Kübler C100 User manual

Manual
R67042.0002 - 6
Draw-wire encoder C100
Draw-wire encoder D125

Table of Contents Kübler Group
2 - EN CANopen manual - C100/D125 - R67042.0002 - 06
Table of Contents
1 Document ........................................................................................................................ 4
2 General Information........................................................................................................ 5
2.1 Target Group........................................................................................................... 5
2.2 Symbols used / Warnings and Safety instructions.................................................. 5
3 Product Description ....................................................................................................... 7
3.1 Technical Data C100 .............................................................................................. 7
3.2 Technical Data D125 .............................................................................................. 8
3.3 Interface Description CANopen .............................................................................. 8
4 Installation....................................................................................................................... 10
4.1 Electrical Installation ............................................................................................... 10
4.1.1 General Information for the Connection.................................................... 10
4.1.2 Terminal Assignment ................................................................................ 10
4.2 Mechanical Installation............................................................................................ 10
4.2.1 Sensor Orientation .................................................................................... 10
5 Commissioning and Operation ..................................................................................... 12
5.1 Quick Start Guide.................................................................................................... 12
5.1.1 Default Settings......................................................................................... 12
5.1.2 Network Management Services ................................................................ 12
5.1.3 Setting the Baud Rate............................................................................... 13
5.1.4 Setting the Node Address ......................................................................... 13
5.2 Protocol Features.................................................................................................... 14
5.2.1 CANopen Communication Profile DS 301 V4.02...................................... 14
5.2.2 LSS services DS 305 V2.0........................................................................ 14
5.2.3 Data Transmission .................................................................................... 15
5.2.4 Network Management............................................................................... 18
5.3 CANopen Object Dictionary .................................................................................... 19
5.3.1 Structure of the object dictionary .............................................................. 20
5.3.2 Communication Objects............................................................................ 21
5.3.3 Manufacturer-Specific Objects.................................................................. 21
5.3.4 Device-Specific Objects ............................................................................ 22
5.4 Description of the Objects....................................................................................... 22
5.4.1 Object 1010h Save Parameters................................................................ 22
5.4.2 Object 1011h - Load factory settings ........................................................ 22
5.4.3 Object 1017h Producer Heartbeat Time ................................................... 23
5.4.4 Object 1018h - Identity object ................................................................... 23
5.4.5 Object 3000h - Baud Rate ........................................................................ 23
5.4.6 Object 3001h - Node Address................................................................... 24
5.4.7 Object 3003h - Inclinometer Direction Change ......................................... 24
5.4.8 Object 3004h - Angle Measurement Range.............................................. 25
5.4.9 Object 3005h – Behavior of the redundant angle signals ......................... 25
5.4.10 Object 3010h - Setting / resetting the 0° point .......................................... 25

Kübler Group Table of Contents
CANopen manual - C100/D125 - R67042.0002 - 06 EN - 3
5.4.11 Objects not mentioned .............................................................................. 26
5.5 PDO Mapping ......................................................................................................... 26
5.5.1 Mapping Parameters - TPDO1-2 .............................................................. 26
5.5.2 PDO Mapping Position.............................................................................. 27
5.5.3 PDO Mapping Angle ................................................................................. 28
5.6 Examples ................................................................................................................ 29
5.6.1 Example: basic parameterizing................................................................. 29
6 General CANopen Error Codes ..................................................................................... 31
7 Annex............................................................................................................................... 33
7.1 Decimal / Hexadecimal conversion table ................................................................ 33
8 Contact ............................................................................................................................ 35
Glossary .......................................................................................................................... 36

1 Document Kübler Group
4 - EN CANopen manual - C100/D125 - R67042.0002 - 06
1 Document
This document is the English translation of the original German version.
Publisher Kübler Group, Fritz Kübler GmbH
Schubertstr.47
78054 Villingen-Schwenningen
Germany
www.kuebler.com
Issue date 04/2020
Language version German is the original language
Copyright © 2020, Kübler Group, Fritz Kübler GmbH
Text sources MicroControl Systemhaus für Automatisierung2003,
Einführung in CANopen, Uwe Koppe
Image sources
Legal notices
All of the contents of this document are protected by the rights of use and copyrights of Fritz Kü-
bler GmbH. Any duplication, modification, further use and publications in other electronic or
printed media, as well as their publication in the Internet, even partially, is subject to the previ-
ous written authorization of Fritz Kübler GmbH.
The brand names and product brands mentioned in this document are trademarks or registered
trademarks of the respective titleholders.
Subject to errors and changes. The stated product features and technical data shall not consti-
tute any guarantee declaration.

