gefran RK-5 C User manual

185201A_RK5C_User Manual_02-2017_ENG
RK-5 C
(CANopen OUTPUT)
User Manual
Code 85201A Edition 02-2017
1 Introduction page 2
2 Get started procedure page 2
2.1 Node parameters setting 2
2.2 Operating parameters setting 4
2.3 Requesting process data 4
3 LSS Services page 5
3.1 LSS switch state services 5
3.2 LSS configuration services 6
3.3 LSS inquiry services 8
3.4 LSS identification services 10
4 SDO Services page 12
4.1 Object Dictionary 14
4.2 SDO Objects 16
5 PDO Services page 30
5.1 PDO Message Format 30
5.2 PDO Data Types 30
5.3 PDO Mapping 30
5.4 PDO Transmission Types 30
6 NMT Services page 32
6.1 NMT device states 32
6.2 NMT node control 32
6.3 NMT states and communication objects 33
6.4 Restricted CAN-IDs 33
7 Boot-up Services page 34
8 SYNC Services page 34
9 EMCY Services page 34
10 Error Control Services page 35
SUMMARY

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1. INTRODUCTION
The GEFRAN RK5C is a Digital Linear Position Sensor with CANopen interface. It implements the standard CANopen
communications protocol defined by CiA (CAN in Automation).
The CANopen standards supported by the device are listed in the following table.
CiA standard Description Version
DS 301 CANopen application layer and communication prole 4.2.0
DS 305 Layer setting services (LSS) and protocols 3.0.1
DS 406 Device prole for encoders 3.2.0
Table 1 - Supported CANopen standards
This document describes the CANopen implementation on the GEFRAN RK5C CANopen device. It is addressed to
CANopen network system integrators and to CANopen device designers who already know the content of the above-
mentioned standards defined by CiA.
The details of aspects defined by CANopen do not pertain to the purpose of this text. For further information on the
CANopen protocol see www.can-cia.de
2. GET STARTED PROCEDURE
2.1 NODE PARAMETERS SETTING
Before connecting the GEFRAN RK5C sensor to a fully configured and working CAN bus, some basic configuration
actions have to be performed. The configuration involves the Node-ID and the Baud rate of the CANopen device.
The configuration is mandatory if at least one of these conditions is true:
1) The Node-ID of the GEFRAN RK5C sensor is identical to the Node-ID of another CANopen device connected
to the CAN bus.
2) The GEFRAN RK5C sensor operates with a baud rate different from the CAN bus baud rate.
If the condition at point 2 in not verified, the configuration can also be performed on that CAN bus, but all the other
CANopen devices on the CAN bus should be taken in power-off state during the configuration process in order to avoid
errors or conflicts.
If the baud rate configuration has to be performed, the GEFRAN RK5C sensor must be connected to a CAN bus that
works at the same baud rate of the sensor. The baud rate of the actual CAN bus (with all devices connected to it) can also
be temporary set equal to the sensor baud rate until configuration is done. The configuration is made using LSS (Layer
Setting Services).
Switching to LSS configuration mode
The first operation is to switch the sensor into LSS configuration mode. If the sensor is the only device on the CAN bus
(with the LSS master), the LSS Switch State Global command can be used.
Source COB-ID DLC Data Destination
Controller 7E5h 08h 04h; 01h; 00h; 00h; 00h; 00h; 00h; 00h Sensor
Figure 1 - LSS Switch State Global command
If there are other devices on the CAN bus (except the LSS master), the LSS Switch State Selective command must be
used. Refer to the LSS Services section for details.

