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Summary of Contents for Megatron HTB36E
- Page 1 Technical Manual For Absolute-Rotary Encoders HTB36E and FHB58 with CANopen-Interface...
- Page 2 Guarantee waiver, right of amendment: The company MEGATRON assumes no liability and provides no guarantee for the correctness of this manual's contents or for any resulting direct or indirect damages. In the interests of continuous innovation and cooperation with our customers, we reserve the right to change technical data or content at any time.
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Page 3: Table Of Contents
Object dictionary ................... 15 Network management (NMT) ..............16 Heartbeat and Node-Guarding ..............17 Emergency messages ................. 18 6 HTB36E or FHB58 object dictionary ..........19 Communication objects ................19 Device specific objects ................22 Manufacturer specific objects ..............28 7 Object description ................. - Page 4 Baudrate setting ..................43 8.2.6 Node-ID setting ..................44 Configuration via SDO ................. 45 8.3.1 SDO access on objects ................. 45 8.3.2 SDO access on objects larger than 4 bytes .......... 47 8.3.3 Baudrate selection ................54 MEGATRON Elektronik GmbH & Co. KG...
- Page 5 8.12 Non-volatilely storage of parameters ............68 8.12.1 Saving parameters into EEPROM ............. 68 8.12.2 Restoring default parameters from EEPROM ........69 9 Error diagnosis ................70 Encoder configurations ................70 Support ..................71 MEGATRON Elektronik GmbH & Co. KG...
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Page 6: Index Of Figures
Figure 8.4: Initiate SDO read ..................48 Figure 8.5: read SDO segment ................. 49 Figure 8.6: Segmented-SDO write access ..............50 Figure 8.7: Initiate SDO write ..................51 Figure 8.8: write SDO segment ................53 MEGATRON Elektronik GmbH & Co. KG... - Page 7 Table 8.1: Pin and cable assignment ................ 40 Table 8.2: LSS-message ..................41 Table 8.3: Command to set encoder “Stopped“-Mode ..........41 Table 8.4: LSS-Selective-Identification-Commands ..........42 Table 8.5: Answer of encoder to LSS-Selective-Identification-Commands ....42 MEGATRON Elektronik GmbH & Co. KG...
- Page 8 Table 8.49: Parametrization of PDO1 Sub-Index 2 ........... 59 Table 8.50: Parametrization of PDO1 Sub-Index 2 ........... 59 Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms ........59 Table 8.52: Parametrization of PDO1 Sub-Index 2 ........... 60 MEGATRON Elektronik GmbH & Co. KG...
- Page 9 Table 8.74: CAM-Low-Limit 3 ................... 67 Table 8.75: Saving parameters ................. 68 Table 8.76: Example – Save all parameters ............. 68 Table 8.77: Restoring parameters ................69 Table 9.1: Error diagnosis – Encoder configuration ..........70 MEGATRON Elektronik GmbH & Co. KG VIII...
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Page 10: List Of Abbreviations
Network management Node-ID Part of CAN-ID; number of the encoder in the CAN network Open Systems Interconnection Reference Model Page reference Process Data Object. Communication object for transmission of process data res. reserved MEGATRON Elektronik GmbH & Co. KG... - Page 11 Singleturn SYNC Synchronisations telegram Write Only Mark that (xx) is a binary representation Mark that (xx) is a decimal representation Mark that (xx) is a hexadecimal representation MEGATRON Elektronik GmbH & Co. KG...