Kübler Group 2 General Information
CANopen manual - C100/D125 - R67042.0002 - 06 EN - 5
2 General Information
Please read this document carefully before working with the product, mounting it
or starting it up.
2.1 Target Group
The device may only be planned, mounted, commissioned and serviced by persons having the
following qualifications and fulfilling the following conditions:
• Technical training.
• Briefing in the relevant safety guidelines.
• Constant access to this documentation.
2.2 Symbols used / Warnings and Safety instructions
DANGER Classification:
This symbol, together with the signal word DANGER, warns against
immediately imminent threat to life and health of persons.
The non-compliance with this safety instruction will lead to death or
severe adverse health effects.
WARNING Classification:
This symbol, together with the signal word WARNING, warns against
a potential danger to life and health of persons.
The non-compliance with this safety instruction may lead to death or
severe adverse health effects.
CAUTION Classification:
This symbol, together with the signal word CAUTION, warns against
a potential danger for the health of persons.
The non-compliance with this safety instruction may lead to slight or
minor adverse health effects.
ATTENTION Classification:
The non-compliance with the ATTENTION note may lead to material
damage.

2 General Information Kübler Group
6 - EN CANopen manual - C100/D125 - R67042.0002 - 06
NOTICE Classification:
Additional information relating to the operation of the product, and
hints and recommendations for efficient and trouble-free operation.

Kübler Group 3 Product Description
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3 Product Description
3.1 Technical Data C100
Measuring range 1 …. 5 m
Measuring wire material
Diameter
Nylon-coated AISI304 steel wire
ø 0.9 mm
Wire fastening Eyelet
Inside diameter ø 8 mm
Outside diameter Height ø 15 mm
Height 2 mm
Max. wire pull-out speed max. 1 m/s
Acceleration max. 10 m/s2
Pull-in force typ. 2 N
Pull-out force typ. 8 N
Drum circumference 245 mm
Type of connection M12 connector, 5-pin
Cable, 2 m
Housing Glass fiber reinforced polycarbonate
Protection level IP67
Temperature range -40°C ... +85°C
Supply voltage 9 ... 30 V DC, 5 V DC ±10 %
Electromagnetic compatibility acc. to EN 61326-1, EN 61326-3-1

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3.2 Technical Data D125
Measuring range 6.0 ... 10.0 m
Measuring wire material
Diameter
Nylon-coated AISI304 steel wire
ø 0.9 mm
Wire fastening Eyelet
Inside diameter ø 8 mm
Outside diameter Height ø 15 mm
Height 2 mm
Max. wire pull-out speed max. 1 m/s
Acceleration max. 10 m/s2
Pull-in force typ. 4.5 N
Pull-out force typ. 9 N
Type of connection M12 connector, 5-pin
Housing Glass fiber reinforced polycarbonate
Protection level IP67
Temperature range -40°C ... +85°C
Weight approx. 0.97 kg
Shock resistance according to EN 60068-2-27 300 m/s2, 11 ms
Vibration resistance according to EN 60068-2-6 100 m/s2, 10 ... 500 Hz
Supply voltage 9 ... 30 V DC, 5 V DC ±10 %
Electromagnetic compatibility acc. to EN 61326-1, EN 61326-3-1
3.3 Interface Description CANopen
The CANopen protocol is a standardized layer 7 protocol for the CAN bus. The CANopen pro-
tocol defines on the one hand the "How" of the communication, that is to say with which tele-
grams (i.e. identifiers) the devices can be addressed. CANopen implements as well mechan-
isms for the exchange of process data in real-time as the transmission of large data volumes or
the sending of alarm telegrams. On the other hand, CANopen defines the "What" of the commu-
nication, that is to say a parameter for setting a device is addressed via a defined interface (pro-
file).
These so-called CANopen profiles are organized in the form of a table (object directory). The
so-called "communication profile", which allows querying or setting basic device data, is com-
mon to all device profiles. This data includes for example the device designation, the hardware
and software version, the error status, the used CAN identifiers and many other parameters.
The device profiles describe the specific abilities or parameters of a "class" of devices. So far,
device profiles have been defined for digital or analog EIA devices, drives, operating devices,
sensors and controllers, programmable controls, encoders, medical technology, local public
transport, batteries and extrusion systems. Many other profiles are in preparation.

