Siko WV5800M User Manual
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Siko WV5800M User Manual

Absolute encoder with canopen interface
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WV5800M/WH5800M
Absolute encoder with CANopen interface
User manual
170/20

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Summary of Contents for Siko WV5800M

  • Page 1 WV5800M/WH5800M Absolute encoder with CANopen interface User manual 170/20...

  • Page 2: Table Of Contents

    Process data exchange .................... 13 5.3.1 Transfer of process data objects (PDO) ..............13 5.3.1.1 Transmit-PDO (from the WV5800M / WH5800M to the master) ........ 13 Parameter data exchange ..................14 5.4.1 Transmission of Service Data Objects (SDO) ............. 14 5.4.1.1...
  • Page 3 5.7.2.31 6004h: Position value ..................50 5.7.2.32 600Ch: Absolute accuracy ................. 50 5.7.2.33 6030h: Velocity value ..................51 5.7.2.34 6031h: Speed parameters .................. 51 5.7.2.35 6200h: Cycle timer ................... 53 WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 3 of 63...
  • Page 4 5.7.2.48 6509h: Offset value ..................60 5.7.2.49 650Ah: Module Identification ................60 5.7.2.50 650Bh: Serial number ..................61 5.7.2.51 650Dh: Absolute accuracy ................. 61 5.7.2.52 650Eh: Device functionality ................62 WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 4 of 63...

  • Page 5: General Information

    "h" (e. g. 280h). Intended use The WV5800M / WH5800M records the absolute travel information. The encoder can be parameterized and read out via the CAN interface using the CANopen protocol. For diagnostic purposes there are 3 LEDs in the encoder (yellow, red, green), which indicate error or status information for diagnostic purposes.

  • Page 6: Switching On The Supply Voltage

    Fig. 1: Block diagram Switching on the supply voltage WV5800M / WH5800M initializes after being switched on. During initialization, the LEDs light up one after the other and the configuration parameters are loaded from the non-volatile memory to the random memory of the controller.
  • Page 7 Table 2: CAN LED statuses acc. to CiA 303 CAN Run LED: NMT state LED status Pre-Operational Flashing Operational Stopped Single Flash Table 3: CAN Run LED WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 7 of 63...

  • Page 8: Functional Description

    The resulting offset value is output in Object 6509h: Offset value. The following equation is applied in case of calibration: Position value = 0 + calibration value + application offset WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20...

  • Page 9: Reset To Factory Settings

    V3.2 as well as the indicator specification CiA 303 Part 3 V1.4.0 for CAN diagnosis form the basis for the WV5800M / WH5800M. The WV5800M / WH5800M supports device class C2. The details required for a better understanding of the operation are included in this documentation.
  • Page 10 The COB ID of the Sync object is an exception, where bit 30 must be = 0b to enable the COB ID to be changed. As bit 30 cannot be set to 1b in the WV5800M / WH5800M, the COB ID could be changed at any time.

  • Page 11: Node Control

    As soon as the boot-up message was sent successfully, the device will enter the "PRE-OPERATIONAL" status. NMT Status PRE-OPERATIONAL Parameterization data (SDO) can be exchanged in the pre-operational mode. However, no process data (PDO's) is transferred. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 11 of 63...

  • Page 12: Toggling Between The Nmt Communication States

    The synchronization message (SYNC), a CAN message with high priority serves this purpose. The identifier of the Sync object can be set via object 1005h (see 1005h: COB ID SYNC message). WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 12 of 63...

  • Page 13: Process Data Exchange

    Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of user data can be transferred in a PDO. The WV5800M / WH5800M supports the Transmit PDO services TPDO1 and TPDO2 according to CiA 301 and CiA 406.

  • Page 14: Parameter Data Exchange

    The identifier is set to 11 bits and cannot be changed. Two SDO services are available:  SDO (rx) (Master  WV5800M / WH5800M): 600h + Node ID  SDO (tx) (WV5800M / WH5800M  Master): 580h + Node ID Two SDO services are available! 5.4.1.1...