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Setting the Node-ID
If the Node-ID of the sensor has to be changed, the LSS Configure Node-ID command must be used.
Source COB-ID DLC Data Destination
Controller 7E5h 08h 11h; 7Eh*; 00h; 00h; 00h; 00h; 00h; 00h Sensor
Sensor 7E4h 08h 11h; 00h**; 00h; 00h; 00h; 00h; 00h; 00h Controller
Figure 2 - LSS Congure Node-ID command
* the Node-ID value to be configured, within 1..127 (126 in this example).
** if value is 1, it means Node-ID out of range, i.e. the command was not accepted.
Setting the baud rate
If the baud rate of the sensor has to be changed, the LSS Configure Bit Timing Parameters command must be used.
Source COB-ID DLC Data Destination
Controller 7E5h 08h 13h; 00h; 02h*; 00h; 00h; 00h; 00h; 00h Sensor
Sensor 7E4h 08h 13h; 00h**; 00h; 00h; 00h; 00h; 00h; 00h Controller
Figure 3 - LSS Congure Bit Timing Parameters command
* the table-index of the corresponding bit rate (500kbit/s in this example).
Refer to the Table index in the LSS Configure Bit Timing Parameters section for details.
** If the value is 1 means that the bit timing is not supported; the command was not accepted.
Storing configuration settings
To save the previously configured Node-ID and Baud rate permanently (to non-volatile memory of the device) the LSS
Store Configuration command must be used.
Source COB-ID DLC Data Destination
Controller 7E5h 08h 17h; 00h; 00h; 00h; 00h; 00h; 00h; 00h Sensor
Sensor 7E4h 08h 17h; 00h*; 00h; 00h; 00h; 00h; 00h; 00h Controller
Figure 4 - LSS Store Conguration command
* value other than 0, means store operation failed.
Verifying configuration setting
To check if the configuration settings of the device have been correctly executed and stored, proceed as follows:
1. power off the device
2. set the baud rate of the CAN bus to the correct value
3. power on the device
If the boot-up message is received, it means that the device baud rate setting is correct. The Node-ID of the device is
contained inside the COB-ID of the message (boot-up COB-ID = 700h + Node-ID).
The format of the boot-up message is specified in the following figure.
Source COB-ID DLC Data Destination
Controller 700h + Node-ID 01h 00h Controller
Figure 5 – Boot-up message format

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2.2 OPERATING PARAMETERS SETTING
After configuring the node parameters, the sensor can be integrated in the CANopen network. When powering on, the
sensor transmits the boot-up message, and it goes into the Pre-operational state.
Before requesting process data, configuration of operating parameters of the sensor can be performed. Configuration
of operating parameters is made through SDO Services (Service Data Objects). Through SDO services, it is possible for
example to change the transmission type of the PDO (Process Data Object) selecting the synchronous (through SYNC
messages) or asynchronous (through event-timer) mode, or transmission time (event timer) of the asynchronous PDO.
It is possible to save changed parameters in non-volatile memory accessing the Store Parameters object through SDO,
or restore default parameters with the Restore Default Parameters object.
It is possible to access all the objects specified in the Object Dictionary of the device (see Object Dictionary section).
SDO Services are available in Pre-operational and Operational states only (see NMT Services section).
2.3 REQUESTING PROCESS DATA
The GEFRAN RK5C CANopen position sensor provides one Transmit PDO (TPDO1), that includes position and speed
data measured by the sensor.
TPDO1 data format
Position and speed data are mapped in TPDO1 as shown in the following figure.
COB-ID DLC D0 D1 D2 D3 D4 D5
180h + Node-ID 6 Position value Speed value
Figure 6 - TPDO1 mapped data
The position data is expressed with a fixed resolution corresponding to 100 μm, in INTEGER32 data format. The speed
data in expressed with a 1mm/s resolution, in INTEGER16 data format. Byte ordering of position and speed data inside
TPDO1 follows the LSB..MSB ordering scheme.
Position and speed values are calculated as follows:
Position [μm]= Position value * 100 μm
Speed [mm/s] = Speed value * 1 mm/s
TPDO1 data transmission
The transmission of the Process Data Object is made when the sensor is in Operational state. To start data transmission,
the master sends the NMT “Start” command, as shown in the following figure.
Source COB-ID DLC Data Destination
Controller 000h 02h 01h; 00h* Sensor
Figure 7 - NMT “Start” command
* 00h: all nodes, nnh: only the node with Node-ID equal to nnh
To stop data transmission the master sends the “Enter NMT Pre-operational state” command, as shown in the following
figure.
Source COB-ID DLC Data Destination
Controller 000h 02h 80h; 00h* Sensor
Figure 8 - NMT “Enter NMT pre-operational” command
* 00h: all nodes, nnh: only the node with Node-ID equal to nnh