Kübler Group 3 Product Description
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Source: MicroControl Systemhaus für Automatisierung 2003, Uwe Koppe

4 Installation Kübler Group
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4 Installation
4.1 Electrical Installation
4.1.1 General Information for the Connection
ATTENTION Destruction of the device
Before connecting or disconnecting the signal cable, always discon-
nect the power supply and secure it against switching on again.
NOTICE General safety instructions
Make sure that the whole plant remains switched off during the elec-
trical installation.
• Make sure that the operating voltage is switched on or off simultan-
eously for the device and the downstream device.
• Use a PELV supply voltage source according to EN60204-1 with
the proper operating voltage and the maximum permissible output
current.
NOTICE Interference susceptibility
Connect the shield to the encoder housing.
Comply with the maximum cable length for stub lines and for the total
length of the bus network.
If possible, mount all cables with traction relief.
Check the maximum supply voltage on the device.
4.1.2 Terminal Assignment
Pin Description Pin arrangement, M12 connector
1 CAN-GND
2 +V
3 GND (0V)
4 CAN_H
5 CAN_L
4.2 Mechanical Installation
4.2.1 Sensor Orientation
During mechanical installation, take care to the orientation and to the angle range of the sensor.

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5 Commissioning and Operation Kübler Group
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5 Commissioning and Operation
5.1 Quick Start Guide
5.1.1 Default Settings
All parameters are created as objects in CANopen.
The original standard values (default values at the delivery) can be loaded again with Object
1011h (parameters restoration) and with the command load (0x6C6F6164).
To save modified parameters in a voltage failure-safe manner, they must be transferred in the
EEPROM with Object 1010h (save parameters).
All data previously saved in the EEPROM is overwritten.
NOTICE Termination
The device has no termination. If necessary, termination must be ad-
ded separately. Termination is recommended even for short lines
with low bit rates. Reflections may occur without termination. Ideally,
the bus is terminated at both ends (and only there) with 120 ohms.
5.1.1.1 Manufacturer-Specific Objects
Objects - DS406
Index Name Ac-
cess
Type Standard
value
Meaning
0x3000 Baud rate RW unsigned8 0x3 250 kbit/s
0x3001 Node address RW unsigned8 0x04
0x3003 Angle direction RW 0x01 Clockwise (cw)
0x3004 Angle measuring range RW 0x00 360°
0x3005 Behavior of the redundant
angle signals
RW 0x01 Opposite direc-
tion
0x3010 Angle zero position RW 0x00 0
0x5000 Angle RO - Current sensor
angle
5.1.2 Network Management Services
The following NMT services are available to the user for parameterizing and commissioning:

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Service COB-ID DLC D0 D1
Start remote node 0x000 2 0x01 ID
Stop remote node 0x000 2 0x02 ID
Enter Pre-operational mode 0x000 2 0x80 ID
Reset node 0x000 2 0x81 ID
Reset communication 0x000 2 0x82 ID
For a precise definition of the commands NMT Commands [}18].
NOTICE Broadcast
If a NMT service is to address all nodes, it is also possible to send
0x00 for D1.
5.1.3 Setting the Baud Rate
The baud rate can be adapted with Object 3000h:
COB-ID DLC D0 D1 D2 D3 D4 D5 D6 D7
Request 0x600 + ID 8 0x2F 0x00 0x30 0x00 BR 0x00 0x00 0x00
Re-
sponse
0x580 + ID 8 0x60 0x00 0x30 0x00 0x00 0x00 0x00 0x00
The following baud rates are available to the user:
BR Baud rate
0 1 Mbit/s
2 500 kbit/s
3 250 kbit/s
4 125 kbit/s
5 100 kbit/s
6 50 kbit/s
7 20 kbit/s
8 10 kbit/s
5.1.4 Setting the Node Address
The node number can be adapted with Object 3001h:
COB-ID DLC D0 D1 D2 D3 D4 D5 D6 D7
Request 0x600 + ID 8 0x2F 0x01 0x30 0x00 Node
ID
0x00 0x00 0x00
Re-
sponse
0x580 + ID 8 0x60 0x01 0x30 0x00 0x00 0x00 0x00 0x00

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NOTICE Valid node IDs
Node ID‘s in the range 1 … 127 are allowed.
5.2 Protocol Features
5.2.1 CANopen Communication Profile DS 301 V4.02
CANopen uses four communication objects (COB) with various features
1. Process Data Objects (PDO) for real-time data
2. Service Data Objects (SDO) for parameters and program transmission
3. Network Management (NMT, Life-Guarding, Heartbeat)
4. Predefined objects (for synchronization, timestamp, emergency)
All device parameters are saved in an object dictionary. This object dictionary contains the de-
scription, data type and structure of the parameters, as well as the address (index).
The directory is divided into the following sections:
• Communication profile
• Device profile
• Manufacturer profile
5.2.2 LSS services DS 305 V2.0
CiA DSP 305 CANopen Layer Setting Service and Protocol (LSS) were created to read and
modify the following parameters via the network:
1. Node address
2. Baud rate
3. LSS address
These abilities increase the "plug-and-play" compatibility of the device and the configuration
possibilities have been considerably simplified. The LSS master is responsible for the configura-
tion of these parameters for one or several slaves in the network.
LSS hardware requirements (LSS address)
All LSS slaves must have a valid object entry in the objects dictionary for the Identity object
[1018h] in order to be able to carry out a selective configuration of the node. This object con-
sists of the following sub-indices:
• Manufacturer ID
• Product code
• Revision number
• Serial number

