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Kuebler Series 5868 Technical Manual

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Technical Manual
Absolute Multiturn
Encoders
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Series 5868
Series 5888
Fieldbus
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  • Page 1 Technical Manual Absolute Multiturn Encoders Fieldbus Series 5868 Series 5888...
  • Page 2 Document information Revised 04-2006 Screen printouts used ® CANalyzer Fa. Vector–Informatik ® CANWizard Fa. Böhnke & Partner Fritz Kübler GmbH Schubertstr.47 78054 VS-Schwenningen / Germany Tel. +49 (0) 7720-3903-0 Fax +49 (0) 7720-21564 E-Mail: info@kuebler.com Internet: www.kuebler.com 1-2 of 41 R.000.000...

  • Page 3: Table Of Contents

    Table of Contents: GENERAL..................1-5 CANL 5868/88.....................1-5 ULTITURN NCODER ERIES ............................1-5 OPEN ROFILE CANLIFT ENCODER DEVICE PROFILE DS 417 V1.1 ....2-6 ..............................2-6 ATA TRANSMISSION ...........................2-6 RANSMISSION OF ROCESS CONFIGURATION USING THE CANWIZARD® ......3-7 INITIAL STARTUP - GENERAL DEVICE SETTINGS ....4-8 ................................4-8 AUD RATE ............................4-8...
  • Page 4 Technical Manual Absolute Multiturn Encoders CAR P ............................16-23 OSITION 6000 .................... 16-24 BJECT UPPORTED VIRTUAL DEVICE TYPES 6001 ..........................16-24 BJECT IFTNUMBER 6380 ......................16-24 BJECT PERATING ARAMETERS 6381 ) ..............16-25 BJECT EASURING NITS PER EVOLUTION ESOLUTION 6382 ..........................

  • Page 5: General

    CANLift Multiturn Encoder Series 5868/88 The CANLift encoders of Series 5868/88 support the latest CANopen communication profile according to DS 301 V4.02 . In addition the device-specific profile DS 417 V1.1 has been adapted (for lift applications). The following operating modes can be selected: Polled Mode, Cyclic Mode, Sync Mode and a High Resolution Sync Protocol.

  • Page 6: Data Transmission

    Technical Manual Absolute Multiturn Encoders CANLift encoder is designed specially to fulfil the requirements of the Lift Industry and meets the CiA specifications acc. to DSP417. The encoder is already pre-configured with many parameters, so offering the customer a simple plug and play option. Any necessary changes or settings for a particular application can be carried out quickly and easily via EDS files, using a configuration tool such as CANWizard from BÖHNKE +...

  • Page 7: Configuration Using The Canwizard

    Technical Manual Absolute Multiturn Encoders ® ® The CANWizard has a wide variety of features, specially for use with lifts, and which comply with the CiA DSP-417 application profile. The Software is part and parcel of the control concept that is designed and manufactured by the company BÖHNKE + PARTNER®...

  • Page 8: Initial Startup - General Device Settings

    Technical Manual Absolute Multiturn Encoders Baud rate The default setting on delivery is 125 kbit/s. The baud rate can however be changed from 0..9 by reprogramming in Object 2100h from 0..9. The following baud rates are available to the user: Value Baud rate in kbit/s...

  • Page 9: Node Number

    Technical Manual Absolute Multiturn Encoders Node number It is possible to change the node number by reprogramming in Object 2101h. If the value in Object 2101h is set to FFh, then the node number will be read from the internal switches. (Switches are set to the node number default value 10h) Default setting 10h corresponds to 16 decimal...

  • Page 10: Default Settings On Delivery

    Technical Manual Absolute Multiturn Encoders On delivery the following software parameters have been factory set. Description Setting Switch Software Switch setting 5 Object 2100h = 04h Baud rate 125 kBit/s Node address Switch setting 10h Object 2101h = 10h Termination Switch setting off Object 2102h = 01h Index (hex)

  • Page 11: Canlift Encoder Profile

    Technical Manual Absolute Multiturn Encoders Index (hex) Name Standard value CANLift Encoder Profile 6000h Supported Virtual Device types 6001h Lift number 6380h Operating Parameter 0x04h Scaling on 6381h Measuring Units per Revolution 8192 (13 Bit) 6382h Preset value 6384H Encoder Measuring Step Position Measuring Step Speed Measuring Step Acceleration Measuring Step...

  • Page 12: External Preset

    Technical Manual Absolute Multiturn Encoders The device can be set to the preset value by means of the built-in SET key. The resulting position is dependent on the value programmed in Object 6382h. Default setting: 0 as per illustration 7-12 of 41 R.000.000...