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Page 12: Introduction
This manual is assigned to the following MEGATRON encoders: HTB36E, FHB58 with CANopen Interface It applies to all CANopen HTB36E and FHB58 rotary encoders with Revision Number (Software version) 2.08 and less. The MEGATRON Elektronik GmbH & Co. KG vendor id is: 0x000004F9 The product code for MEGATRON rotary encoders. -
Page 13: About This Manual
For contactless Rotary Encoders with CANopen Interface 1.2 About this manual This technical manual describes the configuration and mounting possibilities for absolute-value rotary encoders with a CANopen interface from MEGATRON. It supplements the other publicly available MEGTATRON documents, e.g. data sheets, assembly instructions, catalogues and flyers. -
Page 14: Specifications
EMC and possibly the Machine Directive. A rotary encoder is a sensor that is designed to detect angular positions and revolutions and shall only be used for this purpose! MEGATRON manufactures and distributes encoders for use in non-safety-relevant industrial applications. -
Page 15: Safe Working
There is no obligation by the manufacturer to take the device back. If you have any questions regarding proper disposal, contact a disposal specialist in your area. MEGATRON Elektronik GmbH & Co. KG... -
Page 16: Device Description
3.1 Basic encoder design In conjunction with CANopen, following MEGATRON rotary encoder series are available, HTB36E in Ø36 mm housing and FHB in Ø58 mm housing. HTB36E rotary encoders are available with solid shaft and hollow shaft - this shows Figure 3.1: Figure 3.1: Encoder versions, solid shaft and hollow shaft... -
Page 17: Led Status Indicator And Signal Codes
1000 1500 2000 2500 Red ON NOT ready / BUS-OFF Red single 1000 1500 2000 2500 flash Warning, occurrence of error frames Figure 3.2: LED indications 1 MEGATRON Elektronik GmbH & Co. KG... -
Page 18: Figure 3.3: Led Indications 2
LSS config modus started Figure 3.3: LED indications 2 MEGATRON Elektronik GmbH & Co. KG... -
Page 19: Quick Start
See chapter 3.3 "LED status indicator and signal codes". 4.1 CAN network integration The default node ID from MEGATRON rotary encoders HTB und FHB series (Object 2101h sub-Index: 00h) is 7Fh=127d. For operating in a CAN-Network, the encoder’s baudrate has to be set. The common ways to set the baudrate is via LSS (CiA DSP-305) or a SDO command. -
Page 20: Setting-Up The Encoder
You can find additional information to this in chapter 8 "Setting-up". When the encoder is completely integrated into the application you can switch it into OPERATIONAL mode by the "Start-All-Nodes-Command" (see chapter 7.1). MEGATRON Elektronik GmbH & Co. KG... - Page 21 Unsigned32. By default, PDO2 transmits the same value but synchronously on the reception of a SYNC message. Heartbeat is switched off and will not be transmitted by default. The encoder is now configured and ready for basic applications. MEGATRON Elektronik GmbH & Co. KG...
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Page 22: General Information About Can
Rechte. Erst die Verhandlung eines Gerätes mit allen anderen sichert diesem den temporären Zugang. Die Rechteverteilung kann durch die Vergabe von Prioritäten bestimmte Nutzer bevorzugen. Dabei wird jedem Gerät eine Priorität zugeordnet, die diesem eine Priorität im Zugriff auf das Netz oder eine Netzressource einräumt MEGATRON Elektronik GmbH & Co. KG... -
Page 23: Figure 5.1: Example Of The Arbitration
The so-called bit-stuffing is used to prevent this case. After five equal bits a complementary bit will be inserted into the transmission (the application will not notice). So, the nodes can keep up resynchronising on the bit flanks (see Figure 5.2). Figure 5.2: Bitstuffing MEGATRON Elektronik GmbH & Co. KG... -
Page 24: Canopen
(profile). A CANopen profile defines objects representing the different functions of a device. These objects form a table called object dictionary. MEGATRON Elektronik GmbH & Co. KG... -
Page 25: Specifications And Profiles
A SDO transmission will always be acknowledged by the receiver. In case of a failure an "abort message" is send. The internal delay time of the HTB and FHB rotary encoders is 1 millisecond maximum. MEGATRON Elektronik GmbH & Co. KG... -
Page 26: Object Dictionary
• On request: A node sends a RTR frame to ID of the designated PDO and the encoder returns the PDO. (The CiA strongly recommends not to use RTR frames. Therefore, RTR is not supported by MEGATRON rotary encoders!) • Synchronously: On the reception of a SYNC message the node sends its PDOs. -
Page 27: Network Management (Nmt)
The message is permanently associated with the node ID. Description of the NMT-states: Pre-Operational Object Communication enabled SYNC EMCY Heartbeat SDO communication is enabled. PDO communication is disabled. Table 5.4: Available communication – Pre-Operational MEGATRON Elektronik GmbH & Co. KG... -
Page 28: Heartbeat And Node-Guarding
• Heartbeat • Node-Guarding The heartbeat protocol is independent from the master. It is the recommended mechanism. The device sends autonomous and cyclic a "life" message. • MEGATRON recommends the use of the heartbeat protocol. MEGATRON Elektronik GmbH & Co. KG... -
Page 29: Emergency Messages
5.6 Emergency messages Failures of a CAN node are announced by emergency messages (EMCY message). The EMCY message contains an error code identifying the problem. A node also can be configured to send no EMCYs. MEGATRON Elektronik GmbH & Co. KG... -
Page 30: Htb36E Or Fhb58 Object Dictionary
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary 6 HTB36E or FHB58 object dictionary 6.1 Communication objects The communication objects comply with the CiA specification 301 v4.02 and have the object addresses 1000h to 1FFFh. - Page 31 Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary Object Name Function Data type Default value 1010h Store Unsigned8 p. 68 Parameters Save all parameters Unsigned32 0000 0001h Save communication Unsigned32 0000 0001h param.
