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Smart encoders & actuators
Ax58 CB
Ax58S CB
AxC58 CB
CC-CB / CC-CB-C
• AS58 singleturn encoder with resolution up to 13 bits
• AM58 multiturn encoder with resolution up to 25 bits
• Connection cap with M12 connectors or PG cable outlets
• CANopen in compliance with DS 301 and DS 406 profiles
Suitable for the following models:
AS58, AS58S CB + CC-CB/CC-CB-C
•
ASC58, ASC59, ASC60 CB + CC-CB/CC-CB-C
•
AM58, AM58S CB + CC-CB/CC-CB-C
•
AMC58, AMC59, AMC60 CB + CC-CB/CC-
•
CB-C
Lika Electronic
User's guide
•
Tel. +39 0445 806600
DS406 encoder profile
General Contents
Preliminary information
1 - Safety summary
2 - Identification
3 - Mounting instructions
4 - Electrical connections
5 - Quick reference
6 - CANopen® interface
7 – Setting-up
8 – Default parameters list
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info@lika.biz
20
22
23
28
37
41
81
85
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www.lika.biz
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Related Manuals for Lika CANopen A 58 CB Series
Summary of Contents for Lika CANopen A 58 CB Series
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Page 1: User's Guide
AMC58, AMC59, AMC60 CB + CC-CB/CC- • 3 - Mounting instructions CB-C 4 - Electrical connections 5 - Quick reference 6 - CANopen® interface 7 – Setting-up 8 – Default parameters list Lika Electronic • Tel. +39 0445 806600 • info@lika.biz • www.lika.biz... - Page 2 Tous droits réservés. This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies, film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.
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Page 3: Table Of Contents
General contents User's guide......................................1 General contents.....................................3 Subject index.....................................6 Typographic and iconographic conventions........................8 Preliminary information................................9 Glossary of CANopen terms..............................10 1 - Safety summary..................................20 2 - Identification..................................22 3 - Mounting instructions..............................23 3.1 Solid shaft encoders................................23 3.1.1. Customary installation.............................23 3.1.2 Installation using fixing clamps (code LKM-386)..................24 3.1.3 Installation using a mounting bell (code PF4256)..................24 3.2 Hollow shaft encoders..............................25 3.2.1 ASC58, AMC58................................25... - Page 4 6.7 SDO objects....................................46 6.7.1 Command..................................47 6.8 Object dictionary.................................47 6.8.1 Communication Profile Area objects (DS 301)....................49 1000-00 Device type..............................49 1001-00 Error register..............................49 1003 Pre-defined error field...........................49 1005-00 COB-ID SYNC message...........................49 1008-00 Manufacturer device name.........................49 1009-00 Manufacturer hardware version......................49 100A-00 Manufacturer software version.......................50 100C-00 Guard time..............................50...
- Page 5 Current operating state..............................72 6501-00 Hardware counts per revolution......................72 6502-00 Hardware number of turns.........................73 6504-00 Supported alarms............................73 6506-00 Supported warnings..........................74 6507-00 Profile and software version......................74 6508-00 Operating time............................74 6509-00 Offset value..............................74 650A-01 Manufacturer offset value........................74 650B-00 Serial number..............................75 6.9 SDO abort codes..................................76 6.10 Emergency objects................................77 6.11 Node guarding protocol..............................78 7 –...
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Page 6: Subject Index
Subject index 6507-00 Profile and software version....74 6508-00 Operating time..........74 1000-00 Device type............49 6509-00 Offset value.............74 1001-00 Error register...........49 650A-01 Manufacturer offset value.......74 1003 Pre-defined error field........49 650B-00 Serial number..........75 1005-00 COB-ID SYNC message.......49 1008-00 Manufacturer device name......49 1009-00 Manufacturer hardware version....49 COB-ID of PDO1...............52 100A-00 Manufacturer software version.....50 COB-ID of PDO4...............56... - Page 7 Vendor-ID................52...