  • Page 13: Definition Of The Transmission Type Of The Pdo

    Technical Manual Absolute Multiturn Encoders A value between 1 ...240 means that the PDO will be sent synchronously and cyclically. The number of the Transmission Type signifies the quantity of SYNC pulses that are necessary to forward the PDOs. The Transmission Types 252 and 253 state that the PDO will only be sent when requested via an RTR. Type 254 means that the event will be triggered depending on the application (application-specific), whereas Type 255 is dependent on the device (device-specific).

  • Page 14: Default Transmit Pdo1 Mapping

    Technical Manual Absolute Multiturn Encoders Two Virtual Devices The Mapping Object for Transmit PDO 1 and PDO2 is defined in the Object Dictionary Indexes 1B06h and 1B07h. It consists of 2 entries and can be modified by the user (variable mapping). A pre-defined mapping exists for the first virtual device.

  • Page 15: Application Programming Example

    Technical Manual Absolute Multiturn Encoders Requirements: • Resolution per revolution should be set to 3600 steps per revolution • Position Value should be set to 0 • TPDO1 (Position) should transmit the event every 10 ms • The new parameters should be saved in the EEPROM Setting the parameters with the CANwizard Additionally a time-controlled EventTimer can be used for the Transmit PDOs.

  • Page 16: Save All Changed Parameters In The Eeprom Store Parameters 1010H

    Technical Manual Absolute Multiturn Encoders Save all changed parameters in the EEPROM Store Parameters 1010h Using the command "save" under Sub-Index 1h (Save all Parameters) causes all the parameters to be stored in the non-volatile memory (EEPROM). All Communication Objects, Application Objects and Manufacturer-specific Objects are saved under this Sub-Index.
  • Page 17 Technical Manual Absolute Multiturn Encoders Information concerning the vendor and the device: 1018 RECORD Device – Identification read only Sub-Index 0h : Number of Sub-indices“ supplies the value 4 Sub-Index 1h: "read" only supplies the Vendor-ID (000000013h) Fritz Kübler GmbH Sub-Index 2h: supplies the Product Code (e.g.

  • Page 18: Object 6384H: Encoder Measuring Step Values For The Speed Calculation

    Technical Manual Absolute Multiturn Encoders The speed of the encoder shaft is calculated as the difference in values between two physical (unscaled) position values with a dynamic time interval of 1ms, 10 ms or 100ms. In order that the speed calculation can be adapted to the application in question, the user has available to him 2 configurable objects in the manufacturer-specific area.

  • Page 19: Emergency Objects

    Technical Manual Absolute Multiturn Encoders Emergency Objects arise with error situations within a CAN network and are triggered depending on the event and transmitted over the bus with a high priority. Important: an Emergency Object is only triggered once per “Event”. No new object is generated while the error still exists.

  • Page 20: Format Of An Emergency Message

    Technical Manual Absolute Multiturn Encoders Format of an Emergency Message Example of an over-temperature message: Transfer Data [Errcode] 4200 Temperature threshold value of the sensor exceeded [Error Register] Error Register [ManufacturerSpecific1] ICLG error register [ManufacturerSpecific2] ICLG instantaneous temperature [ManufacturerSpecific3] ICLG current threshold lower range [ManufacturerSpecific4] ICLG current threshold upper range [ManufacturerSpecific5]...

  • Page 21: Canopen Object Dictionary

    Technical Manual Absolute Multiturn Encoders Structure of the entire Object Dictionary: Index (hex) Object 0000 unused 0001 - 001F static date types 0020 - 003F complex data types 0040 - 005F manufacturer-specific data types 0060 - 0FFF reserved 1000 - 1FFF Communication Profile 2000 - 5FFF Manufacturer-specific Profile...

  • Page 22: Communication Objects

    Technical Manual Absolute Multiturn Encoders Communication Objects INDEX (hex) OBJECT SYMBOL ATTRIB Name TYPE 1000 CONST Device Type Unsigned32 1001 Error Register Unsigned8 1002 Manufacturer Status Unsigned32 RECORD Predefined Error Field Unsigned32 1003 ARRAY Number of PDO supported Unsigned32 1004 1005 COB-ID Sync message Unsigned32...

  • Page 23: Car Position Unit

    Technical Manual Absolute Multiturn Encoders CAR Position Unit The virtual device "CAR Position Unit" measures the current position of the lift car and also provides the speed, acceleration and limit switch values. This information is needed primarily by the drive. The table contains the available objects for the CAR Position Unit in the CANLift protocol.

  • Page 24: Object 6000H: Supported Virtual Device Types

    Technical Manual Absolute Multiturn Encoders Object 6000h: Supported virtual device types This Object contains the number of virtual devices that are implemented in one physical device. 2 virtual devices are implemented. Data content Subindex 00h -> 2 number of virtual devices Value Subindex 01h : 0600h CAR Position Unit 1 (see Device Type) Value Subindex 02h :...