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• LSS master CAN-ID 2021
• LSS slave CAN-ID 2020
A product code, a revision number and a serial number are set by the manufacturer. The LSS
address must be unequivocal in the network.
LSS operative restrictions
In order to ensure trouble-free LSS functionality, all devices in the network must support the
LSS services. Furthermore, the following applies:
• There can be only one LSS master.
• All nodes must start with the same baud rate.
• LSS communication can only take place in StoppED mode or in Pre-operational mode.
5.2.3 Data Transmission
With CANopen, data is transferred using two different communication types (COB=Communica-
tion Object) with different characteristics:
• Process Data Objects (PDO - real-time capable)
• Service Data Objects (SDO)
The Process Data Objects (PDO) are used for highly-dynamic exchange of real-time data with a
maximum length of 8 bytes (e.g. encoder position, speed, status of the compared positions) .
This data is transferred with high priority (low COB identifier). PDOs are broadcast messages
and make their real-time data available simultaneously to all desired recipients. PDOs can be
mapped. 4 position bytes and 2 speed bytes can be combined in one 8-byte data word.
The Service Data Objects (SDO) are the communication channel for the transmission of device
parameters (e.g. programming of the encoder resolution). As these parameters are transmitted
acyclically (e.g. only once when starting the network up), the SDO objects have a low priority
(high COB identifier).
5.2.3.1 Process Data Transmission - PDO
Up to three PDO services, PDO1 (tx), PDO2 (tx) and PDO3 (tx) are available for CANopen
devices. A PDO transfer can be triggered by various events (see object dictionary Index 1800h):
1. Synchronous pulse, triggered by an internal cyclic device timer (event timer) or by a pro-
cess value change of the sensor data.
2. Synchronous pulse as an answer to a SYNC telegram.
A SYNC command prompts all CANopen nodes to save synchronously their values, and to
send them subsequently one after the other on the bus according to the set priority)
3. Pulse as a response to an RTR telegram.
Exactly the message with the transmitted identifier is queried per remote frame (recessive
RTR bit).
NOTICE PDO combinations
Any other PDO combination with other objects is also possible,
provided the maximum data length of 8 bits is not exceeded.

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5.2.3.2 Service Data Transmission - SDO
DO-COB-ID
The following identifiers are available as a standard for the SDO services:
• SDO (tx) (slave→master): 580h (1408) + node number
• SDO (rx) (master→slave): 600h (1536) + node number
The SDO identifiers cannot be modified.
The command byte describes the type of the SDO message:
Command Type Function
0x23 SDO (rx), Initiate Download Request Send parameters to the device
(max. 4 bytes)
0x27 SDO (rx), Initiate Download Request Send parameters to the device
(max. 3 bytes)
0x2B SDO (rx), Initiate Download Request Send parameters to the device
(max. 2 bytes)
0x2F SDO (rx), Initiate Download Request Send parameters to the device
(max. 1 byte)
0x60 SDO (rx), Initiate Download Request Confirmation of the acceptance to the
master
0x40 SDO (rx), Initiate Download Request Request parameters from the device
0x43 SDO (rx), Initiate Download Request Parameters to master with data length
= 4 bytes (unsigned 32)
0x4B SDO (rx), Initiate Download Request Parameters to master with data length
= 2 bytes (unsigned 16)
0x4F SDO (rx), Initiate Download Request Parameters to master with data length
= 1 byte (unsigned 8)
0x80 SDO (rx), Initiate Download Request Device sends error code to master
NOTICE Error messages
In case of an error, an error message (command 80h) replaces the
normal confirmation (response). The error message includes errors in
the communication protocol (e. g. wrong command byte) as well as
access errors to the objects dictionary (e. g. wrong index, attempt to
write a read-only object, wrong data length).
The error codes are described in the CANopen profile (DS 301) or in
the device profile (DSP 406).
See General CANopen Error Codes [}31].
5.2.3.3 PDO Transmission Types
The PDOs can be transmitted in various ways:

