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Megatron HTB36E Technical Manual (82 pages)

Absolute-Rotary Encoders with CANopen-Interface

Brand: Megatron | Category: Media Converter | Size: 1 MB

Table of Contents
3
Index of Figures
6
List of Abbreviations
10
Introduction
12
Encoder Types
12
Figure 1.1: Encoder Label
12
About this Manual
13
Symbols
13
Specifications
14
Safety Information
14
General Safety Information
14
Intended Use
14
Safe Working
15
Disposal
15
Device Description
16
Basic Encoder Design
16
Predefined Connection Settings
16
Figure 3.1: Encoder Versions, Solid Shaft and Hollow Shaft
16
Table 3.1: CAN-Identifier
16
LED Status Indicator and Signal Codes
17
Figure 3.2: LED Indications 1
17
Figure 3.3: LED Indications 2
18
Quick Start
19
CAN Network Integration
19
SDO Command to Set the Node ID
19
Table 4.1: SYNC-Message
19
Setting-Up the Encoder
20
Table 4.2: SDO-Write Command to Set Node-ID
20
Table 4.3: Node-ID in Decimal and Hexadecimal
20
General Information about CAN
22
CAN Physical and Transport Layer
22
Figure 5.1: Example of the Arbitration
23
Figure 5.2: Bitstuffing
23
Canopen
24
Figure 5.3: ISO-OSI-Modell
24
Table 5.1: CAN Baud Rates und Recommended Cable Length Limits
24
Specifications and Profiles
25
Overview
25
Mechanisms of Communication
25
Table 5.2: Draft Standards
25
Object Dictionary
26
Table 5.3: Structure of the Object Dictionary
26
Network Management (NMT)
27
Table 5.4: Available Communication - Pre-Operational
27
Heartbeat and Node-Guarding
28
Table 5.5: Available Communication - Operational
28
Table 5.6: Available Communication - Stopped
28
Emergency Messages
29
HTB36E or FHB58 Object Dictionary
30
Communication Objects
30
Table 6.1: Object Dictionary 1000H - 100Dh
30
Table 6.2: Object Dictionary 1010H - 1020H
32
Device Specific Objects
33
Table 6.3: Object Dictionary 1029H - 1A01H
33
Table 6.4: Object Dictionary 1A02H - 1F80H
33
Table 6.5: Device Specific Objects 6000H -6008H
34
Table 6.6: Device Specific Objects 6009H -6310H
34
Table 6.7: Device Specific Objects 6311H -6322H
35
Table 6.8: Device Specific Objects 6323H -6334H
36
Table 6.9: Device Specific Objects 6335H -6504H
37
Table 6.10: Device Specific Objects 6505H -6510H
38
Manufacturer Specific Objects
39
Table 6.11: Manufacturer Specific Objects 2100H -2500H
39
Table 6.12: Manufacturer Specific Objects 2502H -2504H
40
Object Description
41
Network Management (NMT) Commands
41
Table 7.1: Structure of NMT-Command
41
Table 7.2: Commands for NMT-Command
41
Table 7.3: Node-ID Values for NMT-Commands
41
Heartbeat Protocol
42
Table 7.4: Monitor External Heartbeat
42
Table 7.5: Example Configuration of a Consumer Heartbeat
42
Emergency Messages (EMCY)
43
Table 7.6: Basic Structure of an EMCY
43
Table 7.7: Emergency Error Code List
43
Table 7.8: Error Register
43
Error Objects
44
Manufacturer Status Register
44
Table 7.9: Info Field List
44
Table 7.10: Manufacturer Status Register
44
Alarms
45
Warnings
45
Electronic Cam Switch (CAM)
45
CAM-State-Register
45
Table 7.11: Alarms - Object 6503H
45
Table 7.12: Warnings - Object 6505H
45
Table 7.13: CAM-State-Register - Value 89H
45
Table 7.14: CAM-State-Register - Value 81H
45
CAM-Enable-Register
46
CAM-Polarity-Register
46
CAM-Low-Limit
46
Table 7.15: CAM-Enable-Register - Value 4Ah
46
Table 7.16: Example CAM-Polarity-Register
46
CAM-High-Limit
47
CAM-Hysteresis
47
Device Profile
47
Sync
47
Encoder Designation
47
Error Behaviour
48
NMT Start-Up Behaviour
48
Bus-Off Auto-Reset
48
Table 7.17: Selection of Encoder Reaction on Errors
48
Table 7.18: Selection of Start-Up Behaviour
48
Customer Data
49
Temperature
49
Verify Configuration
49
Setting-Up the Encoder
50
Mechanical and Electrical Connection
50
Table 8.1: Pin and Cable Assignment
51
Configuration Via LSS
52
General Settings
52
LSS Configuration by "Switch Mode Global
52
Table 8.2: LSS-Message
52
Table 8.3: Command to Set Encoder "Stopped"-Mode
52
LSS Configuration by "Switch Mode Selective
53
Table 8.4: LSS-Selective-Identification-Commands
53
Table 8.5: Answer of Encoder to LSS-Selective-Identification-Commands
53
End LSS Configuration Mode
54
Baudrate Setting
54