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Page 32: Table 6.2: Object Dictionary 1010H - 1020H
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary Table 6.2: Object dictionary 1010h – 1020h Object Name Function Data type Default value 1029h Error Changing the Unsigned8 p. 37 behaviour encoders behaviour... -
Page 33: Device Specific Objects
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary Table 6.3: Object dictionary 1029h – 1A01h Object Name Function Data type Default value 1A02h TPDO3 Defines the PDO- Unsigned8 p. 61 mapping mapping of the 3rd... -
Page 34: Table 6.5: Device Specific Objects 6000H -6008H
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary position measuring range >32 value Table 6.5: Device specific objects 6000h –6008h Object Name Function Data type Default value 6009h High Setting/indicating the Unsigned64... -
Page 35: Table 6.7: Device Specific Objects 6311H -6322H
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary Object Name Function Data type Default value 6311h CAM2 low Indicating the lower Unsigned8 limit switching point of the 2nd cam Changing lower Signed32... -
Page 36: Table 6.8: Device Specific Objects 6323H -6334H
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary 6323h CAM4 high Indicating the upper Unsigned8 limit switching point of the 4th cam Changing upper Signed32 0000 0000h switching point CAM4 6324h CAM5 high... -
Page 37: Table 6.9: Device Specific Objects 6335H -6504H
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary 6335h CAM6 Indicating the Unsigned8 hysteresis hysteresis for the 6th Changing the Unsigned32 0000 0000h hysteresis for the 6th 6336h CAM7 Indicating the Unsigned8... -
Page 38: Table 6.10: Device Specific Objects 6505H -6510H
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary Object Name Function Data type Default value 6505h Warnings Warning set on Unsigned16 p. 34 deviation of certain parameters. 6506h Supported Information about Unsigned16... -
Page 39: Manufacturer Specific Objects
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary 6.3 Manufacturer specific objects The objects 2000h to 5FFFh are manufacturer specific and not defined by the CiA. Object Name Function Data type Default... -
Page 40: Table 6.12: Manufacturer Specific Objects 2502H -2504H
Technical Manual 6 - HTB36E or FHB58 object For contactless Rotary Encoders with CANopen Interface dictionary Object Name Function Data type Default value 2502h Error History Non-volatile error Unsigned32 history. Standard Error field 1 Unsigned32 Standard Error field 2 Unsigned32... -
Page 41: Object Description
Table 7.2: Commands for NMT-command Node-ID: The node-ID determines whether the NMT addresses a certain node or all nodes. Command Wert All Nodes Valid Nod-IDs 01..127d Invalid Node-IDs 128..255d Table 7.3: Node-ID values for NMT-commands MEGATRON Elektronik GmbH & Co. KG... -
Page 42: Heartbeat Protocol
10000 milliseconds (=2710h). The HTB or FHB is assumed to be node 1: 601h CAN-ID DLC Command Object Object Sub- Time L Time H Producer Node- Index Table 7.5: Example configuration of a consumer heartbeat MEGATRON Elektronik GmbH & Co. KG... -
Page 43: Emergency Messages (Emcy)
4200h Info field 1 (Byte3) 6 Temp. Read Error Low limit exceeded High limit exceeded Field Hex- Error description Error Code value 5000h Info field 2 (Byte4) 0 EEPROM error in init-phase EEPROM Write-Timeout MEGATRON Elektronik GmbH & Co. KG... -
Page 44: Error Objects
Info: ST*(15) ST*(14) ST*(13) ST*(12) ST*(11) ST*(10) ST*(9) ST*(8) Bit: 31 Info: MT*(9) MT*(8) MT*(7) MT*(6) MT*(5) MT*(4) MT*(3) MT*(2) Table 7.10: Manufacturer status register *= Error type (number) | for detailed definitions please contact our technical support. MEGATRON Elektronik GmbH & Co. KG... -