  • Page 25: Object 6381H: Measuring Units Per Revolution (Resolution)

    Technical Manual Absolute Multiturn Encoders Function Bit = 0 Bit =1 Code sequence Commissioning Diagnostic Control Disabled Enabled Enable scaling Disabled Enabled Measuring direction Forward Reverse 4..11 Reserved for further use Manufacturer specific parameter N.A. N.A. Manufacturer specific parameter N.A. N.A.

  • Page 26: Object 6383H: Position Value

    Technical Manual Absolute Multiturn Encoders Object 6383h: Position Value The encoder transmits the current position value ( adjusted possibly by the scaling factor) Range of values: 1..maximum physical resolution (268435456) 28-bit Object 6390h: Speed Value The encoder transmits the current calculated speed (possibly with scaling factor) as a 16-bit value. The speed is dependent on the settings of Object 6384h.

  • Page 27: Objekt 63B0 H : Working Area State Register 2 Values Position Unit 1

    Technical Manual Absolute Multiturn Encoders Objekt 63B0h: Working Area State Register 2 Values Position Unit 1 This Object contains the current state of the encoder position with respect to the programmed limits. The flags are either set or reset depending on the position of both limit values. The comparison with both limit values takes place in "real time"...

  • Page 28: Object 63C0H: Display Operating Status

    Technical Manual Absolute Multiturn Encoders Object 63C0h: Display Operating Status This Object displays the status of the programmed settings of Object 6380h. Data content: see Object 6380h Object 63C1h: Singleturn resolution The Object shows the maximum value of the resolution of the encoder Data content: Value: 65535 (16-bit) Object 63C2h: Number of Revolutions...

  • Page 29: Object 63C5H: Warnings

    Technical Manual Absolute Multiturn Encoders Object 63C5h: Warnings Warning messages show that the tolerances of the internal encoder parameters have been exceeded. With a warning message – unlike with an alarm message or emergency message – the measured value can still be valid. The corresponding warning bit will be set to 1 for as long as the tolerance is exceeded or the warning applies.

  • Page 30: Object 63C7H: Alarms

    Technical Manual Absolute Multiturn Encoders Object 63C7h: Alarms In addition to the errors that are signalled via emergency messages, Object 63C7h provides for further error messages. The corresponding error bit is set to 1 for as long as the error condition applies. Data content: Bit No.

  • Page 31: Object 2101H: Node Address

    Technical Manual Absolute Multiturn Encoders Object 2101h: Node address This Object can be used to change the node address via software. The default value is set to 10h (CANLift Default). Data content: Range of values 1 ...127 or 1..7Fh Default setting: 10h The node number 0 is reserved and may not be used by any node.

  • Page 32: Object 2130H: Encoder Measuring Step

    Technical Manual Absolute Multiturn Encoders Object 2130h: Encoder Measuring Step This Object is used to govern how the speed output occurs. Under Object 2130,sub2 Speed Measuring Step, a parameter is provided as the multiplier for a unit factor. Under Object 2130,sub3 Speed Average Value, the number of measured values required to create the moving average is entered.

  • Page 33: Network Management

    Technical Manual Absolute Multiturn Encoders The encoder supports the simplified Network Management as defined in the profile for "minimum capability devices" (minimum boot up). The following function state diagram acc. to DS 301 shows the various node states and the corresponding network commands (controlled by the Network Master via NMT services): Initialization: this is the initial state after the power supply is applied, following a device Reset or Power ON.

  • Page 34: Nmt Commands

    Technical Manual Absolute Multiturn Encoders NMT Commands All NMT commands are transferred as an unconfirmed NMT Object. Because of the broadcast (network-wide) communication model, the NMT commands are recognized by each station. An NMT Object is structured as follows: COB-ID = 0 Byte 0 = Command byte Byte 1 = Node number The COB-ID of the NMT Object is always 0...
  • Page 35 Technical Manual Absolute Multiturn Encoders green LED = BUS status red LED = ERR display yellow LED = Diagnostics Annunciator Description Cause of error Addendum No connection to Data transmission line Observe combination with the Master break ERR LED Incorrect baud rate If ERR LED is also OFF, please Inverted data line check power supply...

  • Page 36: Led Combinations During Operation

    Technical Manual Absolute Multiturn Encoders LED combinations during operation Annunciators LED Description Cause of error Addendum BUS+Diag Yellow and Over-temperature Device in Pre-Operational Mode flashing green LEDs Sensor monitoring Analyze Emergency Message flashing Single bit function error Yellow LED Sensor LED current flashes faster monitoring ERR+Diag...

