Hengstler RA 58-P User manual

Item No. 2 542 052; Release 3140799hu 1of 32
Technical Manual
RA 58-P
with CAN-Bus (Layer 2)
Item no. 2 542 052
Release 3140799hu

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by HENGSTLER
HENGSTLER claims copyright protection for this documentation.
This documentation shall not be modified, amended, copied, or given to third parties without
prior written approval by HENGSTLER.
HENGSTLER GmbH
Postfach 11 51
78 550 Aldingen, Germany
Telephone: (49) 74 24 / 8 93 17
Telefax: (49) 74 24 / 8 93 70
Issue date: 14.07.99
We reserve the right to make technical modifications and improvements which serve the further
development of our products.

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Contents
1 Safety and Operating Instructions _____________________________________ 4
2 General Information _________________________________________________ 5
2.1 Introduction_________________________________________________________ 5
2.2 Range of Application _________________________________________________ 5
3 Software Description ________________________________________________ 6
3.1 Operating Modes ____________________________________________________ 6
3.2 Data Memory _______________________________________________________ 6
3.3 Warning Positions____________________________________________________ 6
3.4 Communication______________________________________________________ 6
3.5 Baud rate __________________________________________________________ 7
3.6 Identifiers __________________________________________________________ 7
3.6.1 Required Identifiers __________________________________________________ 7
3.6.2 Base Identifier_______________________________________________________ 8
3.7 Position Value Transfer _______________________________________________ 9
3.8 Warning Position Message_____________________________________________ 9
3.9 Current Encoder Status ______________________________________________ 10
4 Parameters _______________________________________________________ 11
4.1 Warning position message____________________________________________ 12
4.2 Operating Mode ____________________________________________________ 12
4.3 Cycle Time for Auto Mode ____________________________________________ 13
4.4 Counting Direction __________________________________________________ 13
4.5 Position Value Identifier ______________________________________________ 14
4.6 Transmission Identifier for Warning Position Message ______________________ 14
4.7 Transmission Identifier for "Encoder Status" ______________________________ 15
4.8 Reception Identifier for Commands and Parameters________________________ 15
4.9 Type of Encoder ____________________________________________________ 16
5 Commands _______________________________________________________ 17
5.1 Status Request_____________________________________________________ 17
5.2 Reset Encoder _____________________________________________________ 17
5.3 Reset Parameters___________________________________________________ 18
5.4 Store_____________________________________________________________ 18
5.5 Recall ____________________________________________________________ 18
6 Initial Operation ___________________________________________________ 19
6.1 Bus Connection of the Encoder ________________________________________ 19
6.1.1 Cable or Connector with Connection Type "CAN Transceiver" ________________ 19
6.1.2 Cable or Connector with Connection Type "Double Bus Lines"________________ 20
6.1.3 Connector 2-fold, 9-pole (internal t-manifold)______________________________ 21
6.1.4 Bus Terminal Box (internal t-manifold)___________________________________ 22
6.2 Control Elements ___________________________________________________ 23
7 Technical Data ____________________________________________________ 24
8 Dimensioned Drawing ______________________________________________ 26
9 Ordering Data _____________________________________________________ 32

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1 Safety and Operating Instructions
This technical manual describes the Software, parameterization and starting procedure of the
encoder.
•The absolute shaft encoders of the type RA 58-P/RA 59-P model series are quality products
manufactured in accordance with established electrical engineering standards.
The units have been delivered from the factory in perfect conformance to safety regulations.
To maintain this condition and to ensure trouble-free operation, please ob-serve the
technical specifications of this document.
•Installation and mounting may only be performed by an electrotechnical expert!
•The units may only be operated within the limits specified by the technical data.
•Maximum operating voltages must not be exceeded!
The units are designed complying with DIN EN 61010-part 1, protection class III.
To prevent dangerous structure-borne currents, the equipment has to be run on safety extra-
low voltage (SELV) and must be in an area of equipotential bonding.
Please use an external fuse for protection (see Electrical Data).
•Fields of application: industrial processes and controls.
Overvoltage at the connecting terminals must be limited to overvoltage-class-II values.
•Please avoid shocks to the housing – especially to the encoder shaft – and axial or radial
overload to the encoder shaft.
•Maximum accuracy and durability of our shaft encoders are only granted when using suitable
couplings.
•The high-quality EMC-specifications are only valid together with standard-type cables and
plugs. When using screened cables, the screen must broadly be connected with ground on
both ends. Likewise, the voltage-supply cables should entirely be screened. If this is not
possible you will have to take appropriate filtering measures.
•Installation environment and wiring are influential on the encoder's EMC: Thus the installer
must secure EMC of the whole facility (device).
•In electrostaticly threatened areas please take care for neat ESD-protection of plug and
connecting cable during installation work.
This sign marks paragraphs particularly to be observed to assure
proper use and to avoid risks.