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3. LSS SERVICES
LSS services and protocols are used to inquire or to change the settings of three parameters of the CANopen device:
- Node-ID of the CANopen device
- Bit timing parameters of the physical layer (bit rate)
- LSS address compliant to the identity object (1018h)
3.1 LSS SWITCH STATE SERVICES
LSS switch state global
By means of this service, the LSS master device switches all LSS slave devices in the network into LSS waiting state
or LSS configuration state.
The LSS master sends this message to switch the LSS slave(s) into configuration state:
COB-ID Rx/Tx DLC Data
7E5h Rx 8 D0 D1 D2 D3 D4 D5 D6 D7
04h 01h 00h 00h 00h 00h 00h 00h
Figure 9 - LSS switch state global - conguration state - message
The LSS master sends this message to switch back the LSS slave(s) to waiting state:
COB-ID Rx/Tx DLC Data
7E5h Rx 8 D0 D1 D2 D3 D4 D5 D6 D7
04h 00h 00h 00h 00h 00h 00h 00h
Figure 10 - LSS switch state global - waiting state - message
LSS switch state selective
By means of this service, the LSS master device switches the LSS slave device, whose LSS address equals the LSS
address specified by the messages, into LSS configuration state.
The transmitted LSS address shall be equal to the identity object (object 1018h) of the related LSS slave.
The LSS address for the GEFRAN RK5C CANopen device is specified in the following table.
Address Field Value
LSS Address
Vendor-ID 00000093h
Product code 43354B52h
Revision Number Actual RK5C r.n.*
Serial Number Actual RK5C s.n. (printed on the label)**
Figure 11 - RK5C LSS Address
* Actual Revision number can vary.
The user can inquire the Revision number with LSS Inquire Revision Number command (see LSS Inquire Services).
** Actual Serial number is device specific.
It is printed on the label attached to the GEFRAN RK5C transducer case, or it can be inquired with the LSS Inquire Serial
Number command (see LSS Inquire Services).

685201A_RK5C_User Manual_02-2017_ENG
The LSS master sends this message sequence to switch the GEFRAN RK5C CANopen device into configuration state
(the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 40h 93h 00h 00h 00h 00h 00h 00h
7E5h Rx 8 41h 52h 4Bh 35h 53h 00h 00h 00h
7E5h Rx 8 42h 01h* 00h* 01h* 00h* 00h 00h 00h
7E5h Rx 8 43h 34h** 12h** 01h** 15h** 00h 00h 00h
7E4h Tx 8 44h 00h 00h 00h 00h 00h 00h 00h
Figure 12 - LSS switch state selective message sequence
* The Revision number used for this example is 00010001h
** The Serial number used for this example is: 15011234h
The Serial Number is assigned by GEFRAN to the RK5C sensor in accordance with the following scheme.
SERIAL NUMBER : YY WW NNNN, where:
YY: year of production
WW: week of production
NNNN: progressive number inside the week, starting from 1
3.2 LSS CONFIGURATION SERVICES
LSS configure node-ID
By means of this service, the LSS master device configures the pending node-ID of the LSS slave device. The LSS
slave device confirms the success or the failure of the service execution.
The allowed node-ID values are in the range 1..127 (01h..7Fh). The LSS master sends this message to configure the
value of the node-ID (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 11h Node
ID 00h 00h 00h 00h 00h 00h
7E4h Tx 8 11h Error
code 00h 00h 00h 00h 00h 00h
Figure 13 - LSS congure node-ID message
where Error code: 00h (Protocol successfully completed) or 01h (Node-ID out of range)
The pending node-ID becomes active only after the master sends a NMT reset communication command. The node-ID
is not automatically saved to the non-volatile memory of the slave device. In order to save the persistent node-ID, refer to
the LSS store configuration service.
When the pending node-ID becomes active, or when the node-ID is stored in non volatile memory, the following COB-
IDs are automatically updated according to their default values:
- COB-ID SYNC (1005h)
- COB-ID EMCY (1014h)
- COB-ID SDO rx (1200h, sub 1)
- COB-ID SDO tx (1200h, sub 2)
- COB-ID TPDO (1800h, sub 1)
At the power on, the active node-ID equals the persistent node-ID.