  • Page 15: Normal Request/Response

    Request/Response. This procedure is also initiated by an initialization message, and the actual user data will be transferred in the subsequent segment messages. For the WV5800M / WH5800M this is only the case with reading of the object 1008h: Manufacturer Device Name.

  • Page 16: Error Response In Sdo Exchange

    Communication via CAN bus (CANopen) Initialization and segment message: Command byte, byte 0: The command byte determines the type of access and the number of valid data bytes. The following command bytes are valid for the WV5800M / WH5800M: Command byte Type...

  • Page 17: Sdo Examples

    Calculation of the identifier: 600h + Node ID = 600h + 1h = 601h Command: 2 bytes are to be written: 2Bh Index: 6200h Sub-index: 00h The new value shall be 4500d = 1194h WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 17 of 63...
  • Page 18 Example of reading SDO parameters with normal Request/Response: The manufacturer device name stored in object 1008h of the directory of objects is to be read from the WV5800M / WH5800M with device address 1h. Calculation of the identifier: 600h + Node ID = 600h +1h = 601h...

  • Page 19: Node Monitoring

    Transmission of an emergency message is enabled in the NMT statuses "OPERATIONAL" or "PRE-OPERATIONAL" only! Transmission of the emergency messages can be disabled by setting the COB ID Valid bit to 1. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20...

  • Page 20: Node Guarding

    The master monitors the state of the slave device via Heartbeat protocol. While doing this, the device sends independently its NMT status cyclically. The WV5800M / WH5800M is a heartbeat producer, it does not receive nor process heartbeat protocols itself. The cycle time of the heartbeat message is set via object 1017h.

  • Page 21: Layer Setting Service (Lss)

    If an encoder is in the LSS configuration mode, this will be indicated via the green and red LEDs (see chapter 3). Two LSS services are available:  LSS (rx) (LSS Master  WV5800M / WH5800M): 7E5h  LSS (tx) (WV5800M / WH5800M  LSS Master): 7E4h These LSS identifiers cannot be changed! A message consists always of 8 bytes.

  • Page 22: State Change

    Switch states of individual LSS devices (Switch state selective) With this command, Individual LSS slave devices can be set to the LSS Configuration state via the unique LSS number. Master  WV5800M / WH5800M COB ID User data Byte 0...

  • Page 23: Configuration

    Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h Serial number WV5800M / WH5800M  Master COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7...

  • Page 24: Configuration Of The Baud Rate (Configure Bit Timing Parameters)

    LSS slave set to the LSS Waiting state. Another possibility of activating the new baud rate would be to execute power off/on after "Save configuration". Master  WV5800M / WH5800M COB ID User data Byte 0...

  • Page 25: Activate Baud Rate (Activate Bit Timing Parameters)

    Communication via CAN bus (CANopen) WV5800M / WH5800M  Master COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Error Spec Code error Error Code: 00h: Transmission successful...

  • Page 26: Requesting Parameters

    Communication via CAN bus (CANopen) WV5800M / WH5800M  Master COB ID User data Byte 0 Byte Byte Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Error Code Spec error Error Code: 00h: Transmission successful 01h: Store configuration is not supported...

  • Page 27: Request Revision Number

    Communication via CAN bus (CANopen) WV5800M / WH5800M  Master COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Product Code (see object 1018.2h) 5.6.3.3 Request revision number Master ...

  • Page 28: Directory Of Objects

    Communication via CAN bus (CANopen) WV5800M / WH5800M  Master COB ID User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Node ID (NID) Directory of objects 5.7.1 Overview of objects The following table offers an overview of the objects of the device.
  • Page 29 6508h: Operating Time Hour meter (function is not supported). 6509h: Offset value Encoder state at the time of calibration. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 29 of 63...

  • Page 30: Object Description

    Byte 1 Byte 2 Byte 3 01h / 02h 0196h (= 406d): CANopen Device Profile for Encoders Encoder type: 0001h: Absolute singleturn encoder 0002h: Absolute multiturn encoder WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 30 of 63...