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Page 8: Typographic And Iconographic Conventions
Typographic and iconographic conventions In this guide, to make it easier to understand and read the text the following typographic and iconographic conventions are used: parameters and objects both of the device and the interface are coloured in GREEN; • alarms are coloured in RED;... -
Page 9: Preliminary Information
Preliminary information This guide is designed to provide the most complete information the operator needs to correctly and safely install and operate the following encoders fitted with CANopen interface: ASxxx12/CB-xx * (12 bit singleturn encoder) ASxxx13/CB-xx * (13 bit singleturn encoder) AMxxx12/4096CB-xx * (12 + 12 bit multiturn encoder) AMxxx13/4096CB-xx *... -
Page 10: Glossary Of Canopen Terms
Glossary of CANopen terms CANopen, like many other networking systems, has a set of unique terminology. Table below contains a few of the technical terms used in this guide to describe the CANopen interface. They are listed in alphabetical order. The Glossary is owned and copyrighted by the CAN in Automation international users' and manufacturers' group. - Page 11 device recovers from bus off state, it has to transmit the boot- up message and it is recommended to send an Emergency message with the appropriate error code. Controller Area Network (CAN) is a serial bus system originally developed by the Robert Bosch GmbH. It is internationally standardized by ISO 11898-1.
- Page 12 loop controllers supports also multi-channel devices. CiA DS 406 The CANopen device profile for encoders defines the communication of rotating as well as linear sensors. The draft standard proposal for programmable CANopen CiA DSP 302 devices includes CANopen manager functions, dynamic SDO connections, standardized boot-up procedure for NMT Slaves as well as program download.
- Page 13 the interface for feeder sub-systems. CiA DSP 415 The CANopen application profile for asphalt pavers specifies interfaces to different devices used in road construction machinery. CiA DSP 416 The CANopen application profile for building doors specifies interfaces for locks, sensors, and other devices used in electronically controlled building doors.
- Page 14 Conformance test plan Definitions of test cases that have to be passed successfully in order to achieve conformance to a communication standard. The conformance test plan for CAN is standardized by ISO 16845. Conformance test tool A conformance test tool is the implementation of a conformance test plan.
- Page 15 Error control message The CANopen error control messages are mapped to a single 1-byte CAN data frame assigned with a fixed identifier that is derived from the device's Node ID. It is transmitted as boot-up Pre-operational message before entering state after initialization, and it is transmitted if remotely requested by the NMT Master (node guarding) or periodically by the device (heart-beat).
- Page 16 Index 16-bit address to access the CANopen dictionary; for array and records the address is extended by an 8-bit Subindex. Inhibit timer Object in CANopen for PDOs and Emergency messages that forbids for the specified time (inhibit time) a transmission of this communication object.
- Page 17 NMT state machine The NMT state machines support different states and the highest prior CAN message transmitted controls the transition to the states by the NMT Master. Node guarding Mechanism used in CANopen and CAL to detect bus off or disconnected devices.
- Page 18 the corresponding data frame identified by the very same identifier. The remote frame's DLC has the value of the corresponding data frame DLC. The data field of the remote frame has a length of 0 byte. Remote transmission Bit in the arbitration field indicating if the frame is a remote frame (recessive value) or a data frame (dominant value).
- Page 19 sample the inputs mapped into synchronous TPDOs. Receiving this message causes the node to set the outputs to values received in the previous synchronous RPDO. Termination resistor In CAN high-speed networks with bus topology, both ends are terminated with resistors in order to suppress reflections. TIME message Standardized message in CANopen containing the time as a 6- byte value given as ms after midnight and days after 1st...
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Page 20: Safety Summary
failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety standards of design, manufacture, and intended use of the equipment; Lika Electronic assumes no liability for the customer's failure to comply with these requirements. Electrical safety ... - Page 21 Ax58x CANopen® Mechanical safety Install the device following strictly the information in the “3 - Mounting instructions” section on page 23; mechanical installation has to be carried out with stationary mechanical parts; do not disassemble the encoder; ...