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2 General Information
2.1 Introduction
The RA58 is an absolute shaft encoder (encoder, angle encoder), which - in the version
described here - transmits its current position to another bus participant via the "CAN bus"
transmission medium (physically: twisted and screened two-wire line).
The CAN (Controller Area Network) serial bus system, originally developed by Bosch/Intel for
applications in automobiles, is multimaster-capable; i. e. several CAN-participants can request
the bus simultaneously. The message with the higher priority (determined by the identifier) is
put through without delay.
The data transfer is controlled by the priority of the message. With CAN, there are no
participant addresses, but rather message identifiers. The message transmitted can be
received by all participants simultaneously (broadcast). The participant accepts only those
messages intended for it by means of an acceptance filter. The criterion for this decision is the
identifier that is transmitted with each message.
The bus connection is internationally standardised according to ISO/DIS 11898 (CAN High
Speed) and allows data transfer rates of up to 1 Mbit/s. The most salient feature of the CAN
protocol is its high transmission security (Hamming distance = 6).
Communication occurs via the CAN bus by means of layer 2 protocol. The encoder can
therefore be employed both in CAN systems in which the layer 2 protocol is used, as well as in
those in which the layer 7 protocol CAL is used. CAL offers the possibility to address bus
participants that have layer 2 protocol by means of "predefinitions".
The Intel 82527 CAN controller used is suitable for both basic and full CAN and supports CAN
specification 2.0 part A (standard protocol with 11-bit identifier). In bus systems following CAN
specification 2.0 part B (extended protocol with 29-bit identifier), the encoder behaves
passively; i.e. it cannot process messages in extended CAN format, but nevertheless does not
acknowledge them with alarm messages.
2.2 Range of Application
In systems in which the position of a drive or another machine part must be recorded and
reported to a controller, this task can be taken over by an RA58. The RA58 is able to perform
positioning tasks in which the acknowledgement of the current drive position is reported by an
RA58 via the CAN bus to the positioning unit.

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3 Software Description
3.1 Operating Modes
Polling mode: The connected host polls the current position value of the encoder via an RTR
telegram (Remote Transmission Request). The encoder sends the position value back along
with the same identifier. The encoder value is read by the encoder disks again upon the
reception of the request telegram. As a result, the response time amounts to 230 to 350 µs,
depending on whether and, as the case may be, how many warning positions are programmed.
Auto mode: The encoder sends the current position value of the encoder cyclically without
being prompted by the host. The cycle time can be set in the range from approx. 1 ms to 65 s.
A possibility to synchronise the cycles with the master has not been provided.
3.2 Data Memory
The parameters and settings required for the encoder are stored in a voltage-loss protected
EEPROM. Since an EEPROM loses its storage capability after a limited number (>100.000) of
write cycles, the parameters are initially only entered into the working memory (RAM, not
buffered) after a change. After the setting and checking of the changed parameters the
working memory must be copied into the EEPROM with the help of an appropriate command
(see below).
After a reset (as a result of start-up, watchdog or reset command), the encoder copies the data
stored in the EEPROM into its working memory.
Copying of the EEPROM into the working memory can also be accomplished with the help of a
separate command via the CAN bus (e. g. after the setting of corrupt parameters).
3.3 Warning Positions
A total of four positions can be programmed. If these positions are exceeded or fallen short of,
the encoder transmits a message. The positions and the behaviour (message output if
exceeded, message output if fallen short of or no message output) can be parameterized via
the CAN bus.
3.4 Communication
Communication with the host occurs via the CAN bus with layer 2 protocol. It can therefore be
employed both in CAN systems in which the layer 2 protocol is used, as well as in those in
which the layer 7 protocol CAL is used, since this is capable of addressing bus participants with
layer 2 protocols by means of "predefinitions".
Communication is monitored by means of host time-outs, by means of which the response time
of the encoder is monitored in poll mode and the transmission cycle in auto mode. All data is
transmitted in binary code. Parameters transmitted from the host are acknowledged by the
encoder by means of a status message.

