating Parameter 6001h Steps per Revolution 6002h Total Resolution 6003h Preset Value 6200h Cyclic Timer Tab. 2: List of Storable Parameters WV36M/CAN Date: 03.02.2015 Page 9 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 10: Storing Procedure

    Request Parameter request 43h, 47h, 4Bh, 4Fh (*) Domain Upload Reply Parameter to Master (Bytes indicated) 80 h Warning Reply Transmission error Tab. 3: General Command Byte Description WV36M/CAN Date: 03.02.2015 Page 10 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 11: Programming Example: Preset Value

    Byte 5 Byte 6 Byte 7 Answer of the Encoder Identifier Command Index Subindex Service/Process data NN 1 Download 6003h Byte 4 Byte 5 Byte 6 Byte 7 WV36M/CAN Date: 03.02.2015 Page 11 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 12: Communication Profile Ds301 Specific Objects From 1000H - 1Fffh

    1800h Communication parameter PDO 1 1801h Communication parameter PDO 2 1A00h Transmit PDO1 Mapping Parameter 1A01h Transmit PDO2 Mapping Parameter 1F50h Download Program Area 1F51h Program Control Tab. 6: Object Dictionary 1000h-1FFFh WV36M/CAN Date: 03.02.2015 Page 12 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 13: Manufacturer Specific Objects 2000H - 5Fffh

    6400h Area state register 6401h Work area low limit 6402h Work area high limit 6500h Operating status 6501h Single-turn resolution 6502h Number of distinguishable revolutions 6503h Alarms 6504h Supported alarms WV36M/CAN Date: 03.02.2015 Page 13 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 14: Object Descriptions

    Default Value Access Restore after BootUp Unsigned 32 WV36M/CAN single turn: 10196h WV36M/CAN multi turn: 20196h 5.5.2 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 15: Object 1005H: Cob-Id Sync

    Default Value Access Restore after BootUp String There is one actual version of circuit boards for WV36M/CAN. 5.5.7 Object 100Ah: Manufacturer Software Version This object contains the manufacturer software version. The new encoder line 2008 starts with version 4.00. Subindex Description...

  • Page 16: Object 100Dh: Life Time Factor

    5.5.12 Object 1012h: COB-ID Time Stamp Object This object contains the COB-ID of the Time Stamp object. Subindex Description Data Type Default Value Access Restore after BootUp Unsigned 32 100h WV36M/CAN Date: 03.02.2015 Page 16 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 17: Object 1013H: High Resolution Time Stamp

    Default Value Access Restore after BootUp Number of entries Unsigned 8 Vendor ID Unsigned 32 195h Product Code Unsigned 32 Revision Number Unsigned 32 100h Serial Number Unsigned 32 WV36M/CAN Date: 03.02.2015 Page 17 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 18: Object 1020H: Verify Configuration

    Access Restore after BootUp Number of sub indices Unsigned 8 COB-ID Unsigned 32 280h + Node Transmission Mode Unsigned 8 Inhibit Time Unsigned 32 Not available Event Timer Unsigned 32 WV36M/CAN Date: 03.02.2015 Page 18 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 19: Event Timer

    5. Enable mapping by setting sub-index 00h to the number mapped objects. 6. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 0 => PDO exist / is valid. WV36M/CAN Date: 03.02.2015 Page 19 of 36 Art.No.

  • Page 20: Nd Transmit Pdo Mapping Parameter

    4 - erase flash 5.5.27 Object 2000h: Position Value This object contains the position value. Subindex Description Data Type Default Value Access Restore after BootUp Position Value Unsigned 32 n.a. WV36M/CAN Date: 03.02.2015 Page 20 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 21: Object 2100H: Operating Parameters

    This parameter is used to program the desired number of measuring units over the total measuring range. This value must not exceed the total resolution of the absolute rotary encoder, which is printed on the type sign of the encoder. WV36M/CAN Date: 03.02.2015 Page 21 of 36 Art.No.

  • Page 22: Object 2103H: Preset Value

    31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X WV36M/CAN Date: 03.02.2015 Page 22 of 36 Art.No.