  • Page 31: 1001H: Error Register

     The latest error status is always stored in sub-index 01h. Previous error messages "slip onwards" in their position by one sub-index.  The whole error list is deleted by writing the value 0 in sub-index 00h. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod.

  • Page 32: 1005H: Cob Id Sync Message

    0: if bit 29 = 0 X: Bits 28 … 11 of the SYNC-COB ID, if Bit 29 = 1 Bit 10 … 0 X: Bits 10 … 0 of the SYNC-COB ID WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20...

  • Page 33: 1008H: Manufacturer Device Name

    SDO (see chapter 5.4.1.2). Sub-index Description Device name in ASCII notation Access Const PDO mapping Data type Visible_String Default WV5800M / WH5800M EEPROM Data content Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 56h / 48h ("W")

  • Page 34: 100Ch: Guard Time

    The string "Save" must be sent as data content. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 34 of 63...
  • Page 35 76h ("v") 65h ("e") Read: Bit 31 … 2 0, reserved Bit 1 0: Device does not independently store parameters Bit 0 1: Device stores parameters after command WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 35 of 63...

  • Page 36: 1011H: Restore Parameter

    "Load" must be sent as data content and the device reset thereafter. If the restored parameters are intended to be permanently available, they must be stored via object 1010h: Store Parameter. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 36 of 63...
  • Page 37 Byte 2 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0, reserved Bit 0 1: Device permits loading of default parameters WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 37 of 63...
  • Page 38 Byte 2 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0, reserved Bit 0 1: Device permits loading of default parameters WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 38 of 63...

  • Page 39: 1014H: Cob Id Emergency Message

    The manufacturer identification number (Vendor ID) is indicated by object 1018h. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 39 of 63...
  • Page 40 Communication via CAN bus (CANopen) Sub-index Description the manufacturer identification number (vendor ID) for the company SIKO GmbH allocated by the CiA Access PDO mapping Data type UNSIGNED 32 Default 195h EEPROM Sub-index Description Product Code (function is not supported, only compatibility entry for...

  • Page 41: 1200H: Server Sdo Parameter

    The communication parameters for TPDO1 are set via object 1800h. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 41 of 63...
  • Page 42 The service is disabled by writing the value 0h. The content of this object is identical with object 6200h. If the value is changed with the timer running, the change will be applied only with the next timer operation. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod.

  • Page 43: 1801H: 2. Transmit Pdo Parameter

    PDO is sent after 1d ... 240d received SYNC messages. F0h (240) FCh (252) Device responds only to RTR request if RTR Bit 30 is enabled in the COB ID. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 43 of 63...

  • Page 44: 1A00H: 1. Transmit Pdo Mapping Parameter

    1. Object of the PDO1 message (data byte 0 to 3) Access PDO mapping Data type UNSIGNED 32 Default 60040020h (position value object 6004h, sub-index 00h, 32bit) EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 44 of 63...

  • Page 45: 1A01H: 2. Transmit Pdo Mapping Parameter

    2. Object of the PDO2 message (data byte 4 + 5) Access PDO mapping Data type UNSIGNED 32 Default 60300110h (speed object 6030h, sub-index 01h, 16bit) EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 45 of 63...

  • Page 46: 2001H: Application Offset

    The lower value for the limit speed can be set via Object 2003h. Sub-index Description Lower limit speed Access PDO mapping Data type SIGNED 16 Default EEPROM Data content -32768…32767 WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 46 of 63...

  • Page 47: 2004H: Limit Speed High

    Node ID and baud rate of the bus can be set via Object 5F0Ah. Sub-index Description indicates the largest supported sub-index Access const PDO mapping Data type UNSIGNED 8 Default EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 47 of 63...

  • Page 48: 6000H: Operating Parameters

    Bit 2 1: Scaling enabled Bit 1 not used Bit 0 0: Clockwise (CW) sense of rotation I 1: Counter-clockwise (CCW) sense of rotation E WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 48 of 63...