  • Page 37: Definitions

    Technical Manual Absolute Multiturn Encoders Explanation of Symbols: This symbol highlights those parts of the text to which particular attention must be paid. This is to ensure correct usage and to eliminate danger. This symbol provides important advice concerning the proper handling of the encoder. Non-observance of this advice can lead to malfunctions of the encoder or in the vicinity.

  • Page 38: Decimal-Hexadecimal Conversion Table

    Technical Manual Absolute Multiturn Encoders With numerical data, the decimal values are given as numerals with no affix (e.g. 1408), binary values are identified by the letter b (e.g. 1101b) and hexadecimal values with an h (e.g., 680h) after the numerals.

  • Page 39: Glossary

    Technical Manual Absolute Multiturn Encoders Baudrate The baud rate is the data transfer rate. It is linked to the nominal bit timing. The maximum possible baud rate is dependent on numerous factors that affect the transfer time on the bus. There is a significant connection between the maximum baud rate and the bus length and type of cable.
  • Page 40 DIAG LED · node number 0 · DS 301 V4.02 · Node number 0 · DS 406 V3.1 · DS 417 V1.1 · Object 1029h Error Behaviour · 16-32 Object Dictionary · Objects not mentioned · 16-32 23-39 EDS file ·...
  • Page 41 Technical Manual Absolute Multiturn Encoders Termination · 4-8 RTR-Telegram · transmission type · Siehe PDO 23-39 SDO · Variable PDO Mapping · 8-13 6-11 Set-key · Singleturn resolution · 16-28 speed output · 12-18 Speed Value · 16-26 Store Parameters 1010h · 10-16 Warnings ·...
  • Page 42 Rotary Measuring Technology Absolute shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 6 6 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t Temperature Shock/vibra- Magnetic...
  • Page 43 DS 406 rate are modified by means of software. The models with bus V3.1 and the profile DS 417 V1.1 (for lift applications) are available. terminal cover and integrated T-shaped coupler allow a...
  • Page 44 Rotary Measuring Technology Absolute shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 6 6 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t W W i i t t h h r r e e m m o o v v a a b b l l e e b b u u s s t t e e r r m m i i n n a a l l c c o o v v e e r r ø...
  • Page 45 Rotary Measuring Technology Absolute shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 6 6 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t W W i i t t h h f f i i x x e e d d c c o o n n n n e e c c t t i i o o n n ø...
  • Page 46 Rotary Measuring Technology Absolute shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 6 6 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t W W i i t t h h f f i i x x e e d d c c o o n n n n e e c c t t i i o o n n ø...
  • Page 47 Rotary Measuring Technology Absolute shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 6 6 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t T T e e r r m m i i n n a a l l a a s s s s i i g g n n m m e e n n t t : : Bus terminal cover with terminal box (type of connection 1) Direction:...
  • Page 48 Synchro flange ø 58 mm, IP67 D D S S 4 4 0 0 6 6 V V 3 3 . . 1 1 22 = CANlift DS 417 V1.01 Square flange 2,5" / 63,5 mm, IP 65 Square flange 2,5" / 63,5 mm, IP 67...
  • Page 49 Rotary Measuring Technology Absolute hollow shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 8 8 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t Temperature Shock/vibra- Magnetic...
  • Page 50 DS 406 rate are modified by means of software. The models with bus V3.1 and the profile DS 417 V1.1 (for lift applications) are available. terminal cover and integrated T-shaped coupler allow a...
  • Page 51 Rotary Measuring Technology Absolute hollow shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 8 8 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t W W i i t t h h r r e e m m o o v v a a b b l l e e b b u u s s t t e e r r m m i i n n a a l l c c o o v v e e r r ø...
  • Page 52 Rotary Measuring Technology Absolute hollow shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 8 8 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t W W i i t t h h f f i i x x e e d d c c o o n n n n e e c c t t i i o o n n ø...
  • Page 53 Rotary Measuring Technology Absolute hollow shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 8 8 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t W W i i t t h h f f i i x x e e d d c c o o n n n n e e c c t t i i o o n n ø...
  • Page 54 Rotary Measuring Technology Absolute hollow shaft encoder, Multiturn, CANopen/CANlift S S e e n n d d i i x x A A b b s s o o l l u u t t e e , , M M u u l l t t i i t t u u r r n n T T y y p p e e 5 5 8 8 8 8 8 8 , , C C A A N N o o p p e e n n / / C C A A N N l l i i f f t t T T e e r r m m i i n n a a l l a a s s s s i i g g n n m m e e n n t t : : Bus terminal cover with terminal box (type of connection 1) Direction:...
  • Page 55 ø 65, IP 65 D D S S 4 4 0 0 6 6 V V 3 3 . . 1 1 22 = CANlift DS 417 V1.01 Flange with stator coupling pitch circle ø 65, IP 67...

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