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Page 22: Identification
Information is listed in the delivery document too. Please always quote the order code and the serial number when reaching Lika Electronic for purchasing spare parts or needing assistance. For any information on the technical characteristics of the product refer to the technical catalogue. -
Page 23: Mounting Instructions
Ax58x CANopen® 3 - Mounting instructions WARNING Installation and maintenance operations have to be carried out by qualified personnel only, with power supply disconnected and mechanical parts absolutely in stop. 3.1 Solid shaft encoders • Mount the flexible coupling 1 on the encoder shaft; •... -
Page 24: Installation Using Fixing Clamps (Code Lkm-386)
Ax58x CANopen® 3.1.2 Installation using fixing clamps (code LKM-386) a [mm] b [mm] c [mm] d [mm] AS58, AM58 50 F7 AS58S, AM58S 36 H7 3.1.3 Installation using a mounting bell (code PF4256) NOTE In order to guarantee reliability over time of the encoder mechanical parts, we recommend a flexible coupling to be installed between the encoder and the motor shaft. -
Page 25: Hollow Shaft Encoders
• insert the anti-rotation pin 1 into the slot on the flange of the encoder; this secures it in place by grub screw 2, preset at Lika; • fix the collar 3 to the encoder shaft (apply some threadlocker to the screw 3). -
Page 26: Asc59, Amc59
Ax58x CANopen® 3.2.2 ASC59, AMC59 • Mount the encoder on the motor shaft using the reducing sleeve 8 (if supplied). Avoid forcing the encoder shaft; • fasten the fixing plate 4 to the rear of the motor using two M3 x 8 cylindrical head screws 5;... -
Page 27: Asc60, Amc60
Ax58x CANopen® 3.2.3 ASC60, AMC60 • Fix the tempered pin 6 to the rear of the motor; • mount the encoder on the motor shaft using the reducing sleeve 8 (if supplied). Avoid forcing the encoder shaft; • make sure the anti-rotation pin 6 is inserted properly into the fixing plate 7; •... -
Page 28: Electrical Connections
Ax58x CANopen® 4 - Electrical connections WARNING Electrical connections must be carried out by qualified personnel only, with power supply disconnected and mechanical parts compulsorily in stop. 4.1 Connection cap WARNING Do not remove or mount the connection cap with power supply switched ON. Damage may be caused to internal components. -
Page 29: Connection Cap With Pgs: Cc-Cb
Ax58x CANopen® 4.2 Connection cap with PGs: CC-CB The connection cap of PG versions (CC-CB connection cap) is fitted with two PG9 cable glands for BUS IN, BUS OUT, and power supply connections. The bus cables can be connected directly to the terminal connectors located in front of each cable gland. -
Page 30: Connection Cap With M12 Connectors: Cc-Cb-C
Ax58x CANopen® 4.3 Connection cap with M12 connectors: CC-CB-C The connection cap of connector versions (CC-CB-C connection cap) is fitted with two M12 connectors with pin-out in compliance with CANopen® standard. Therefore you can use standard CAN cables commercially available. M12 connector A coding (frontal side) -
Page 31: Ground Connection
Ax58x CANopen® 4.4 Ground connection Minimize noise by connecting the shield and/or the connector housing and/or the frame to ground. Make sure that ground is not affected by noise. The connection point to ground can be situated both on the device side and on user’s side. -
Page 32: Setting The Baud Rate: Dip A
Ax58x CANopen® 4.6 Setting the baud rate: DIP A WARNING Power supply must be turned off before performing this operation! The transmission rate (baud rate) can be set either via hardware (using DIP A) or via software (by 3000-00 Baud rate setting the object). -
Page 33: Setting The Node Address: Dip B