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LSS configure bit timing parameters
By means of this service, the LSS master device configures the pending bit rate of the LSS slave device. The LSS slave
device confirms the success or the failure of the service execution.
The allowed bit rate values with the associated table index, are specified in the following table.
Table index Bit rate (kbit/s)
0 1000
1 800
2 500
3 250
4 125
5 Reserved
6 50
7 20
8 10
Table 2 - Table index for bit timing table
The LSS master sends this message to configure the bit rate (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 13h 00h Table
index 00h 00h 00h 00h 00h
7E4h Tx 8 13h Error
code 00h 00h 00h 00h 00h 00h
Figure 14 - LSS congure bit timing message
where Error code: 00h (Protocol successfully completed) or 01h (Bit timing not supported).
The pending bit rate becomes active only after the master sends the LSS activate bit timing parameter service, or with
the next power-on after the execution of the LSS store configuration service.
The bit rate is not automatically saved to the non-volatile memory of the slave device. In order to save the persistent
bit rate, refer to the LSS store configuration service.
At the power on, the active bit rate equals the persistent bit rate.
LSS activate bit timing parameters
By means of this service, the LSS master activates simultaneously the bit rate at the LSS communication interface of
all CANopen devices in the network.
Therefore the reception of this command triggers at the LSS slave the copying process of the currently pending bit rate
to the active bit rate.
The LSS master sends this message to activate the bit timing parameters:
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 15h Switch delay 00h 00h 00h 00h 00h
Figure 15 - LSS activate bit timing parameters message
where Switch delay is the time, in ms, multiplied by 2 when the new bit timing settings becomes active (Intel format byte
ordering)

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The Switch delay parameter specifies the length of two delay periods of equal length, which are necessary to avoid
operating the network with different bit rates.
After “Switch delay” has elapsed the first time after service indication, the slave device stops communicating on the
bus.
After “Switch delay” has elapsed one more time, the slave device resume the communication on the bus using the new
active bit rate.
LSS store configuration
By means of this service, the LSS master device requests the LSS slave device to store the configured local layer
settings (node-ID and bit rate) to non-volatile memory. On execution of this command the pending node-ID and bit rate are
copied to the persistent node-ID and bit rate.
The LSS master sends this message to store the LSS configuration (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 17h 00h 00h 00h 00h 00h 00h 00h
7E4h Tx 8 17h Error
code 00h 00h 00h 00h 00h 00h
Figure 16 - LSS store conguration message
where Error code: 00h (Protocol successfully completed) or 02h (Storage media access error).
3.3 LSS INQUIRY SERVICES
LSS inquire node-ID
By means of this service, the LSS master device inquires the active node-ID of the LSS slave device that is in LSS
configuration state. The LSS slave device responds indicating his active node-ID.
The LSS master sends this message to inquire the node-ID (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 5Eh 00h 00h 00h 00h 00h 00h 00h
7E4h Tx 8 5Eh Node
ID 00h 00h 00h 00h 00h 00h
Figure 17 - LSS inquire node-ID message
where Node-ID is the LSS slave’s active node-ID.
LSS inquire LSS address
By means of this service, the LSS master device inquires the LSS address of the LSS slave device. The LSS slave
device responds indicating his LSS address.
The LSS master sends this message to inquire the Vendor-ID (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 5Ah 00h 00h 00h 00h 00h 00h 00h
7E4h Tx 8 5Ah Vendor ID 00h 00h 00h
Figure 18 - LSS inquire identity Vendor-ID message
where Vendor-ID is the LSS slave’s identity Vendor-ID (Intel format byte ordering).

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The LSS master sends this message to inquire the Product-code (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 5Bh 00h 00h 00h 00h 00h 00h 00h
7E4h Tx 8 5Bh Product code 00h 00h 00h
Figure 19 - LSS inquire identity Product-code message
where Product-code is the LSS slave’s identity Product-code (Intel format byte ordering).
The LSS master sends this message to inquire the Revision number (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 5Ch 00h 00h 00h 00h 00h 00h 00h
7E4h Tx 8 5Ch Revision number 00h 00h 00h
Figure 20 - LSS inquire identity Revision number message
where Revision number is the LSS slave’s identity Revision number (Intel format byte ordering).
The LSS master sends this message to inquire the Serial number (the slave sends the response message):
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 5Dh 00h 00h 00h 00h 00h 00h 00h
7E4h Tx 8 5Dh Serial number 00h 00h 00h
Figure 21 - LSS inquire identity Serial number message
where Serial number is the LSS slave’s identity Serial number (Intel format byte ordering).