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3.5 Baud rate
The baud rate can be set at 8 levels via three DIP switches:
(see Fehler! Verweisquelle konnte nicht gefunden werden. Fehler! Verweisquelle konnte
nicht gefunden werden.)
* Manufacturers default setting
The DIP switches are only evaluated during start-up of the encoder (after reset).
A change in the switch position therefore has no effect until the next reset.
3.6 Identifiers
For the first addressing and programming of the encoder, the identifiers are defined by means
of five DIP switches (base identifiers). After that, any number of new identifiers can be defined
and programmed for the encoder via the CAN bus. The encoder uses the newly programmed
identifiers, as long as the DIP switches are not changed.
3.6.1 Required Identifiers
A total of four identifiers are required:
•position value transfer (base identifier, see DIP switches)
•warning position message (base identifier +1)
•sending of encoder status (base identifier +2)
•receiving of parameters/commands (base identifier +3)
The identifiers can be programmed to any value via the CAN bus.
DIP switch ("ON"=1)
876 Baud rate in KBit/s
OFF OFF OFF 1000
OFF OFF ON 500*
OFF ON OFF 250
OFF ON ON 125
ON OFF OFF 100
ON OFF ON 50
ON ON OFF 20
ON ON ON 10

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An identifier that is changed via parameterization (see sections 4.5 to 4.8) first becomes
effective after the next reset (switching ON/OFF or, reset command). Therefore, the following
sequence is necessary for the immediate validity of the identifier change:
•transmit new identifier(s)
•"Store“ command
•"Reset Encoder“ command
The differentiation between the individual parameters/commands occurs by means of
subidentifiers within the data part of the CAN message.
3.6.2 Base Identifier
The base identifier is set via five DIP switches that are evaluated at the reset (through
the command "Reset" or after an interruption in the operating voltage) of the encoder.
This setting is made only when the settings of the DIP switches have changed since the
previous reset. Otherwise the identifiers stored in the EEPROM, possibly set via the
bus, remain in force.
By means of the DIP switches, five bits of the 11-place identifier can be set:
(see Fehler! Verweisquelle konnte nicht gefunden werden. Fehler! Verweisquelle konnte
nicht gefunden werden.)
Description1): D10D9 D8 D7 D6 D5 D4D3D2D1D0
Value2):0
DIP 5 DIP 4 DIP 3 DIP 2 DIP 1 00001
1) Description of identifier data bits, D0=LSB, D10=MSB
2) Binary value of the bit, DIP 1 ... DIP 5 = value set via DIP switch (ON=1, OFF=0)
Therefore the base identifiers ranging from 1 to 993 can be set in a grid of 32
(identifier 0 and those >1024 are reserved for CAL).
Manufacturers default setting: all DIP switches are set to OFF (O), i.e. base identifier = 1
If a new base identifier is accepted, all the required identifiers (see below) are reset. The
identifier for the position value transfer is set to the base identifier, and the other three follow
step immediately afterwards.

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3.7 Position Value Transfer
The position value is transmitted to the host in a telegram along with the identifier for the
position value transfer, either cyclically or on demand, according to the set operating mode (see
section "Operating Modes").
The position value telegram comprises four data bytes, in which the position value is stored
according to the following table:
Byte 0 Byte 1 Byte 2 Byte 3
27to 20215 to 28223 to 216 231 to 224
The position value prompt consists of an RTR message (prompt for message) with the same
identifier as the position value telegram.
3.8 Warning Position Message
Up to four warning positions can be transferred to the encoder as parameters. These
telegrams contain, besides the warning positions, the information as to whether the warning
position message should be sent upon exceeding and/or falling short of the transferred position
(see section "Parameters and Commands").
As soon as one of the conditions for the transmission of an warning position message is met
(exceeding or falling short of the corresponding warning position) the encoder transmits the
following telegram with the identifier for the warning position message:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4
27to 20215 to 28223 to 216 231 to 224 Flags
Bytes 0 through 3 contain the exceeded or fallen short of warning position.
The flags in byte 4 are bit coded with the following meaning:
D7 D6 D5 D4 D3 D2 D1 D0
Position fallen short of Position exceeded 0 0 0 0 2120
The index of the warning position exceeded or fallen short of is contained in bits D1 and D0.