Ax58x CANopen® EXAMPLE Set the baud rate to 250Kbit/s: = 100 (binary value, see table above) Set the baud rate to 500Kbit/s: = 101 (binary value, see table above) 4.7 Setting the node address: DIP B WARNING Power supply must be turned off before performing this operation! The node number can be set either via hardware (using DIP B) or via software (by setting the 3001-00 Node-ID... -
Page 34: Rt Bus Termination
Ax58x CANopen® EXAMPLE Set the node number = 25: = 0001 1001 (binary value) OFF OFF OFF OFF OFF Set the node number = 55: = 0011 0111 (binary value) OFF OFF WARNING If the baud rate and the node number are set via software, the Master device has to detect the baud rate of the Slave (scanning of baud rate) when the encoder is being installed. -
Page 35: Diagnostic Leds
Ax58x CANopen® 4.9 Diagnostic LEDs Two diagnostic LEDs located in the connection cap are designed to show visually the operating or fault status of the CANopen® interface. RUN LED Description (GREEN) Operational The encoder is in state, see on page 42 Stopped The encoder is in state, see on page... - Page 36 Ax58x CANopen® ERROR LED Description (RED) Bus off, the CAN controller is switched off Double flash Node guarding error, see on page 78 ff Single flash Max. number of warning errors reached Flash memory error, see on Generic error or Blinking page 77 ff No error...
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Page 37: Quick Reference
Ax58x CANopen® 5 - Quick reference 5.1 Hardware resolution WARNING Make sure the physical resolution of the encoder matches the set resolution. Different resolutions may be set if the encoder and the connection cap have been ordered / supplied separately. EXAMPLES 6501-00 Hardware counts per revolution ASx58x 12/CB-xx... - Page 38 Ax58x CANopen® Step 2 – Set the 6501-00 Hardware counts per revolution object See the resolution table below in the page for B0, B1, B2, and B3 values. Master Encoder COB-ID Index Process data 600+ID Encoder Master COB-ID Index Process data 580+ID...
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Page 39: Using The Default Settings
Ax58x CANopen® 5.2 Using the default settings Using the default settings provided by the manufacturer, you can switch on the device and read immediately its position. Follow the instructions below to: read the physical resolution of the device: physical singleturn resolution 6501-00 Hardware counts per revolution;... - Page 40 Ax58x CANopen® Set the Operational mode Master Encoder COB-ID Node Read the position every 100 ms Encoder Master COB-ID Byte 0 Byte 1 Byte 2 Byte 3 … … High NOTE For further examples please refer to the “7 – Setting-up” section on page 81. MAN Ax58 CB_Ax58S CB_AxC58 CB E 3.4.odt 5 - Quick reference 40 / 88...
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Page 41: Canopen® Interface
Lika_AxxCB_DS406_Vx.eds. EDS files are specific for each encoder model. When you need to download the file please refer to the address www.lika.biz > ROTARY ENCODERS > ABSOLUTE ENCODERS). EDS file must be installed in the CANopen® Master device. -
Page 42: State Machine
Ax58x CANopen® 6.2 State machine CANopen® devices are designed to operate using different states. The transition from one state to another is made by sending specific NMT messages (see the Figure below). Initialization Boot-up message Pre-operational Stopped Operational Power on Initialization carried out, boot-up message is sent automatically NMT message: Start remote node... -
Page 43: Operational State
Ax58x CANopen® Operational To switch the Slave device to the state the Master must send a Start remote node command using an NMT message (see on page 81). 6.2.3 Operational state In this state the Slave device is active and all communication objects are available. -
