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ABSOLUTE ROTARY ENCO DER W ITH CANOPEN INT ERFACE
Main Features
Compact and heavy-duty industrial design
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Interface:
CANopen (DS406)
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CANopen Lift (DSP417)
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Housing:
36 mm
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Solid shaft: 6 or 10mm
Blind hollow shaft: 6mm
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Max. 4096 steps per revolution (12 Bit)
Max. 32768 revolutions (15 Bit)
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Code:
Binary
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Velocity Output
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LSS services
Mechanical Structure
Aluminium flange and housing
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Nickel-plated steel housing
Stainless steel shaft
Precision ball bearings
Carlswerkstraße 13c, D-51063 Köln, Telefon +49(0)221-96213-0, Telefax +49(0)221-96213-20
USER MANUAL
Programmable Parameters
Direction of rotation (complement)
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Resolution per revolution
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Total resolution
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Preset value
Two limit switches and eight cams
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Baud rate and CAN-identifier
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Transmission mode: Polled mode, cyclic
mode, sync mode
Electrical Features
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Programmable Termination Resistor
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Polarity inversion protection
Over-voltage-peak protection
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Galvanic Isolation
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POSITAL GmbH
www.posital.eu, info@posital.eu
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Table of Contents
Related Manuals for Posital Fraba CANopen
Summary of Contents for Posital Fraba CANopen
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Page 1: Main Features
ABSOLUTE ROTARY ENCO DER W ITH CANOPEN INT ERFACE USER MANUAL Main Features Programmable Parameters Compact and heavy-duty industrial design Direction of rotation (complement) Interface: CANopen (DS406) Resolution per revolution CANopen Lift (DSP417) Total resolution Preset value Housing: 36 mm... -
Page 2: Table Of Contents
About this Manual ..........4 Object 1008h: Manufacturer Device Name ..22 1. Introduction ............5 Object 1009h: Manufacturer Hardware Version... 22 1.1 General CANopen Information ......5 Object 100Ah: Manufacturer Software Version..22 2. Installation ............7 Object 100Ch: Guard Time ........23 2.1 Electrical Connection ........ - Page 3 ABSOLUTE ROTARY ENCO DER CANOPEN Object 2300h: Save Parameter with Reset ..34 Object 6402h: Work area high limit ...... 44 Object 3000h: Node Number ....... 34 Object 6500h: Operating status ......44 Object 3001h: Baudrate ........35 Object 6501h: Single-turn resolution ....45 Object 3010h: Speed Control .......
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Page 4: General Security Advise
This user manual describes how to install and Copyright configure an MCD absolute rotary encoder with The company POSITAL GmbH claims copyright CANopen interface. on this documentation. It is not allowed to modify, to extend, to hand over to a third party Relate Note... -
Page 5: Introduction
1.1 General CANopen Information CANopen interface. The products are fully The CANopen system is used in industrial compliant with standard DS406. applications. It is a multiple access system (maximum: 127 participants), which means that Measuring System all devices can access the bus. - Page 6 2 encoder profile (DS for Encoders 406 in which the characteristics of encoder with CANopen interface are defined). The node number and speed in bauds are determined by Note: All datasheets and manuals can be their corresponding object dictionary entries.
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Page 7: Installation
ABSOLUTE ROTARY ENCO DER CANOPEN 2. Installation 2.1 Electrical Connection Function Wire end Connector Pin RJ45 Connector Pin M12 Can High white Can Low brown Can-GND green yellow + U b = 10-30 V Tab.1 Signal Assignment Connector / Cable... - Page 8 ABSOLUTE ROTARY ENCO DER CANOPEN Setting Node Number via SDO Objects The node number has to be adjusted via SDO the node number, object 3000h has to be objects. The default node number is 32. To set written. For further information regard...
