Pepperl+Fuchs ENA58PL-S CANopen redundant Series Manuals

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Pepperl+Fuchs ENA58PL-S CANopen redundant Series Manual (69 pages)

Absolute Rotary Encoder with redundant CANopen Interface

Brand: Pepperl+Fuchs | Category: Media Converter | Size: 3 MB

Table of Contents
3
Introduction
7
Content of this Document
7
Target Group, Personnel
7
Symbols Used
8
Declaration of Conformity
9
CE Conformity
9
Safety
10
Symbols Relevant to Safety
10
Intended Use
10
General Safety Instructions
11
General Information on System Integration
12
Overview
12
General Canopen Information
14
MTTF Values for Encoder Parts
15
Diagnostic Coverage DC
15
Installation
16
Signal Assignment of Connectors
16
Activation of the Terminator
17
Setting of Node Numbers and Baud Rates
17
Quick Start Guide
18
Configure the Absolute Rotary Encoder for Integration into a CAN Network
18
Configure Application-Specific Encoder Parameters
21
Configuration
25
Operating Modes
25
General
25
Mode: Pre-Operational
25
Mode: Start - Operational
25
Mode: Stopped
25
Reinitialization of the Rotary Encoder
26
Recommended Communication Process
26
Normal Operating
28
Storing Parameter
29
List of Storable Parameters
29
Storing Procedure
30
Restoring Parameters
30
Usage of Layer Setting Services (LSS)
30
Programmable Parameters
31
Programming Example: Preset Value
32
Set Encoder Preset Value
32
Communication Profile DS301 Specific Objects from 1000H - 1Fffh
33
Manufacturer Specific Objects from 2000H - 5Fffh
34
Application Specific Objects from 6000H - 67Feh
35
Object Descriptions
36
Object 1000H: Device Type
36
Object 1001H: Error Register
36
Object 1003H: Pre-Defined Error Field
37
Object 1005H: COB-ID Sync
37
Object 1008H: Manufacturer Device Name
37
Object 1009H: Manufacturer Hardware Version
37
Object 100Ah: Manufacturer Software Version
38
Object 100Ch: Guard Time
38
Object 100Dh: Life Time Factor
38
Object 1010H: Store Parameters
38
Object 1011H: Restore Parameters
39
Object 1012H: COB-ID Time Stamp Object
39
Object 1013H: High Resolution Time Stamp
39
Object 1014H: COB-ID Emergency Object
39
Object 1016H: Consumer Heartbeat Time
40
Object 1017H: Producer Heartbeat Time
40
Object 1018H: Identity Object
40
Object 1020H: Verify Configuration
41
Object 1029H: Error Behavior
41
Object 1800H: 1St Transmit PDO Communication Parameter
41
Object 1801H: 2Nd Transmit PDO Communication Parameter
42
Object 1A00H: 1St Transmit PDO Mapping Parameter
43
Object 1A01H: 2Nd Transmit PDO Mapping Parameter
43
Object 1F50H: Download Program Area
43
Object 1F51H: Program Control
43
Object 2000H: Position Value
44
Object 2100H: Operating Parameters
44
Object 2101H: Resolution Per Revolution
44
Object 2102H: Total Resolution
45
Object 2013H: Preset Value
45
Object 2104H: Limit Switch, Min
46
Object 2105H: Limit Switch, Max
46
Object 2160H: Customer Storage
47
Object 2200H: Cyclic Timer PDO
47
Object 2300H: Save Parameter with Reset
47
Object 2600H: High-Resolution Position Value
48
Object 3000H: Node Number
48
Object 3001H: Baud Rate
49
Object 3002H: Terminator
49
Object 3003H: Auto Baud Detection
50
Object 3005H: Auto Boot up
51
Object 3010H: Speed Control
51
Object 3011H: Speed Value
51
Object 3020H: Acceleration Control
52
Object 3021H: Acceleration Control
52
Object 3030H: Backward Compatible Mode
52
Object 3040H: Life Cycle Counter
53
Object 3050H: Time Stamp Position Value
53
Object 4000H: Bootloader Control
54
Object 4010H: PPR Incremental Encoder
54
Object 4020H: A/B Phase Shift
55
Object 6000H: Operating Parameters
55
Object 6001H: Measuring Units Per Revolution
56
Object 6002H: Total Measuring Range in Measuring Units
56
Object 6003H: Preset Value
56
Object 6004H: Position Value
56
Object 6008H: High Resolution Position Value
57
Object 6030H: Speed Value
57
Object 6040H: Acceleration Value
57
Object 6200H: Cyclic Timer
58
Object 6300H: Cam State Register
58
Object 6301H: Cam Enable Register
58
Object 6302H: Cam Polarity Register
59
Object 6400H: Area State Register
62
Object 6401H: Work Area Low Limit
62
Object 6402H: Work Area High Limit
63
Object 6500H: Operating Status
63
Object 6501H: Singleturn Resolution
63
Object 6502H: Number of Distinguishable Revolutions
63
Object 6503H: Alarms
64
Object 6504H: Supported Alarms
64
Object 6505H: Warnings
65
Object 6506H: Supported Warnings
65
Object 6507H: Profile and Software Version
66
Object 6508H: Operating Time
66
Object 6509H: Offset Value
66
Object 6509H: Module Identification
67
Object 650Bh: Serial Number
67
Troubleshooting
68
What to Do in Case of a Fault
68

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Pepperl+Fuchs ENA58PL-S CANopen redundant Series Manuals

Pepperl+Fuchs ENA58PL-S CANopen redundant Series Manual (69 pages)

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