Page 44: Pre-Defined Connection Set
Ax58x CANopen® Relation between the device states and the communication objects: Initial. Pre-oper. Operat. Stopped SYNC EMCY Boot-up Node guarding 6.3.1 Pre-defined connection set Master Slave broadcast Type of COB Function code COB-ID (hex) (Object) (binary) 0000 SYNC 0001 peer-to-peer transmission EMERGENCY 0001... -
Page 45: Boot-Up Objects
Ax58x CANopen® NMT Function: Command NMT Function State node Start remote node Operational 01 hex 02 hex Stop remote node Stopped Enter pre-operational Pre-operational 80 hex 81 hex Reset node Pre-operational Reset communication Pre-operational 82 hex 6.5 Boot-up objects Structure of the Boot-up message: COB-ID(hex) 1 CAN Data Byte 700+Node ID... -
Page 46: Pdo4 Cyclic Mode: Cyclic Transmission Of The Velocity
Ax58x CANopen® The encoder can be programmed to send a reply after a set number of SYNC messages by setting a counter. The PDO message will be transmitted after having received the set number of SYNC messages. 1801 PDO2 parameters, For PDO2 the value of the counter must be set in the sub 2 object. -
Page 47: Command
Ax58x CANopen® 6.7.1 Command The command byte contains the type of telegram transmitted to the CAN network. Three types of COB telegram are available: Set: it is used to send the configuration parameters to a device; Req: it is used by the Master to read data from a Slave device; ... - Page 48 Ax58x CANopen® The Standardised Device Profile Area at indexes from 6000h to 9FFFh contains all data objects common to a class of devices that can be read or written via the network. The device profiles may use entries from 6000h to 9FFFh to describe the device parameters and the device functionality.
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Page 49: Communication Profile Area Objects (Ds 301)
Default = 0000 0080h (CANopen device generates SYNC message) 1008-00 Manufacturer device name [String, ro] It shows the name of the device (manufacturer). Default = “LIKA SRL” 1009-00 Manufacturer hardware version [String, ro] It shows the hardware version of the device. -
Page 50: 100A-00 Manufacturer Software Version
[Unsig32, rw] This object allows the operator to restore all parameters to default values (default values are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode). -
Page 51: 1014-00 Cob-Id Emcy
Ax58x CANopen® Master Encoder COB-ID Index Data bytes 600+ID Encoder Master (confirmation) COB-ID Index Data bytes 580+ID Master Encoder (Reset node) COB-ID Slave ID Encoder Master (Boot-up) COB-ID 700+ID NOTE Save the default values after upload using the store parameters function (see 1010-01 Store parameters object). -
Page 52: 1018 Identity Object
Ax58x CANopen® 1018 Identity object 01 Vendor-ID provided by CIA organization [Unsigned32, ro] Default = 0000 012Eh 02 Product code [Unsigned32, ro] Default = 0000 0000h 03 Revision number [Unsigned32, ro] Default = 0000 0000h 1800 PDO1 parameters PDO1 message is used by default for cyclic transmission of the position value. -
Page 53: 1801 Pdo2 Parameters
Ax58x CANopen® 01h … F0h (1 … 240) Cyclic, synchronous implemented F1h … FBh (241 … 251) not implemented - reserved FCh (252) not implemented Synchronous, RTR only FDh (253) Asynchronous, RTR only not implemented Asynchronous, FEh (254) implemented manufacturer specific Asynchronous, device FFh (255) - Page 54 Ax58x CANopen® if bit 29 = 0 28 … 11 if bit 29 = 1: bits 28-11 of 29-bit-COB-ID 10 … 0 (LSB) bits 10-0 of COB-ID Default = 4000 0280h+NodeID (no RTR, COB-ID) WARNING It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed). This means that “No RTR is allowed on the PDO”.