Table 8.6: End LSS Configuration Mode - Step 1 - Store Parameters
54
Table 8.7: End LSS Configuration Mode - Step 2 - Leave Configuration Mode
54
Table 8.8: Set Baudrate
54
Table 8.9: Baudrate-Coding
54
Node-ID Setting
55
Table 8.10: Answer of LSS-Slave
55
Table 8.11: Set Node-ID
55
Configuration Via SDO
56
SDO Access on Objects
56
Figure 8.1: Read Object
56
Table 8.12: Example SDO Master to Encoder
56
Table 8.13: Example SDO Answer
56
Figure 8.2: Write Object
57
Table 8.14: Command Definitions
57
Table 8.15: Example SDO Send by Master
57
Table 8.16: Example SDO Answer
57
SDO Access on Objects Larger than 4 Bytes
58
Figure 8.3: Segmented SDO Read Access
58
Table 8.17: SDO Read Request on Object 6008H
58
Figure 8.4: Initiate SDO Read
59
Table 8.18: Declaration of Used Abbreviations in Figure 8.4
59
Table 8.19: Confirm SDO Read Access of Object 6008H
59
Figure 8.5: Read SDO Segment
60
Table 8.20: Declaration of Used Abbreviations in Figure 8.5
60
Table 8.21: Read of First Segment
60
Table 8.22: Answer with First Segment
60
Figure 8.6: Segmented-SDO Write Access
61
Table 8.23: Request Next Segment
61
Table 8.24: Answer with Next Segment
61
Figure 8.7: Initiate SDO Write
62
Table 8.25: SDO Write Access of Object 6009H
62
Table 8.26: Acknowledgement of Write Access of Object 6009H
62
Table 8.27: Declaration of Used Abbreviations in Figure 8.7
63
Table 8.28: Send First Segment
63
Table 8.29: Acknowledgement Send by the Encoder
63
Figure 8.8: Write SDO Segment
64
Table 8.30: Declaration of Used Abbreviations in Figure 8.8
64
Table 8.31: Send Next Segment
64
Baudrate Selection
65
Table 8.32: Acknowledgement Send by the Encoder
65
Table 8.33: SDO Command - Set Baudrate
65
Table 8.34: Baudrate-Coding
65
Node-ID Selection
66
Table 8.35: Node-ID Selection
66
Table 8.36: Valid Node-Ids
66
Basic NMT Commands
67
Table 8.37: NMT Command - Start Remote Node
67
Table 8.38: NMT Command - Stop Remote Node
67
Table 8.39: NMT Command - Enter Pre-Operational-State
67
Table 8.40: NMT Command - Reset Node Communication
67
Table 8.41: NMT Command - Reset Remote Node
67
Heartbeat Settings
68
PDO Configuration
68
PDO Parameters
68
Table 8.42: Example of Heartbeat Setting
68
Table 8.43: Structure of Heartbeat Message
68
Table 8.44: Heartbeat NMT-State-Coding
68
Table 8.45: Default PDO Configuration
68
Table 8.46: Selectable PDO Transmission Types
69
Table 8.47: PDO-Deactivation
69
Table 8.48: Example - PDO1 Deactivation
69
Synchronous PDO
70
Asynchronous PDO
70
Table 8.49: Parametrization of PDO1 Sub-Index 2
70
Table 8.50: Parametrization of PDO1 Sub-Index 2
70
Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30Ms
70
Variable PDO-Mapping
71
Table 8.52: Parametrization of PDO1 Sub-Index 2
71
Table 8.53: Parametrization of PDO1 Sub-Index 5
71
Table 8.54: Example of a Mapping-Table
71
Table 8.55: Structure of PDO1 (Content -> Table 8.54)
72
Table 8.56: Mapping Parameter
72
Table 8.57: Mapping Position Value
73
Table 8.58: Mapping Speed Value
73
Table 8.59: Mapping Acceleration Value
73
Table 8.60: Mapping Parameter - Activate New Mapping
73
Changing Resolution and Direction
74
Table 8.61: Counting Direction and Scaling Parameters
74
Table 8.62: Example Setting Operating Parameters
74
Position Preset
75
Table 8.63: Change of Singleturn-Resolution by SDO
75
Table 8.64: Change of Total Measuring Range by SDO
75
Table 8.65: Set Position Preset
75
Position Value Filtering
76
Change Speed-Integration and Speed Scaling
76
Table 8.66: Check Current Position
76
Frequency Limit
77
CAM-Configuration
77
Table 8.67: Example CAM-Configuration
77
Table 8.68: Enable First Three Cams
77
Table 8.69: CAM-High-Limit 1
78
Table 8.70: CAM-High-Limit 2
78
Table 8.71: CAM-High-Limit 3
78
Table 8.72: CAM-Low-Limit 1
78
Table 8.73: CAM-Low-Limit 2
78
Table 8.74: CAM-Low-Limit 3
78
Non-Volatilely Storage of Parameters
79
Saving Parameters into EEPROM
79
Table 8.75: Saving Parameters
79
Table 8.76: Example - Save All Parameters
79
Restoring Default Parameters from EEPROM
80
Table 8.77: Restoring Parameters
80
Error Diagnosis
81
Encoder Configurations
81
Table 9.1: Error Diagnosis - Encoder Configuration
81
Support
82

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