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3.9 Current Encoder Status
This parameter is not a value that can be transmitted from another bus participant to the
encoder. It is the current status of the encoder that the encoder transmits as acknowledgement
to every other parameter transfer, as well as that with which it answers the "Status Request"
command.
Prefixed identifier: transmission identifier for encoder status
The encoder status contains the following information:
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
29DERR MODE TYP VER_NK VER_VK
Byte 0: Subindex "29" contains the status transfer.
Byte 1: Current operating status, 0 = no error, <> 0 is the error number
Error numbers: 128D: Alarm from multiturn (hardware error)
64D: Alarm from single-turn (hardware error)
3D: Memory error
2D: Cycle duration too short (10 KBaud < 10 ms;
20 KBaud < 5 ms; 50 KBaud = 1 ms)
1D: Inadmissible parameter (protocol error)
Byte 2: Current operating mode, 0 = polling mode, 1 = auto mode
Byte 3: Count bits of the encoder in single-turn range
Byte 4: Post decimal position of the software version number
Byte 5: Pre decimal position of the software version number
The reception of a command is acknowledged by the encoder with the current encoder status.

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4 Parameters
Certain parameters are necessary for the operation of the encoder. These parameters
influence the behaviour of the encoder and adapt the characteristics of the encoder to the
relevant conditions.
The parameters have a default setting that can be set by the "Reset Parameter“ command.
The identifiers that are programmed via the CAN bus are set to their default values by means of
the "Reset Parameter" command only after being stored into EEPROM by means of the "Store"
command and an ensuing "Reset Encoder" command.
The parameters are transferred in a data telegram from the host to the encoder. All
parameters are transferred along with the same identifier; differentiation occurs with the help of
a subindex within the data part of the telegram.
The transfer of a parameter is acknowledged by the encoder with the transmission of its current
status.
List of parameters to the encoder:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Telegram Subindex
(decimal) Default value Meaning
Set warning pos. 20 0, disabled define warning position and direction
Set mode 21 auto mode switch into polling or auto mode
Set cycle 22 1s set cycle time for auto mode
Set encoding
characteristic 23 cw adjustment of the counter direction
Set ITX-ID 24 1Dor
from DIP switch* set position value identifier
Set WTX-ID 25 2Dor
from DIP switch + 1* set transmission identifier for warning position message
Set PRX-ID 26 3Dor
from DIP switch + 2* set transmission identifier for "Encoder Status“
Set PTX-ID 27 4Dor
from DIP switch + 3* set receive identifier for "Commands and Parameters“
Set encoder type 28 preset in the factory setting of the type of the encoder
* The DIP switch identifiers are only accepted if the position of the DIP switches has changed since the
last reset.

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4.1 Warning position message
Along with the warning positions, additional information as to whether the warning position
message is sent if the position value exceeds or falls short of the warning position is
transferred. The warning positions are transferred with the following telegram:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
20D27to 20215 to 28223 to 216 231 to 224 Flags
Byte no. 0 contains the subindex "20" for the transfer of the warning positions
Bytes 1 through 4 contain the warning position.
The flags in byte 5 are bit-coded with the following meaning:
D7 D6 D5 D4 D3 D2 D1 D0
MUN MUE 0 0 0 0 2120
MUN: If this bit is set, an warning position message is sent out from the encoder if the position
value falls short of the warning position.
MUE: If this bit is set, an warning position message is sent out from the encoder if the position
value exceeds the warning position.
If both MUN and MUE are set, the encoder transmits the appropriate warning position message
in case the position is exceeded and fallen short of.
If neither MUN nor MUE is set, no monitoring of the position occurs.
Bits D1 and D0 determine the index of the transferred warning position.
4.2 Operating Mode
The encoder is set to polling mode or auto mode with the transfer of the operating mode. This
setting is made by means of the following telegram:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
21DMODE0000
Byte no. 0 contains the subindex "21" for the transfer of the operating mode.
Byte 1 contains the new operating mode:
•MODE = 0: polling mode
•MODE = 1: auto mode