  • Page 23: Object 2105H: Limit Switch, Max

    With this object all parameters can be stored in the non-volatile memory. After storing the parameters a reset is executed. Subindex Description Data Type Default Value Access Restore after BootUp Access code Unsigned 32 55AAAA55h WV36M/CAN Date: 03.02.2015 Page 23 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 24: Object 3000H: Node Number

    This object contains the speed control. The speed measurement is disabled by default. Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned 8 Enable Speed Unsigned 8 Speed modus Unsigned 8 WV36M/CAN Date: 03.02.2015 Page 24 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 25: Object 3011H: Speed Value

    That is the reason why the security code is not published in this document. Please contact SIKO to obtain the code. 5.5.45 Object 6000h: Operating parameters This object shall indicate the functions for code sequence, commissioning diagnostic control and scaling function control.

  • Page 26: Object 6001H: Measuring Units Per Revolution

    This object contains the process value of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp Process Value Unsigned 32 romap Hardwired with Object 2000h. WV36M/CAN Date: 03.02.2015 Page 26 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 27: Object 6030H: Speed Value

    This object contains the cam enable register. Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned 8 Cam polarity channel 1 Unsigned 8 WV36M/CAN Date: 03.02.2015 Page 27 of 36 Art.No. 85655 Mod. status 45/15...
  • Page 28 VAR Cam7 high limit channel1 Cam8 high limit 6327h VAR Highest sub-index supported VAR Cam8 high limit channel1 Cam1 hysteresis 6330h VAR Highest sub-index supported VAR Cam1 hysteresis channel1 WV36M/CAN Date: 03.02.2015 Page 28 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 29: Object 6400H: Area State Register

    Position is lower than the position value set in object 6402h "work area low limit" range underflow No range underflow Position is higher than the position value set in object 6401h "work area high limit" Reserved WV36M/CAN Date: 03.02.2015 Page 29 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 30: Object 6401H: Work Area Low Limit

    This object contains number of revolutions of the absolute rotary encoder. Subindex Description Data Type Default Value Access Restore after BootUp Number of Revolutions Unsigned 16 see type sign WV36M/CAN Date: 03.02.2015 Page 30 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 31: Object 6503H: Alarms

    Reference Point reached/not reached (not supported) Battery charge (not supported) Operating Time limit (not supported) CPU watchdog status (not supported) Light control reserve (not supported) Frequency warning (not supported) WV36M/CAN Date: 03.02.2015 Page 31 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 32: Object 6506H: Supported Warnings

    This object contains the offset value. It is been calculated by the preset function and shifts the physical position value with the desired value. Subindex Description Data Type Default Value Access Restore after BootUp Offset value Integer 32 WV36M/CAN Date: 03.02.2015 Page 32 of 36 Art.No. 85655 Mod. status 45/15...

  • Page 33: Object 650Ah: Module Identification

    The bus load is too high in case of too much error frames. Possible solution: Check if all bus node has the same baud rate. If one node has another baud rate error frames are produced automatically. WV36M/CAN Date: 03.02.2015 Page 33 of 36 Art.No. 85655...

  • Page 34: Limit Switches Without Function

    6.1.6 Baud rate and Node Number changes Notice: The changing of baud rate and node number are only valid after a new power up, NMT Reset or the store parameters command. WV36M/CAN Date: 03.02.2015 Page 34 of 36 Art.No. 85655...

  • Page 35: Appendix: Glossary

    The COB-ID consists of a function code and a node number. Clockwise EDS file Standardized file containing the description of the parameters and the communication methods of the associated device. Frequently Asked Questions WV36M/CAN Date: 03.02.2015 Page 35 of 36 Art.No. 85655 Mod. status 45/15...
  • Page 36 Communication object, with a low priority for messaging (configuration, error handling, diagnostics). Slave Bus node that sends data at the request of the master. The encoders are always slaves. Write Only: Parameter that is only accessible in write mode. WV36M/CAN Date: 03.02.2015 Page 36 of 36 Art.No. 85655...

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