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Page 55: 1802 Pdo3 Parameters
Ax58x CANopen® 6200-00 Cyclic timer value next to the object = 0, the PDO message is not sent. NOTE Please refer to the “7 – Setting-up” section on page 81 for an example of how 1801 PDO2 parameters object is to be set. 1802 PDO3 parameters PDO3 message is used by default for synchronous transmission of the position value. -
Page 56: 1803 Pdo4 Parameters
Ax58x CANopen® F1h … FBh (241 … 251) not implemented - reserved FCh (252) Synchronous, RTR only not implemented FDh (253) Asynchronous, RTR only not implemented Asynchronous, FEh (254) implemented manufacturer specific Asynchronous, device FFh (255) not implemented profile specific Default = 01h (synchronous transmission at each SYNC command) The position value is transmitted after the set number of SYNC commands. - Page 57 Ax58x CANopen® 11-bit ID (CAN 2.0A) 29-bit ID (CAN 2.0B) if bit 29 = 0 28 … 11 if bit 29 = 1: bits 28-11 of 29-bit-COB-ID 10 … 0 (LSB) bits 10-0 of COB-ID Default = C000 0480h+NodeID (no RTR, COB-ID) WARNING It is mandatory to set the bit 30 of COB-ID to 1 (value 0 is not allowed).
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Page 58: 1A00-01 Pdo1 Mapping Parameter
Ax58x CANopen® 6200-00 Cyclic timer value next to the object = 0, the PDO message is not sent. NOTE Please refer to the “7 – Setting-up” section on page 81 for an example of how 1803 PDO4 parameters object is to be set. NOTE - The transmission of PDO1, PDO2, PDO3, and PDO4 messages can be enabled (or disabled) by setting to “0”... -
Page 59: 1A02-01 Pdo3 Mapping Parameter
Ax58x CANopen® 1A02-01 PDO3 mapping parameter [Unsig32, rw] 1A00-01 PDO1 mapping parameter, sub 1object See the Default = 6004 0020h 1A03-01 PDO4 mapping parameter [Unsig32, rw] This object contains the mapping of the PDO the encoder uses to transmit the velocity value, according to the manufacturer profile. -
Page 60: Manufacturer Specific Profile Area Objects
Ax58x CANopen® 6.8.2 Manufacturer Specific Profile Area objects 2104-00 Limit switch min. [Unsigned32, rw] This object is used to set the lowest software limit switch (-). In the encoder position is greater than the value set in the object, then the bit 6500-00 Operating status 12 of the object will be set to “0”. -
Page 61: 3001-00 Node-Id
Ax58x CANopen® save the parameter; set the Master to the new baud rate. Default = 05h Master Encoder COB-ID Index Data byte 600+ID see table Encoder Master (confirmation) COB-ID Index Data byte 580+ID Master Encoder (Reset node) COB-ID Slave ID Set the Master device to the new baud rate:... -
Page 62: 3005-00 Velocity Format
Ax58x CANopen® Master Encoder COB-ID Index Data byte 600+ID new Node-ID Encoder Master (confirmation) COB-ID Index Data byte 580+ID Master Encoder (Reset node) COB-ID Slave ID old ID Encoder Master (Boot-up with new Node-ID) COB-ID 700+ID NOTE To save the new Node-ID value execute the store parameters function (see the 1010-01 Store parameters... -
Page 63: Device Profile Area Objects (Ds 406)
Ax58x CANopen® 6.8.3 Device Profile Area objects (DS 406) 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 CCW (counter Code sequence clockwise) (clockwise) not used Scaling function disabled enabled 3 … 11 not used Limit switch min. disabled enabled Limit switch max. -
Page 64: Limit Switch Min
Ax58x CANopen® WARNING When you enable the scaling function (bit 2 Scaling function = 1), please enter 6001-00 Measuring units per revolution scaled values next to the 6002-00 Total resolution objects that are consistent with the physical values. WARNING Every time you enable the scaling function and/or change the scaling values (see 6001-00 Measuring units per revolution 6002-00 Total resolution 6003-00... - Page 65 Ax58x CANopen® 6501-00 Hardware counts per Allowed values are equal to or less than revolution (see encoder label). Default = 4,096 for Ax5812/... 8,192 for Ax5813/... Setting the resolution per revolution 6001-00 Measuring units per revolution = 0000 0400h) Master Encoder (Set request) COB-ID Index Process data...