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4.3 Cycle Time for Auto Mode
If the encoder is working in Auto mode, the time interval in milliseconds at which the encoder
transmits the position value cyclically can be set by means of the following telegram:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
22D27- 20215 - 28000
Byte no. 0 contains the subindex "22" for the transfer of the cycle duration.
Bytes 1 and 2 contain the new cycle duration [ms].
4.4 Counting Direction
The counting direction of the encoder can be set. The counting direction is defined as "cw" or
"ccw":
•cw: upwards counting for clockwise rotation of the shaft (cw = clockwise) with
view of the shaft
•ccw: upwards counting for counter-clockwise rotation of the shaft
(ccw = counter-clockwise) with view of the shaft.
This setting is made by means of the following telegram:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
23Dencoding
characteristic 0000
Byte no. 0 contains the subindex "23" for the transfer of the encoding characteristics.
Byte 1 contains the new encoding characteristics:
•Byte 1 = 0: Setting "cw"
•Byte 1 = 1: Setting "ccw"

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4.5 Position Value Identifier
After the reset of the encoder, the position value identifier is accepted from the position of the
DIP switches if this has changed since the previous reset. However, it can also be changed via
the bus:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
24D27- 20210 - 28000
Byte no. 0 holds the subindex "24" for the transfer of the position value identifier.
Bytes 1 and 2 contain the new identifier.
If a new position value identifier has been set via the bus (and stored by means of the "Store"
command), it retains its validity (even after switch-off of the encoder) up until a change in the
DIP switches for the setting of the base identifiers is detected during a reset. In this case the
position value identifier is set to the pre-set base identifier.
4.6 Transmission Identifier for Warning Position Message
The identifier for the warning position message can also be changed via the bus:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
25D27- 20210 - 28000
Byte no. 0 contains the subindex "25" for the transfer of the identifier for the warning position
message.
Bytes 1 and 2 contain the new identifier.
The set identifier retains its validity up until a change in the relevant DIP switches for the base
identifier is detected during reset. In this case the identifier for the warning position message is
set to the pre-set base identifier + 1.

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4.7 Transmission Identifier for "Encoder Status"
This identifier can likewise be changed via the bus:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
26D27- 20210 - 28000
Byte no. 0 contains the subindex "26" for the transfer of the identifier for the encoder status.
Bytes 1 and 2 contain the new identifier.
The new identifier takes effect only after the next encoder reset.
The set identifier retains its validity up until a change in the relevant DIP switches for the base
identifier is detected during reset. In this case the parameter identifier is set to the pre-set base
identifier + 2.
4.8 Reception Identifier for Commands and Parameters
The reception identifier for commands and parameters can also be changed via the bus:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
27D27- 20210 - 28000
Byte no. 0 contains the subindex "27" for the transfer of the reception identifier for the
parameters.
Bytes 1 and 2 contain the new identifier.
The set identifier retains its validity up until a change in the relevant DIP switches for the base
identifier is detected during reset. In this case the identifier for commands and parameters is
set to the pre-set base identifier + 3.

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4.9 Type of Encoder
Encoders come in single-turn and multiturn versions. The single-turn models are specified by
the number of increments per revolution. This data is described by the parameter "type". This
parameter is pre-set in the factory prior to delivery of the encoder and should not be
modified later.
Since a later change of this parameter cannot be recommended, the value is not even
influenced by a "Reset Parameter" command.
The telegram has the following format:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
28Dno. of bits single-turn SM 0 0 0
Byte no. 0 contains the subindex "28" for the transfer of the encoder type.
Byte 1 contains the number of bits in the single-turn range of the encoder. The value is
required by the encoder so that it can form its actual position correctly.
The value in byte 2 indicates whether the encoder is single-turn or multiturn:
•SM = 0: single-turn
•SM = 1: multiturn