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3.4 LSS IDENTIFICATION SERVICES
LSS identify remote slave
By means of this service, the LSS master device requests all LSS slave devices to identify themselves by means of the
'LSS identify slave' service, whose LSS address meets the LSS_Address_sel. The LSS_Address_sel consists of a single
vendor-ID and a single product code and a span of revision and serial numbers determined by a low and high number.
The protocol defined in the following figure implements the LSS identify remote slave service. All LSS slave devices
with matching vendor-ID and product-code and whose major revision-number and serial-numbers are located within the
given ranges, identify themselves with the LSS identify slave service. The boundaries are included in the interval.
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 46h Vendor-ID Reserved
7E5h Rx 8 47h Product-code Reserved
7E5h Rx 8 48h Revision number low Reserved
7E5h Rx 8 49h Revision number high Reserved
7E5h Rx 8 4Ah Serial number low Reserved
7E5h Rx 8 4Bh Serial number high Reserved
Figure 22 - LSS identify remote slave message sequence
Where:
Vendor-ID is the LSS slave’s identity Vendor-ID (Intel format byte ordering).
Product-code is the LSS slave’s identity Product-code (Intel format byte ordering).
Revision number low and Revision number high identity the Revision number span (Intel format byte ordering).
Serial number low and Serial number high identity the Serial number span (Intel format byte ordering).
LSS identify slave
By means of this service, an LSS slave device indicates that it is a slave device with an LSS address within the LSS_
Address_sel given by an LSS identify remote slave service executed prior to this service.
The protocol is defined in the following figure.
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E4h Tx 8 4Fh Reserved
Figure 23 - LSS identify slave message
LSS identify non-configured remote slave
By means of this service, the LSS master device requests all LSS slave devices to identify themselves by means of
the 'LSS identify non-configured slave' service, who got stuck in NMT Initialization state, whose pending node-ID is invalid
(FFh) and who have no active node-ID.
The protocol is defined in the following figure.
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E5h Rx 8 4Ch Reserved
Figure 24 - LSS identify non-congured slave message

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LSS identify non-configured slave
By means of this service, an LSS slave device indicates that it is an LSS slave device that got stuck in NMT Initialization
state, owns an invalid (FFh) pending node-ID and no active node-ID.
This service is executed in case a LSS identify non-configured remote slave service was initiated by the LSS master
device.
The protocol is defined in the following figure.
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
7E4h Tx 8 50h Reserved
Figure 25 - LSS identify non-congured slave message

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4. SDO SERVICES
SDO services provide direct access to the object entries of a CANopen device's object dictionary. The device initiating
the SDO transfer is called the SDO client.
The CANopen device hosting the accessed object dictionary is called the SDO server.
SDO download
The SDO client uses this service for transferring data to the object dictionary of the SDO server. SDO download ser-
vice is therefore used to configure (write) communication, device and manufacturer parameters of the GEFRAN RK5C
CANopen device.
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
600h +
node-ID Rx 8 Cs Index Sub index Data
580h +
node-ID Tx 8 60h Index Sub index 00h 00h 00h 00h
Figure 26 - SDO download message
where:
Cs is the command specifier of the SDO download request, whose value depends on the number of bytes of Data field:
Cs=23h 4 transmitted data bytes
Cs=27h 3 transmitted data bytes
Cs=2Bh 2 transmitted data bytes
Cs=2Fh 1 transmitted data bytes
Data is the data to be copied in the object dictionary value (Intel format byte ordering)
Index is the object dictionary parameter index (Intel format byte ordering)
Sub index is the object dictionary parameter sub index
SDO upload
The SDO client uses this service for transferring the data from the server (owner of the object dictionary) to the client.
SDO upload service is therefore used to check (read) communication, device and manufacturer parameters of the
GEFRAN RK5C CANopen device.
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
600h +
node-ID Rx 8 40h Index Sub index 00h 00h 00h 00h
580h +
node-ID Tx 8 42h Index Sub index Data
Figure 27 - SDO upload message
where:
Index is the object dictionary parameter index (Intel format byte ordering)
Sub index is the object dictionary parameter sub index
Data is the data value read from object dictionary (Intel format byte ordering)