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Page 9: Technical Data
ABSOLUTE ROTARY ENCO DER CANOPEN 3. Technical Data In the following section you will find general technical data about MCD absolute rotary encoders with CANopen interface. Electrical Data Interface Transceiver according ISO 11898, galvanically isolated by opto-couplers Transmission rate max. 1 MBaud... -
Page 10: Flange
ABSOLUTE ROTARY ENCO DER CANOPEN Mechanical Data Housing Nickel-plated iron housing Flange Aluminium Shaft Stainless steel Dependent on shaft version and shaft loading – refer to table Lifetime Max. shaft loading Axial 40 N, radial 110 N Inertia of rotor... -
Page 11: Configuration
ABSOLUTE ROTARY ENCO DER CANOPEN 4. Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with CANopen interface. 4.1 Operating Modes 4.1.1 General The encoder accesses the CAN network after preoperational mode. Pre-operational mode... -
Page 12: Reinitialization Of The Encoder
ABSOLUTE ROTARY ENCO DER CANOPEN NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode. 4.1.2 Reinitialization of the Encoder If a node is not operating correctly, it is advisable to carry out a reinitialization:... -
Page 13: Storing Parameter
ABSOLUTE ROTARY ENCO DER CANOPEN 4.3 Storing Parameter 4.3.1 List of storable Parameter Object Index Object Description 1005h COB-ID Sync 100Ch Guard Time 100Dh Life Time Factor 1016h Consumer Heartbeat Time 1017h Producer Heartbeat Time 1020h Verify configuration 1800h Communication parameter PDO 1... -
Page 14: Restoring Parameters
1011h from communication profile restored parameters are equal for every type of related object dictionary. The already in the non- CANopen encoder and might not fit with the volatile memory programmed parameters are status after delivery. Please check the restored not overwritten. - Page 15 ABSOLUTE ROTARY ENCO DER CANOPEN Version 02/09 UME-MCD-CA...
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Page 16: Programmable Parameters
ABSOLUTE ROTARY ENCO DER CANOPEN 5. Programmable Parameters Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org) Command Function Telegram Description Domain Download Request Parameter to Encoderr Parameter to Encoder (Bytes 23h, 27h, 2Bh, 2Fh (*) -
Page 17: Programming Example: Preset Value
5.1 Programming example: Preset Value If a CANopen device is connected and configured with the right baudrate and also configured to a unused node number, it will start up into the pre-operational mode and send a bootup massage to the master. -
Page 18: Communication Profile Ds301 Specific Objects From 1000H - 1Fffh
ABSOLUTE ROTARY ENCO DER CANOPEN 5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh In this manual we refer to the communication profile DS301 V4.02 Object Description Page Page Page Hand- DS301 DS406 Book 1000h Device type 1001h Error register... -
Page 19: Manufacturer Specific Objects 2000H - 5Fffh
ABSOLUTE ROTARY ENCO DER CANOPEN 5.3 Manufacturer specific objects 2000h – 5FFFh Object Description Page Hand-Book 2000h Position Value 2100h Operating Parameters 2101h Resolution per Revolution 2102h Total Resolution 2103h Preset Value 2104h Limit Switch, min. 2105h Limit Switch, max. -
Page 20: Object Descriptions
ABSOLUTE ROTARY ENCO DER CANOPEN 6300h Cam state register 6301h Cam enable register 6302h Cam polarity register 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... -
Page 21: Object 1001H: Error Register
ABSOLUTE ROTARY ENCO DER CANOPEN MCD absolute rotary encoder multi turn: 20196h 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. The following errors are supported:... -
Page 22: Object 1005H: Cob-Id Sync
ABSOLUTE ROTARY ENCO DER CANOPEN Object 1005h: COB-ID Sync This object contains the synchronization message identifier. Subindex Description Data Type Default Value Access Restore after BootUp Unsigned 32 80000080h Object 1008h: Manufacturer Device Name This object contains the device name. -
Page 23: Object 100Ch: Guard Time
Description Data Type Default Value Access Restore after BootUp Unsigned 8 Object 1010h: Store Parameters This object is used to store device and CANopen related parameters to non volatile memory. Subindex Description Data Type Default Value Access Restore after BootUp... -
Page 24: Object 1011H: Restore Parameters
ABSOLUTE ROTARY ENCO DER CANOPEN Object 1011h: Restore Parameters This object is used to restore device and CANopen related parameters to factory settings. Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned 8 “load”... -
Page 25: Object 1014H: Cob-Id Emergency Object
ABSOLUTE ROTARY ENCO DER CANOPEN Object 1014h: COB-ID Emergency Object This object contains the EMCY emergency message identifier. Subindex Description Data Type Default Value Access Restore after BootUp Unsigned 32 80h + Node ID Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only monitor one corresponding device. -
Page 26: Object 1018H: Identity Object