Page 45: Alarms
Table 7.12: Warnings – Object 6505h 7.5 Electronic cam switch (CAM) Rotary encoders by MEGATRON provide the possibility to configure an electronic cam switch with 8 cams in one single channel. Every cam is defined by its low and high limit, the hysteresis and the polarity. -
Page 46: Cam-Enable-Register
HTB or FHB rotary encoders provide one channel with 8 cams. • The cam-high-limit always has to be lower than the corresponding low-limit. Therefore, the high-limit must be usually configured before the corresponding low-limit! MEGATRON Elektronik GmbH & Co. KG... -
Page 47: Cam-High-Limit
Object 1008h delivers the encoder designation. Only sub index 0 is supported. The value of this object depends on the variant of the firmware. Device Name for singleturn rotary encoders: HTB/FHB-ST-CA Device Name for multiturn rotary encoders: HTB/FHB-MT-CA MEGATRON Elektronik GmbH & Co. KG... -
Page 48: Error Behaviour
CAN-Error Active. This feature has to be used with caution, because it can have a critical impact on the whole bus system! MEGATRON Elektronik GmbH & Co. KG... -
Page 49: Customer Data
• All change in parameters, unless otherwise specified, have to be saved into the EEPROM, e.g. by using the "Store All Parameters" command (see 8.12 "Saving parameters into EEPROM"). Otherwise, the encoder will return to the last configuration saved after a reset. MEGATRON Elektronik GmbH & Co. KG... -
Page 50: Setting-Up The Encoder
• The encoder has a mounted torque support (via spring plate). This torque support has to be screwed to the machine. The torque support is elastic so that vibrations and tolerances of the application shaft will not overload the encoder’s bearings. MEGATRON Elektronik GmbH & Co. KG... -
Page 51: Table 8.1: Pin And Cable Assignment
Pin assignment (according to CiA 303): (Variations possible (e.g. FHB58)) Definition Wire colour (Encoder (Encoder with with cable) connector) Supply brown (10-30V) Ground white (GND) green High yellow grey Table 8.1: Pin and cable assignment MEGATRON Elektronik GmbH & Co. KG... -
Page 52: Configuration Via Lss
The baudrate used by the master will be detected by the encoder. Use the NMT command to switch the encoder into "STOPPED" mode. Send the following message: 7E5h Table 8.3: Command to set encoder “Stopped“-Mode MEGATRON Elektronik GmbH & Co. KG... -
Page 53: Lss Configuration By "Switch Mode Selective
(selective or global) baudrate and node ID can be changed by LSS. After changing the settings have to be stored and the configuration mode has to be deactivated. (see below "End LSS configuration mode"). MEGATRON Elektronik GmbH & Co. KG... -
Page 54: End Lss Configuration Mode
Table 8.8: set Baudrate The following baud rates can be selected: Value Baudrate 1 Mbit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s 100 kBit/s 50 kBit/s 20 kBit/s 10 kBit/s Auto Table 8.9: Baudrate-Coding MEGATRON Elektronik GmbH & Co. KG... -
Page 55: Node-Id Setting
7E5h Node-ID CAN-ID Command Node-ID Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Table 8.11: set Node-ID Valid Node IDs are 01h to 7Fh. • Mind leaving the LSS configuration mode after configuration (see above 8.2.4)! MEGATRON Elektronik GmbH & Co. KG... -
Page 56: Configuration Via Sdo
Table 8.12: Example SDO master to encoder The payload of the SDO is 4 bytes of data (d1d2d3d4): 580h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.13: Example SDO answer MEGATRON Elektronik GmbH & Co. KG... -
Page 57: Figure 8.2: Write Object
Table 8.15: Example SDO send by master The encoder acknowledges without data bytes: 580h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.16: Example SDO answer Table 8.14 shows the overview of the available commands. MEGATRON Elektronik GmbH & Co. KG... -