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SDO abort transfer
The SDO abort transfer service aborts the SDO download or the SDO upload service of an SDO referenced by its
number.
As result of an SDO abort transfer event, the SDO server sends this message to the SDO client:
COB-ID Rx/Tx DLC Data
D0 D1 D2 D3 D4 D5 D6 D7
580h +
node-ID Tx 8 80h Index Sub index Abort code
Figure 28 - SDO abort response message
where:
Index is the object dictionary parameter index (Intel format byte ordering)
Sub index is the object dictionary parameter sub index
Abort code explain the reason of the SDO abort event.
The following table contains the abort codes provided by the protocol SDO abort transfer of the GEFRAN RK5C
CANopen device.
Abort code Description
05040001h Client/server command specier not valid or unknown
05040005h Out of memory
06010001h Attempt to read a write only object
06010002h Attempt to write a read only object
06020000h Object does not exist in the object dictionary
06040041h Object cannot be mapped to the PDO
06070010h Data type does not match, length of service parameter does not match
06090011h Sub-index does not exist
06090030h Invalid value for parameter (download only)
08000020h Data cannot be transferred or stored to the application.
Figure 29 - SDO abort codes

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4.1 OBJECT DICTIONARY
The object dictionary of the GEFRAN RK5C CANopen device is specified in the following tables.
Communication Profile Area
Index Sub
index Name Type Access Default value Comment
1000h 0 Device type Unsigned32 RO 000A0196h Multi-sensor encoder interface with
ds406 device prole
1001h 0 Error register Unsigned8 RO - 00h: no error
81h: transducer error
1002h 0 Manufacturer
status register Unsigned32 RO - Common status register for manu- facturer-specic purposes
1005h 0 COB-ID SYNC Unsigned32 RW 00000080h Congured COB-ID of the synchro-
nization object (SYNC)
1008h 0 Manufacturer
device name Visible string RO RK5C Name of the device
1009h 0 Manufacturer
HW version Visible string RO - Hardware version description
100Ah 0 Manufacturer
SW version Visible string RO - Software version description
1010h
0
Store
parameters
Unsigned8 RO 1 Highest sub-index supported
1 Unsigned32 RW 00000001h
Writing the signature “save” (73h,
61h, 76h, 65h) stores all parame-
ters in ash memory
1011h
0Restore
default
parameters
Unsigned8 RO 1 Highest sub-index supported
1 Unsigned32 RW 00000001h
Writing the signature “load” (6Ch,
6Fh, 61h, 64h) restores all parame-
ters in ash to their default values
1014h 0 COB-ID EMCY Unsigned32 RW 00000080h +
Node-ID
Congured COB-ID for the EMCY
write service
1015h 0 Inhibit time
EMCY Unsigned16 RW 0000h Congured inhibit time for the EMCY service
1017h 0 Producer
heartbeat time Unsigned16 RW 0000h Congured cycle time of the heartbeat (ms)
1018h
0
Identity object
Unsigned8 RO 4 Highest sub-index supported
1 Unsigned32 RO 00000093h Vendor-ID
2 Unsigned32 RO 43354B52h Product code
3 Unsigned32 RO - Revision number
4 Unsigned32 RO - Serial number
1200h
0
SDO1 server
parameter
Unsigned8 RO 2 Highest sub-index supported
1 Unsigned32 RO 00000600h +
Node-ID COB-ID client --> server (rx)
2 Unsigned32 RO 00000580h +
Node-ID COB-ID server <-- client (tx)
1800h
0
TPDO1
communication
parameter
Unsigned8 RO 5 Highest sub-index supported
1 Unsigned32 RW 00000180h +
Node-ID COB-ID of the TPDO1
2 Unsigned8 RW FEh Transmission type
5 Unsigned16 RW 0001h Event-timer
1A00h
0TPDO1
mapping
parameter
Unsigned8 RO 2 Number of mapped application
objects in TPDO1
1 Unsigned32 RO 60200120h 1st application object (position)
2 Unsigned32 RO 60300110h 2nd application object (speed)