ABSOLUTE ROTARY ENCO DER CANOPEN Object 1018h: Identity Object This object contains the device information. Subindex Description Data Type Default Value Access Restore after BootUp Number of entries Unsigned 8 Vendor ID Unsigned 32 Product Code Unsigned 32 Revision Number... -
Page 27: Object 1800H: 1 St Transmit Pdo Communication
ABSOLUTE ROTARY ENCO DER CANOPEN Object 1800h: 1 Transmit PDO Communication Parameter This object contains the communication parameter of the 1 transmit PDO. Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned 8 COB-ID... -
Page 28: Event Timer
ABSOLUTE ROTARY ENCO DER CANOPEN 241-251 reserved Receive SYNC message and send PDO on Remote Request Update data and send PDO on Remote Request Send PDO on event Send PDO on event Inhibit Time For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If data is changed, the PDO sender checks whether an "inhibit time"... -
Page 29: Parameter
ABSOLUTE ROTARY ENCO DER CANOPEN Object 1A01h: 2 Transmit PDO Mapping Parameter This object contains the mapping parameter of the 2 transmit PDO. Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned 8 mapped object... -
Page 30: Object 2000H: Position Value
ABSOLUTE ROTARY ENCO DER CANOPEN 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. Object 2100h: Operating Parameters As operating parameters the code sequence (Complement) can be selected and the limit switches can be turned on or off. -
Page 31: Object 2101H: Resolution Per Revolution
ABSOLUTE ROTARY ENCO DER CANOPEN Object 2101h: Resolution per Revolution This object contains the desired steps per revolution of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp Resolution per Revolution Unsigned 32 see type sign If the desired value exceeds the hardware resolution of the encoder or is not a value of 2 , it will be out of range. -
Page 32: Object 2103H: Preset Value
ABSOLUTE ROTARY ENCO DER CANOPEN If the desired resolution per revolution is less than the really physical resolution per revolution of the encoder, then the total resolution must be entered as follows: Total resolution: Calculation example: Customer handicap: AU = 2048... -
Page 33: Object 2105H: Limit Switch, Max
ABSOLUTE ROTARY ENCO DER CANOPEN The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value reaches or passes under the value of the limit switch: Status Function bits Process 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 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 Object 2105h: Limit Switch, max. -
Page 34: Object 2200H: Cyclic Timer Pdo
ABSOLUTE ROTARY ENCO DER CANOPEN Customer Storage2 Unsigned 32 Customer Storage3 Unsigned 32 Customer Storage4 Unsigned 32 Object 2200h: Cyclic Timer PDO This object contains cyclic time of the event timer in ms (of PDO 1). Subindex Description Data Type... -
Page 35: Object 3001H: Baudrate
ABSOLUTE ROTARY ENCO DER CANOPEN Object 3001h: Baudrate This object contains the baudrate of the device. Subindex Description Data Type Default Value Access Restore after BootUp Baudrate Unsigned 8 Eight different baud rates are provided. To adjust the baud rate only one byte is used. -
Page 36: Object 3011H: Speed Value
EEPROM and application information in the flash memory and resets the device. After a power-up, the Bootloader checks the user application and detects no more information. The Bootloader starts up with a pre-defined CANopen node ID of 1 (0x1) and a fixed CAN baud rate of 125 kbits. -
Page 37: Object 6000H: Operating Parameters
ABSOLUTE ROTARY ENCO DER CANOPEN NOTE: Activating the Bootloader courses a deep reset of the device. After this only a few objects are still available, the device does not behave like an encoder and waits for new programming. That is the reason why the security code is not published in this document. -
Page 38: Object 6001H: Measuring Units Per Revolution
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6001h: Measuring units per revolution This object shall indicate the number of distinguishable steps per revolution. Subindex Description Data Type Default Value Access Restore after BootUp Measuring units per revolution Unsigned 32 see type sign Hardwired with 2101h. -
Page 39: Object 6030H: Speed Value
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6030h: Speed Value This object contains the speed value of the encoder. Subindex Description Data Type Default Value Access Restore after BootUp Number of sub indices Unsigned 8 Speed value channel1 Integer 16 romap If the velocity exceeds the data type, the speed value is frozen to the maximal possible value. -
Page 40: Object 6300H: Cam State Register
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6300h: Cam state register This object contains the cam state register. The subindices 1h to FEh contain the cam state of channel 1 to 254. Subindex Description Data Type Default Value Access Restore after... - Page 41 ABSOLUTE ROTARY ENCO DER CANOPEN 6312h Cam3 low limit Highest sub-index supported U8 ro Cam3 low limit channel1 6313h Cam4 low limit Highest sub-index supported U8 ro Cam4 low limit channel1 6314h Cam5 low limit Highest sub-index supported U8 ro...