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Page 66: 6002-00 Total Resolution
Ax58x CANopen® WARNING Every time you enable the scaling function (bit 2 Scaling function in the 6000-00 Operating parameters object) and/or change the value in the scaled (6001-00 Measuring units per revolution 6002-00 Total values resolution objects), then you are required to set a new preset value (see the 6003-00 Preset value object) and finally save the new parameters (see the 1010-01 Store parameters... - Page 67 Ax58x CANopen® WARNING 6002-00 Total resolution When you set a new value next to the object, please 6001-00 Measuring units per revolution always check also the object value and be sure that the resulting number of revolutions complies with the physical number of revolutions of the device (see the 6502-00 Hardware number of turns...
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Page 68: 6003-00 Preset Value
Ax58x CANopen® 6003-00 Preset value object) and finally save the new parameters (see the 1010-01 Store parameters object). NOTE Please refer to the “7 – Setting-up” section on page 81 for an example of how 6002-00 Total resolution is to be set. 6003-00 Preset value [Unsigned32, rw] This object allows to set the encoder position to a Preset value. - Page 69 Ax58x CANopen® We will obtain the following information sequence: Transmitted value = read position (=”1000”) + 6003-00 Preset value (=”50”) - 6509-00 Offset value (=”1000”) = 50. The following transmitted value will be: Transmitted value = read position (=”1001”) + 6003-00 Preset value 6509-00 Offset value (=”50”) -...
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Page 70: 6004-00 Position Value
Ax58x CANopen® 6004-00 Position value [Unsigned32, ro] This object contains the position value of the encoder. The output value is scaled according to the scaling parameters (if the scaling function is enabled), see the bit 2 Scaling function of the 6000-00 Operating parameters object. -
Page 71: 6500-00 Operating Status
Ax58x CANopen® 6500-00 Operating status [Unsigned16, ro] Function bit = 0 bit = 1 CCW counter- Code sequence CW clockwise clockwise not used Scaling function Disabled Enabled 3…11 not used position > position < Limit switch min. 2104-00 Limit 2104-00 Limit switch min. -
Page 72: Limit Switch Max
Ax58x CANopen® 2104-00 Limit switch If the encoder position is less than the value set in the min. object, the bit 12 of this object is set to “1”. To enable this function set the bit 12 Limit switch min. of the 6000-00 Operating parameters object to "1". -
Page 73: 6502-00 Hardware Number Of Turns
Ax58x CANopen® NOTE Please refer to the “7 – Setting-up” section on page 81 for an example of how 6501-00 Hardware counts per revolution object can be read. 6502-00 Hardware number of turns [Unsig16, ro] WARNING This object is active only if the bit 2 Scaling function in the 6000-00 Operating parameters object is set to “=0”;... -
Page 74: 6506-00 Supported Warnings
Ax58x CANopen® 6506-00 Supported warnings [Unsigned16, ro] This object contains the information on the warnings supported by the encoder. No warnings are supported in this encoder. Default = 0000h (Warnings not supported). 6507-00 Profile and software version [Unsig32, ro] It shows the version of both the profile and the software. Profile version for encoders = 3.1 Software version = 1.1 Default = 0301 0101h... -
Page 75: 650B-00 Serial Number
Ax58x CANopen® 650B-00 Serial number [Unsigned32, ro] This object contains the serial number of the encoder. This object is currently not used in this encoder. Default = FFFF FFFFh (not used) NOTE To save the new parameters execute the store parameters function (see the 1010-01 Store parameters object). -
Page 76: Sdo Abort Codes
Ax58x CANopen® 6.9 SDO abort codes Here following is the list and the meaning of the SDO abort codes indicated by CANopen but not necessarily supported by the manufacturer. For complete information please refer to the “SDO abort transfer protocol” section in the “CiA Draft Standard 301”... -
Page 77: Emergency Objects
Ax58x CANopen® because of an file error). 0800 0024h No data available 6.10 Emergency objects Emergency (EMCY) messages are issued by the device when an internal error occurs. Structure of the EMCY message: IDENTIFIER CAN Data Byte COB-ID(hex) 3 … 7 see the Error Sub- 1014-00 COB-ID... -
Page 78: Node Guarding Protocol
Ax58x CANopen® 8000h Monitoring – generic error 8100h Communication – generic 8110h CAN overrun (objects lost) 8120h CAN in error passive mode 8130h Life guard error or heartbeat error 8140h Recovered from bus off 8150h CAN-ID collision 8200h Protocol error - generic 8210h PDO not processed due to length error 8220h... - Page 79 Ax58x CANopen® PRE-OPERATIONAL 127: t: Toggle bit. The value of this bit must alternate between two consecutive responses from the NMT Slave. The value of the Toggle bit of the first response after the Node Guarding protocol becomes active is 0. The Toggle bit in the Node Guarding protocol is only reset to 0 when reset_communication is passed (no other change of the state resets the Toggle bit).