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Manufacturer Profile Area
Index Sub
index Name Type Access Default value Comment
2000h 0 Number of
cursors Unsigned8 RO 1 Number of cursors set for position and speed measuring
Device Profile Area
Index Sub
index Name Type Access Default value Comment
6000h 0 Operating
parameters Unsigned16 RW -Conguration of the operating parameters of the encoder
6005h
0
Linear encoder
measuring step
settings
Unsigned8 RO 2 Highest sub-index supported
1 Unsigned32 RO 100000 Position measuring step given in
multiples of 0,001μm
2 Unsigned32 RO 100 Speed measuring step given in
multiples of 0,01mm/s
6010h
0 Preset values
for multi-sensor
devices
Unsigned8 RO 1 Highest sub-index supported
1 Integer32 RW - Preset value channel 1
6020h
0 Position values
for multi-sensor
devices
Unsigned8 RO 1 Highest sub-index supported
1 Integer32 RO - Position value channel 1
6030h 0Speed value Unsigned8 RO 1 Highest sub-index supported
1 Integer16 RO - Speed value channel 1
6200h 0 Cyclic timer Unsigned16 RW 0001h Transmission period for TPDO1
given in multiples of 1ms
6500h 0 Operating
status Unsigned16 RO -
Operating status of the encoder
functions congured in the object
6000h
6501h 0 Measuring step Unsigned32 RO 100000 Position measuring step given in
multiples of 0,001μm

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4.2 SDO OBJECTS
1000h – Device type
This object describes the type of the device and its functionality. It is composed of a 16-bit field that describes the device
profile or the application profile that is used and a second 16-bit field, which gives additional information about optional
functionality of the device.
The structure of the device parameter is represented in the following figure.
31 16 15 0
Additional Information Device Prole Number
Figure 30 - Structure of the Device type parameter
Additional information = 000Ah
Device Profile Number = 0196h
Object description
Index Name
1000h Device type
Entry description
SUB Index Name Access Data Type Value Range Default
0 Device type RO Unsigned32 000A0196h 000A0196h
1001h – Error register
This object provides error information. The CANopen device maps internal errors into this object. It is a part of an
emergency object
For the GEFRAN RK5C CANopen device two types of error conditions are defined: Device hardware error and Data
set error.
The “Data Set” type error occurs when a mismatch between the stored checksum and the calculated checksum during
a reading operation from the non volatile memory of the device is detected. The checksum is verified during the start-up
phase after power-on, during initialization state, after a reset communication or reset device NMT command, and after a
SDO write in object 1011h (load default parameters). This error can only be cleared by a hardware device reset.
The “Device Hardware” type error is set when the microcontroller detects anomalies during the sensor low-level mea-
suring routines. The error register contains one of the error codes described in the following table.
Error code Name
00h No error
01h Data set error
81h Device hardware error or
Device hardware error and Data set error
Table 3 - Error codes in the Error register
Object description
Index Name
1001h Error register
Entry description
SUB Index Name Access Data Type Value Range Default
0 Error register RO Unsigned8 00h,01h,81h 00h

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1002h – Manufacturer status register
This object provides a common status register for manufacturer-specific purposes.
The structure of the register is represented in the following figure.
31 24 23 16 15 8 7 0
0 0 0 0 T E3 E2 E1 E0 S N
Figure 31 Structure of the Manufacturer status register
Where
N: Status 0 = sensor in error state
1 = normal running state, valid position and velocity data transmitted
S: Working state 0 = normal running state
1 = start up or internal test mode
E0: Magnet error 0 = one magnet detected
1 = no or more than one magnet detected
E1: Range error 0 = no error
1 = the calculated position is out of range when also the position and velocity values
are set to zero
1 = the velocity value may be not correct
E2: Data Flash error 0 = no error
1 = non volatile memory checksum not correct
E3: Controller error 0 = no error
1 = error detected by microcontroller
T: μC temperature state 0 = ok, μC temperature <= 105°C
1 = warning, μC temperature > 105°C
Object description
Index Name
1002h Manufacturer status register
Entry description
SUB Index Name Access Data Type Value Range Default
0Manufacturer status
register RO Unsigned32 00h..7Fh 01h
1005h – COB-ID SYNC
This object indicates the configured COB-ID of the synchronization object (SYNC). It also defines whether the CANopen
device generates the SYNC.
The structure of this object is specified in the following figure.
31 30 29 28 11 10 0
x gen. frame Reserved (0 0000h) 11-bit CAN-ID
Figure 32 - Structure of SYNC COB-ID
The value definition is given in the following table.
Field name Value Description
x 0 Do not care
gen 0 Device does not generate SYNC message
frame 0 11-bit CAN-ID valid (CAN base frame)
11 bit CAN-ID 80h (default) or user dened 11-bit CAN-ID of the CAN base frame
Table 4 - COB-ID SYNC message eld

