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turck CANopen DW60 Manual

turck CANopen DW60 Manual

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Draw wire encoder
DW60/DW120

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Summary of Contents for turck CANopen DW60

  • Page 1 Manual Draw wire encoder DW60/DW120...

  • Page 3: Table Of Contents

    Table of Contents Table of Contents Table of Contents List of Abbreviations Symbols used / Warnings and Safety instructions 1. General information – Features ................... 6 2. CANopen connections ......................7 3. Data transmission ......................... 9 4. NMT – Network Management ..................... 10 5. The process data object –...

  • Page 4: List Of Abbreviations

    List of Abbreviations List of Abbreviations Abbreviation Meaning Network Management Service Data Object Process Data Object TPDO Transmit Process Data Object RPDO Receive Process Data Object Data Length Code...

  • Page 5: Symbols Used / Warnings And Safety Instructions

    Symbols used / Warnings and Safety instructions Symbols used / Warnings and Safety instructions The following elements are to be considered when using warnings and safety instructions This symbol, together with the signal word "Danger", indicates immediately imminent threat to life and health of persons. Ignoring this warning will result in serious damage to health with the possibility of life threatening injuries This symbol, together with the signal word "Warning", indicates a potential...

  • Page 6: General Information - Features

    General information – Features CANopen offers a uniform user interface and therefore allows a simplified system structure with very different appliances. CANopen is optimized for fast data exchange in real-time systems and has various device profiles that have been standardized. The CAN in Automation (CiA) manufacturers and users association is in charge of establishing and standardizing the corresponding profiles.

  • Page 7: Canopen Connections

    CANopen connections CAN Specification Full CAN 2.0B (ISO11898) Communication profile CANopen CiA 301 V 4.2.0, Slave Device profile Encoder, absolute linear; CiA 406 V 3.2.0 Error control Producer Heartbeat, Emergency Message, Node Guarding Node ID Default: 7*, Adjustable via SDO 1 x TPDO, static mapping PDO Modes Event-triggered, Time-triggered, Sync-cyclic, Sync-acyclic...
  • Page 8 Standard Wiring (CANopen Output): Signal Type H1151 Pin CANopen Connection Type Common (0V) CAN GND CAN High CAN Low Standard Wiring (CANopen Output): Signal Type Cable Color: CANopen Connection Type Common (0V) CAN GND CAN High CAN Low Wiring Diagram: CANopen Output Male Encoder View Mating Cordset:...

  • Page 9: Data Transmission

    Data transmission With CANopen, data is transferred using two different communication types (COB=Communication Object) with different characteristics: • Process Data Objects (PDO - real-time capable) • Service Data Objects (SDO) The Process Data Objects (PDO) are used for highly-dynamic exchange of real-time data (e.g. encoder position, speed, status of the compared positions) with a maximum length of 8 bytes.

  • Page 10: Nmt - Network Management

    NMT – Network Management All NMT commands are transferred as an unconfirmed NMT Object. Because of the broadcast communication model, the NMT commands are recognized by each station. An NMT Object is structured as follows: NMT COB ID Byte 0 Byte 1 000h Command byte...
  • Page 11 Not every mode allows an access to an object. The following table shows when an access is possible. Operating Mode Object Pre- Initialization Operational Stopped Operational SYNC Emergency Node Guard (Heartbeat) Boot-Up Table 4...

  • Page 12: The Process Data Object - Pdo

    The process data object – PDO The process data exchange with CANopen is CAN bus-specific, therefore without protocol overhead. The broadcast features of the CAN bus remain maintained. A message can thus be received and processed by all nodes (Producer-Consumer model). So the rigid master/slave principle does not apply for data exchange with PDOs.

  • Page 13: Sdo Communication

    SDO communication The Service Data Objects (SDO) are the communication channel for the transmission of device parameters. As these parameters are transmitted acyclically (e.g. only once when starting the network up), the SDO objects have a low priority (high COB identifier). Structure of the SDO telegram: COB-ID Byte 1...
  • Page 14 The command defines whether data is to be written (download) or read (upload) and how many user data bytes are included. Command Description User data Function SDO(rx), Download Request undefined Send parameters to the sensor (request) 4 bytes 2 bytes 1 byte SDO(tx), Download Response Confirmation of parameters take-...
  • Page 15 The sensor electronics include the following objects from the communication profile of CiA 301: Object Name Attribute 1000h Device Type 1001h Error Register 1005h COB-ID SYNC Message 1010h Store Parameters 1011h Restore default Parameters 1014h Emergency COB-ID Message 1017h Heartbeat Producer Time 1018h Identity Object 1029h...
  • Page 16 Object 1005h: COB ID SYNC Message This object defines the COB ID for the SYNC message. It also defines whether the device generates or receives SYNC objects. The sensor only receives messages. The standard COB ID value is 80h, but it can be modified by the user between 001h and 7FFh. The sensor only responds to SYNC commands when the transmission type in Object 1800h has been set accordingly.
  • Page 17 Object 1800h: TPDO1 communication parameters This object contains the parameters for process data object PDO1 and supports 5 subindexes. Subindex 0 indicates now many subindexes are supported (here 5). Subindex 1 contains the COB ID (Data0 and Data1) of TPDO1. (Example: if Node ID = 7, the TPDO1 has COB ID 187h).
  • Page 18 Objects 21xxh: Manufacturer specific profile area Object 2100h: Baud Rate (baud rate setting) This object allows setting the baud rate of the sensor. Values range is from 1 to 7. These values correspond to the following baud rates: Value Baud rate 1Mbps 800kbps 500kbps...
  • Page 19 Object 6004h: Position value (current position value) The current sensor position value is stored here. Values range is 16 bits. The low byte of this16-bit value is Data 0, the high byte is Data 1. Error messages (SDO abort codes) In case of a faulty communication, an error message is sent on the SDO.

  • Page 20: Emergency Message

    Emergency Message Emergency telegrams are sent autonomously by the sensor in the event of an error. The difference must be made between the SDO error messages in case of a faulty access to a SDO object and the "actual" error messages from emergency messages. An error message is sent at the first occurrence of an error.
  • Page 21 Turck Inc. 3000 Campus Dr. Minneapolis MN 55441 Phone: 1-800-544-7769 Fax: (763) 553-0708 info@turck.com http://www.turck.com...

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Canopen dw120

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