Page 58: Sdo Access On Objects Larger Than 4 Bytes
In the following example the 8byte "High Precision Position Value" (object 6008h) is read: 01000000b 600h+ID 8 ccs=2,e=0, CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.17: SDO read request on object 6008h MEGATRON Elektronik GmbH & Co. KG... -
Page 59: Figure 8.4: Initiate Sdo Read
The encoders confirm a segmented SDO transfer of 8 bytes data: 01000001b 580h+ID 8 scs=2,e=0, CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.19: Confirm SDO read access of object 6008h MEGATRON Elektronik GmbH & Co. KG... -
Page 60: Figure 8.5: Read Sdo Segment
The encoder answers with the first data segment: data data data data data data data 00000000b 580h+ID 8 scs=0, t=0, n=0, c=0 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.22: answer with first segment MEGATRON Elektronik GmbH & Co. KG... -
Page 61: Figure 8.6: Segmented-Sdo Write Access
The 7 data bytes of the first segment and the single valid data byte of the data bytes represent the 8 byte "High Precision Position value" (object 6008h). Segmented write access on an object: Figure 8.6: Segmented-SDO write access MEGATRON Elektronik GmbH & Co. KG... -
Page 62: Figure 8.7: Initiate Sdo Write
The encoder confirms the segmented SDO transfer and requests the first segment: 580h+ID 8 01100000b scs=3 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.26: Acknowledgement of write access of object 6009h Initializing segmented write access: Figure 8.7: Initiate SDO write MEGATRON Elektronik GmbH & Co. KG... -
Page 63: Table 8.27: Declaration Of Used Abbreviations In Figure 8.7
The encoder confirms and requests the next segment: data data data data data data data 580h+ID 8 00100000b scs=1, t=0 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.29: Acknowledgement send by the encoder MEGATRON Elektronik GmbH & Co. KG... -
Page 64: Figure 8.8: Write Sdo Segment
Table 8.30: Declaration of used abbreviations in Figure 8.8 Now the next data segment can be send: data 00011101b 600h+ID 8 ccs=0, t=1, n=6, c=1 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.31: send next segment MEGATRON Elektronik GmbH & Co. KG... -
Page 65: Baudrate Selection
8 byte "High Precision Position Preset Value" (object 6009h). 8.3.3 Baudrate selection The rotary encoders HTB and FHB from MEGATRON provide an automatic baudrate detection. It is also possible to use a fixed baudrate which can be set by either LSS (as described above) or SDO. -
Page 66: Node-Id Selection
• Changing the Node ID automatically adjusts the PDO and EMCY COB-IDs. After the first manual storage, they are set to their current value and will be no longer automatically adjusted. Performing the "Restore Defaults" command will re- enable automatic adjustment. MEGATRON Elektronik GmbH & Co. KG... -
Page 67: Basic Nmt Commands
To perform a soft reset of the encoder, the "Reset Remote Node" is used. After the reset the encoder will send his boot-up message and enter Pre-Operational by default: 0 – 127 CAN-ID Command Byte Node-ID Table 8.41: NMT command - Reset remote node MEGATRON Elektronik GmbH & Co. KG... -
Page 68: Heartbeat Settings
PDO1 asynchronous / on change of position Position-value value 1801h PDO2 synchronous / on every SYNC Position-value 1802h PDO3 synchronous / on every SYNC High Precision-value 1803h PDO4 disabled Table 8.45: Default PDO configuration MEGATRON Elektronik GmbH & Co. KG... -
Page 69: Table 8.46: Selectable Pdo Transmission Types
"save all parameters" has been performed, a change of the node ID will automatically effect the COB IDs. • After a save command, the PDO COB-IDs have to be changed manually or perform a "restore all parameters". MEGATRON Elektronik GmbH & Co. KG... -