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The user can change the default COB-ID SYNC value in the range of the allowed values, ensuring that no conflicts with
other COB-IDs are generated.
The value is also automatically changed in accordance with the “default scheme” when changing the Node-ID value.
Object description
Index Name
1005h COB-ID SYNC
Entry description
SUB Index Name Access Data Type Value Range Default
0 COB-ID SYNC RW Unsigned32 Unsigned32(*) 00000080h
(*) The 11-bit CAN-ID of the COB-ID must be compliant to the restricted CAN-ID definitions (see Restricted
CAN-ID section). A restricted CAN-ID cannot be used.
1008h – Manufacturer device name
This object provides the name of the device as given by the manufacturer.
Object description
Index Name
1008h Manufacturer device name
Entry description
SUB Index Name Access Data Type Value Range Default
0Manufacturer
device name RO Visible_string Visible_string RK5C
1009h – Manufacturer hardware version
This object provides the manufacturer hardware version description
Object description
Index Name
1009h Manufacturer hardware version
Entry description
SUB Index Name Access Data Type Value Range Default
0Manufacturer
hardware version RO Visible_string Visible_string -

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100Ah – Manufacturer software version
This object provides the manufacturer software version description.
Object description
Index Name
100Ah Manufacturer software version
Entry description
SUB Index Name Access Data Type Value Range Default
0Manufacturer
software version RO Visible_string Visible_string -
1010h – Store parameters
This object controls the saving of parameters in non-volatile memory.
31 0
e (65h) v (76h) a (61h) s (73h)
MSB LSB
Figure 33 - Storage write access structure
By read access the sub-index 1 of this object, the device provides information about its saving capabilities. Giving the
value of 1, it means that the device saves parameters on command.
Object description
Index Name
1010h Store parameters
Entry description
SUB Index Name Access Data Type Value Range Default
0Highest sub-index
supported RO Unsigned8 1 1
1Save all
parameters RW Unsigned32
Read access:
00000001h
Write access:
65766173h
(ASCII: “save”)
Read access:
00000001h
Write access:
65766173h
(ASCII: “save”)

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1011h – Restore default parameters
This object controls the restore of parameters in non-volatile memory to their default values, according to the commu-
nication and device profile.
In order to avoid restoring of parameters by mistake, restoring is only executed when the signature “load” is written to
the sub-index 1, so that all parameters are restored in non-volatile memory.
The restore default parameters write access structure is specified in the following figure.
31 0
d (64h) a (61h) o (6Fh) l (6Ch)
MSB LSB
Figure 34 - Restore write access structure
By read access the sub-index 1 of this object, the device provides information about its restoring capabilities. Giving
the value of 1, it means that the device can restore parameters on command.
The default values are set valid after the device is power cycled.
Restore default
Power cycle
Default values valid
Figure 35 - Restore procedure
For the GEFRAN RK5C CANopen device, the Restore default parameters command does not apply to these objects:
- COB-ID SYNC (1005h)
- COB-ID EMCY (1014h)
- COB-ID of TPDO1 (1800h, sub-index 1)
- COB-IDs of 1st SDO (1200h, sub-index 1 and 2)
The value of the above listed objects is modified only after a change of the Node-ID value.
Object description
Index Name
1011h Restore default parameters
Entry description
SUB Index Name Access Data Type Value Range Default
0Highest sub-index
supported RO Unsigned8 1 1
1Restore all default
parameters RW Unsigned32
Read access:
00000001h
Write access:
64616F6Ch
(ASCII: “load”)
Read access:
00000001h
Write access:
64616F6Ch
(ASCII: “load”)