- Page 80 Ax58x CANopen® 100C-00 Guard time: interval between two RTR messages. Node life time: maximum time available for the encoder to receive an RTR message. Node life time = 100C-00 Guard time 100D-00 Life time factor. “Node guarding” is enabled if Node life time 0. If the Slave does not receive an RTR message before the Node life time has expired, it warns activating a “Life Guarding Event”.
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Page 81: Setting-Up
Ax58x CANopen® 7 – Setting-up Here following are some examples of transmission between Master and Slave devices. A generic “ID” value is used to indicate the encoder address; the address of the Master is always 0. All values are expressed in hexadecimal notation. 7.1 Setting the Operational, Pre-operational state... -
Page 82: Setting The Resolution Per Revolution
Ax58x CANopen® 7.4 Setting the resolution per revolution 6001-00 Measuring units per revolution =0000 0400h) Master Encoder (Set request) COB-ID Index Process data 600+ID Encoder Master (Set confirmation) COB-ID Index Process data 580+ID 7.5 Setting the total resolution 6002-00 Total resolution =0100 0000h) Master ... -
Page 83: Setting The Sync Counter
Ax58x CANopen® 7.8 Setting the Sync counter 1801 PDO2 parameters, sub 2 (n = 5 = 05h) Master Encoder (Set request) COB-ID Index Process data 600+ID Encoder Master (Set confirmation) COB-ID Index Process data 580+ID 7.9 Disabling the Sync mode 1801 PDO2 parameters, sub 1 Read COB-ID used by PDO2:... - Page 84 Ax58x CANopen® (1800 PDO1 parameters, sub 1): Read COB-ID used by PDO1 Master Encoder (Req request) COB-ID Index Process data 600+ID Encoder Master (Req reply) COB-ID Index Process data 580+ID COB-ID used by PDO1 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 ) set the most significant bit to 0: B3 &= 0x7F;...
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Page 85: Default Parameters List
0001 0196 1000-00 Device type 0002 0196 1001-00 Error register 1003 Pre-defined error field 1005-00 COB-ID SYNC message 0000 0080 1008-00 Manufacturer device LIKA SRL name 1009-00 Manufacturer hardware version 100A-00 Manufacturer software version 100C-00 Guard time 0000 100D-00 Life time factor... - Page 86 Ax58x CANopen® 6200-00 Cyclic timer 0000 6500-00 Operating status 6504-00 Supported alarms 0000 6506-00 Supported warnings 0000 6507-00 Profile and software 0301 0101 version 6508-00 Operating time FFFF FFFF 6509-00 Offset value 0000 0000 650A-01 Manufacturer offset 0000 0000 value 650B-00 Serial number FFFF FFFF Text string...
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- Page 88 Ce dispositif doit être alimenté par un circuit de Classe 2 ou à très basse tension ou bien en appliquant une tension maxi de 30Vcc. Voir le code de commande pour la tension d'alimentation. Lika Electronic Via S. Lorenzo, 25 • 36010 Carrè (VI) •...
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