Page 70: Synchronous Pdo
Byte0 Byte1 Byte2 Byte3 Index Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms PDO1 is now in asynchronous mode and will be sent every 30 milliseconds when the encoder is in Operational state. MEGATRON Elektronik GmbH & Co. KG... -
Page 71: Variable Pdo-Mapping
The data 1, 2 und 3 (see mapping, Table 8.54) are spread over the PDOs 8 payload bytes. The current payload is 4byte + 2 byte + 2byte = 8 byte. So the PDO is used with 100% efficiency! MEGATRON Elektronik GmbH & Co. KG... -
Page 72: Table 8.55: Structure Of Pdo1 (Content -> Table 8.54)
First the sub-index 0 of the Mapping parameter object has to be set to zero: 600h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.56: Mapping parameter The encoder is now ready for remapping. MEGATRON Elektronik GmbH & Co. KG... -
Page 73: Table 8.57: Mapping Position Value
Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.60: Mapping parameter – activate new mapping The re-mapping of PDO1 is now completed and valid, but it should be saved into the EEPROM (see 8.12). MEGATRON Elektronik GmbH & Co. KG... -
Page 74: Changing Resolution And Direction
Example: Singleturn resolution: 4096 steps per revolution = 12 bit = 10 00h Total measuring range: 536 870 912 units = 29 bit = 20 00 00 00h) => Max. Multiturn resolution: 29 Bit - 12 Bit = 17 Bit = 131072 revolutions (02 00 00h) MEGATRON Elektronik GmbH & Co. KG... -
Page 75: Position Preset
You don’t have to use PDOs to check the current position value. You can also perform a SDO read access on the position value object 6004h: 600h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index MEGATRON Elektronik GmbH & Co. KG... -
Page 76: Position Value Filtering
So, object 2106h-01h must be set to 6d = 06h and 2106h-02h set to 125d=7Dh, so the limits of ±32767 are scaled to ±2500 U/min. Applying this scaling, the limits ±32767 corresponds with ±2500 rpm. MEGATRON Elektronik GmbH & Co. KG... -
Page 77: Frequency Limit
To enable the individual cams the CAM-enable-register (object 6301h-01h) is used. For example, the setting 00000111b = 07h enables the first three cams. 600h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.68: Enable first three cams MEGATRON Elektronik GmbH & Co. KG... -
Page 78: Table 8.69: Cam-High-Limit 1
With the CAM-Polarity-Register the polarity of the cams can be inverted. Using object 6300h Sub-Index 1 the CAM-state-register can be read. The CAM-state- register is also PDO mappable! For more details see 7.5.1 CAM-state-register. To MEGATRON Elektronik GmbH & Co. KG... -
Page 79: Non-Volatilely Storage Of Parameters
(in hex: 65766173h) has to be written into the dedicated sub- index. E.g. "Save all Parameters": 600h+ID 8 CAN-ID DLC Command Object Object Sub- Byte0 Byte1 Byte2 Byte3 Index Table 8.76: Example – Save all parameters MEGATRON Elektronik GmbH & Co. KG... -
Page 80: Restoring Default Parameters From Eeprom
• To restore the default settings the "ASCII" value "load" (in hex: 64616F6Ch) has to be written to the dedicated sub-index of the object. • Attention: The baudrate and node-ID settings, as well as the customer data object, will not be restored! MEGATRON Elektronik GmbH & Co. KG... -
Page 81: Error Diagnosis
There are irregular failures during Encoder is stuck in its initiation due to a transmission. hardware failure. Please contact our technical support. Table 9.1: Error diagnosis – Encoder configuration MEGATRON Elektronik GmbH & Co. KG... -
Page 82: Support
+49 (0) 89 / 46 09 4 - 201 E-Mail: info@megatron.de Notes: ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ ___________________________________________________________________ MEGATRON Elektronik GmbH & Co. KG...
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