- Page 42 ABSOLUTE ROTARY ENCO DER CANOPEN 6326h Cam7 high limit Highest sub-index supported U8 ro Cam7 high limit channel1 6327h Cam8 high limit Highest sub-index supported U8 ro Cam8 high limit channel1 6330h Cam1 hyteresis Highest sub-index supported U8 ro Cam1 hyteresis channel1...
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Page 43: Object 6400H: Area State Register
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6400h: Area state register This object contains the area state register The object provides the actual area status of the encoder position. Figure 9 specifies the object structure and Table 106 specifies the value definition. -
Page 44: Object 6401H: Work Area Low Limit
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6401h: Work area low limit This object indicates the position value, at which bit 2 of the according work area state channel in object 6400h shall flag the underflow of the related work area. -
Page 45: Object 6501H: Single-Turn Resolution
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6501h: Single-turn resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder. Subindex Description Data Type Default Value Access Restore after BootUp Single Turn Resolution Unsigned 32 see type sign Object 6502h: Number of distinguishable revolutions This object contains number of revolutions of the absolute rotary encoder. -
Page 46: Object 6504H: Supported Alarms
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6504h: Supported alarms The object shall provide the supported alarms of the device. Please refer to the bit structure table to find more details about the supported alarms. Subindex Description Data Type Default Value... -
Page 47: Object 6506H: Supported Warnings
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6506h: Supported warnings The object provides the supported warnings of the device. Please refer to the bit structure table to find more details about the supported warnings. Subindex Description Data Type Default Value Access... -
Page 48: Object 6509H: Offset Value
ABSOLUTE ROTARY ENCO DER CANOPEN Object 6509h: Offset value 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... -
Page 49: Diagnosis
ABSOLUTE ROTARY ENCO DER CANOPEN 6.2.3 Too much ERROR-Frames 6. Diagnosis Problem: 6.2 Troubleshooting The bus load is too high in case of too much error 6.2.1 Power on – Encoder doesn’t respond frames. Possible solution: Problem: Check if all bus node has the same baud rate. If... -
Page 50: Mechanical Drawings
ABSOLUTE ROTARY ENCO DER CANOPEN 7. Mechanical Drawings Synchro Flange (S) Cable exit or 5 pin male M12 Connector Clamp flange (C) Cable exit or 5 pin male M12 Connector Version 02/09 UME-MCD-CA... - Page 51 ABSOLUTE ROTARY ENCO DER CANOPEN Hollow hollow shaft (B) Cable exit or 5 pin male M12 Connector Mounting instructions The clamp ring may only be tightened if the shaft Allowed shaft movements of the drive element are of the driving element is in the hollow shaft.
- Page 52 5 pin male M12 Connector Flange and housing dimensions from Synchro Flange...
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Page 53: Appendix A: Order Codes
For a valid type combination please refer to the corresponding datasheet or contact one of our distributors or Posital directly. Description Magnetocode MCD- 00 B __ __ Interface and Version CANopen CANopen lift (DSP417) Current Version Code Binary Bits for Revolutions Single turn Multi turn (4.096 turns) Multi turn (65.536 turns) Steps per revolution (Bits) 4.096... -
Page 54: Appendix B: History
ABSOLUTE ROTARY ENCO DER CANOPEN Accessories and documentation Description Article Name Article Number Shaft Coupling Drilling: 10 mm / 10 mm GS 10 29100450 Drilling: 6 mm / 6 mm GS 06 29100350 Drilling: 4 mm – 11 mm GS 4-11... -
Page 55: Appendix C: Glossary
ABSOLUTE ROTARY ENCO DER CANOPEN Appendix C: Glossary Address Number, assigned to each node, irrespective of whether it is a master or slave. The encoder address (non-volatile) is configured in the base with rotary switches or SDO objects. Absolute Position Value. - Page 56 ABSOLUTE ROTARY ENCO DER CANOPEN Frequently Asked Questions FC Function code. Determines the type of message sent via the CAN network. Line terminator Resistor terminating the main segments of the bus. Network management object. This is used to configure the parameters of each layer in the CAN.
- Page 57 ABSOLUTE ROTARY ENCO DER CANOPEN 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.
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Page 58: Appendix D: List Of Tables
ABSOLUTE ROTARY ENCO DER CANOPEN Appendix D: List of tables Tab.1 Signal Assignment Connector / Cable ....................7 Tab. 2 Electrical Data ............................ 9 ............................9 Tab. 3 Sensor data Tab.4 Environmental Conditions ........................9 Tab. 5 Mechanical data ..........................10 Tab.
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