  • Page 49: 6001H: Measurement Steps Per Revolution (Display Per Revolution = Apu)

    12 Bit Multiturn 67108864 EEPROM Data content Encoder type With changed APU (object 6001h) Singleturn APU*1 4 Bit Multiturn APU*16 8 Bit Multiturn APU*256 12 Bit Multiturn APU*4096 WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 49 of 63...

  • Page 50: 6003H: Preset Value (Calibration Value)

    The object 600Ch provides the absolute accuracy of the encoder in bits. Sub-index Description Raw Value (Absolute accuracy) Access PDO mapping Data type UNSIGNED 32 Default EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 50 of 63...

  • Page 51: 6030H: Velocity Value

    Default EEPROM Sub-index Description speed source selector Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content 02h: Object 600C raw value of position is used WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 51 of 63...
  • Page 52 Velocity value [Inc/ms] = (new raw position value object 600Ch- old raw position value object 600Ch) / (Integration time [ms] object 6031h sub-index 02h * 10-3) * multiplier object 6031h sub-index 03h / divisor object 6031h sub-index 04h. WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod.

  • Page 53: 6200H: Cycle Timer

    1: Position value is larger than the limit set in Object 6402.1h Bit 0 0: Position value is within the work area set 1: Position value is beyond the work area set WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20...

  • Page 54: 6401H: Work Area Low Limit

    0 … ((APU*16) – 1) 8 Bit Multiturn 0 … 4194303 0 … ((APU*256) – 1) 12 Bit Multiturn 0 … 67108863 0 … ((APU*4096) – 1) WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 54 of 63...

  • Page 55: 6402H: Work Area High Limit

    0 … ((APU*16) – 1) 8 Bit Multiturn 0 … 4194303 0 … ((APU*256) – 1) 12 Bit Multiturn 0 … 67108863 0 … ((APU*4096) – 1) WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 55 of 63...

  • Page 56: 6500H: Operating Status

    6501h: Singleturn resolution Object 6501h indicates the physical number of measurement steps per revolution. Sub-index Description Physical resolution Access PDO mapping Data type UNSIGNED 32 Default 16384d (4000h) EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 56 of 63...

  • Page 57: 6502H: Number Of Distinguishable Revolutions

    0: Position value within work area 1 1: Position limit 1 exceeded or undershot (Work area 1) Bit 11 … 1 not used Bit 0 0: Position value valid 1: position value invalid WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 57 of 63...

  • Page 58: 6504H: Supported Alarms

    Data content Bit 1 … 15 not used Bit 0 0: Speed ok 1: maximum speed exceeded or limit speed set exceeded or undershot (2003h: Limit speed low) WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 58 of 63...

  • Page 59: 6506H: Supported Warnings

    The operating hours can be indicated via object 6508h. This function is not supported. Sub-index Description Hour meter Access PDO mapping Data type UNSIGNED 32 Default FFFFFFFFh EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 59 of 63...

  • Page 60: 6509H: Offset Value

    Manufacturer-specific offset value Access PDO mapping Data type SIGNED 32 Default EEPROM Sub-index Description Smallest transferable position value Access PDO mapping Data type SIGNED 32 Default EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 60 of 63...

  • Page 61: 650Bh: Serial Number

    650Dh: Absolute accuracy The object 650Dh provides the absolute accuracy of the encoder in bits. Sub-index Description Absolute accuracy Access PDO mapping Data type UNSIGNED 8 Default EEPROM WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 61 of 63...

  • Page 62: 650Eh: Device Functionality

    Bit 15 … 4 not used Bit 3 0: normal resolution 1: high resolution Bit 2 … 0 000: reserved 001: class C1 010: class C2 011: class C3 WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 62 of 63...
  • Page 63 SIKO GmbH Weihermattenweg 2 79256 Buchenbach Phone + 49 7661 394-0 + 49 7661 394-388 E-Mail info@siko-global.com Internet www.siko-global.com Service support@siko-global.com WV5800M/WH5800M Date: 29.07.2020 Art. No. 90107 Mod. status 170/20 Page 63 of 63...

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