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5 Commands
A list of the commands to the encoder:
Prefixed identifier: Identifier for "Reception of Parameters/Commands"
Telegram Subindex
(decimal) Meaning
Status request 29 Request for the status of the encoder
Reset encoder 40 Trigger a warm start of the encoder
Reset parameters 41 Set parameters in working memory to default values
Store 42 Copy working memory into the EEPROM
Recall 43 Copy the EEPROM contents into working memory
Commands possess no further relevant data beyond the subindex.
5.1 Status Request
The current status of the encoder is sent out (s. 3.9 Current Encoder Status)
5.2 Reset Encoder
The encoder executes a warm start after this command.
That means:
•the hardware components of the encoder are newly initialised
•the parameters are copied from the EEPROM into the working memory
•the DIP switches are read in and evaluated:
The base identifier is set via five DIP switches which are evaluated during a reset
(through the command "Reset" or after an interruption in the operating voltage) of the
encoder. This setting occurs only when the setting of the DIP switches has changed
since the previous reset. Otherwise, the identifiers stored in the EEPROM, possibly
set via the bus, remain in force.
The warm start is executed only after the encoder has acknowledged the command by sending
its current status.

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5.3 Reset Parameters
The parameters are set to their default values in the working memory (see Chapter 4
Parameters).
Note: This command has no effect on the permanent memory (EEPROM) of the encoder.
Parameters stored there remain in effect.
If the entire permanent memory should also be set to standard values, then use the
command sequence "Reset Parameter" and "Store".
Caution: This command erases the previous encoder programming irrevocably!
The identifiers programmed via the CAN bus are set to their default values by the "Reset
Parameters" command only after being stored into the EEPROM by means of the "Store"
command followed up by the "Reset Encoder" command.
5.4 Store
The parameters stored in the working memory (RAM) are saved into the EEPROM and are
preserved there even without operating voltage.
After a reset (reconnection of the operating voltage), the parameters are automatically loaded
into the working memory.
Note: The previously stored values in the EEPROM are overwritten by the "Store" command!
5.5 Recall
The parameters stored in the EEPROM are loaded back into the working memory.
This process is also automatically executed after a reset (reconnection of the operating
voltage).

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6 Initial Operation
6.1 Bus Connection of the Encoder
The continuous CAN bus must be terminated on both ends with a bus terminal
resistor of 120 Ohm between CAN+ and CAN- !
For CAN encoders, the following connection types are available:
1. Cable or connector with connection type "CAN Transceiver" (external t-manifold required)
2. Cable or connector with connection type "double bus lines" (external t-manifold required)
3. Connector 2-fold, 9- pole (internal t-manifold)
4. Bus terminal box (internal t-manifold)
6.1.1 Cable or Connector with Connection Type "CAN Transceiver"
The screen must be connected with ground on both ends. Also the voltage supply
lines should be screened completely. If this is not possible, the corresponding filter
measures are to be taken.
In case of 1 MBaud the standard cable has to be shortened to 30 cm !
According to CAN Bus Specification ISO/DIS 11898 for transfers with 1MBaud
transfer rate, the drop line to a CAN module must not be longer than 30cm max..
transfer rate max. bus
length max. drop line length
20 kBit/s 1000 m 7.5 m
100 kBit/s 500 m 3.75 m
500 kBit/s 100 m 0.75 m
1000 kBit/s 40 m 0,3 m

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The assignments correspond to the CiA-guidelines.
Line
pairs TPE-Cable Connector Signal Description
Pair 1 green 2 CAN- CAN- bus line (dominant L)
yellow 7 CAN+ CAN+ bus line (dominant H)
Pair 2 blue and brown 3 and11 CAN GND Ground (0V potential for CAN Bus)
Pair 3 brown (0.5 mm2) 10 0 V Ground (0V for encoder supply)
white (0.5 mm2) 12 10 ... 30 VDC Encoder supply
Screen Screen Screen Screen connected to encoder housing
Note: Use paired signal cables with screen, place screen on both sides!
6.1.2 Cable or Connector with Connection Type "Double Bus Lines"
This connection type can be used for encoders with the connection type cable (Code A,
B) or connector (Code C, D, G, H).
For the connection types connector 2-fold (Code I) and bus terminal box (Code Z), the
incoming and the outgoing bus line is directly connected to the encoder anyway. In these
cases, the connection type "CAN Transceiver" has to be selected.
For the output "double bus lines" , there will be no drop line, because the continuous bus line
can be interrupted and led through the encoder. As a consequence, the shaft encoder can be
installed at a greater distance from the CAN bus main phase.