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Code (dec.) Transmission type
cyclic acyclic synchronous asynchronous RTR only
0 X X
1 … 240 X X
241 … 251 reserved
252 X X
253 X X
254 X
255 X
Transmission type definition:
0: After SYNC, but only in the event of a value change since the last SYNC.
1 ... 240: Send value according to 1. ... 240. SYNC. The number of the transmission type
indicates the number of SYNC pulses required to send the PDOs.
252: SYNC leads to internal saving of the value, but the value must be collected per
RTR.
253: The value is updated and sent upon RTR.
254: The event is triggered depending on the application, while number 255 is de-
pending on the device. In addition, a time-controlled event timer can be used for
number 245/255. The value range for the timer ranges from 1 ms ... 65535 ms.
Acyclic synchronous
PDOs of transmission type 0 operate synchronously, but not cyclically. A device whose TxPDO
is configured for transmission type 0 determines its input data when receiving the SYNC (syn-
chronous process image). It then sends the data, if it corresponds to an event such as for ex-
ample the change of an input. Transmission type 0 combines the reason for triggering the trans-
mission in an "event-driven" way with the sending or processing moment SYNC reception.
Cyclic synchronous
With transmission type 1 … 240, the PDO is sent cyclically after every n-th SYNC (n=1...240).
Since the transmission type can be combined not only in the network, but also in a device, it is
possible for example to define a fast cycle for positions (n=1), while for example the temperat-
ure data is transmitted in a slower cycle (e.g. n=10). The cycle time (SYNC rate) can be mon-
itored (Object 0x1006). In the event of a SYNC failure, the device reacts according to the defini-
tion of the device profile and for example switches its outputs in the fault state.
RTR only
Transmission types 252 and 253 apply to process data objects, which are transmitted exclus-
ively upon request by a remote frame. 253 is asynchronous. Data is determined here continu-
ously and sent upon request. This transmission type is not recommended, as some CAN con-
trollers only support partially input data collection. Since some of the CAN controllers answer re-
mote frames automatically (without requesting previously up-to-date input data), the up-to-date-
ness of the polled data may possibly be doubtful.
Asynchronous
Transmission types 254 and 255 are asynchronous, or also event-driven. For transmission type
254 the event is defined manufacturer-specifically and in the device profile for transmission type
255. In the simplest case, the event is the change of an input value. Therefore every value
change is transmitted. The asynchronous transmission type can be coupled with the event timer

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and thus supplies input data also if no event occurred currently. It must be noted for TT 255 that
inhibit time > 100 must be set. Otherwise a CAN overrun error may occur, since the position of
the last digit is constantly changing.
5.2.4 Network Management
The following status diagram according to DS 301 shows the various node statuses and the cor-
responding network commands (controlled by the network master via NMT services):
Initialization
Pre-operational
Operational
Stopped
Automatic switch
to
Pre-operational
Switch to
Operational
Switch to
Pre-operational
Reset
node
Reset
communication
Switch to Pre-operational
Switch to Stopped
Switch to Stopped
Switch to Operational
Initialization
After power supply is applied or after a reset, the device is in the original status Initialization.
After performing the reset/initialization routines, the node switches automatically to the Pre-op-
erational status. The LEDs display the momentary status.
Pre-operational
The CAN node can now be addressed by SDO messages or NMT commands under the stand-
ard identifier. Then follows the programming of the encoder or communication parameters.
Operational
The node is active. Process values are supplied via the PDOs. All NMT commands can be eval-
uated.
Prepared or Stopped
In this status, the node is no longer active, i.e. neither SDO nor PDO communication is possible.
The node can be set to Operational or Pre-operational status by means of NMT commands.
5.2.4.1 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 participant.
An NMT Object is structured as follows:

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Byte 0 Byte 1
27… 20215… 28
COB-ID = 0
Byte 0 = Command byte
Byte 1 = Node number (e.g. 3F or 00 for all participants)
The COB ID of the NMT object is always 0
The node is addressed via the node numbers. With node number 0 all nodes are addressed.
Command byte Description
01hStart_Remote_Node: Switch to Operational
02hStop_Remote_Node: Switch to Prepared
80hEnter_Pre-Operational_State: Switch to Pre-operational
81hReset_Node: Reset the node
82hReset_Communication: Reset the communication
All parameters of the whole object dictionary are set to power-on values.
Only the parameters in section Communication profile of the object dictionary are set to power-
on values.
5.3 CANopen Object Dictionary
The object dictionary describes the whole range of functions (parameters) of a
CANopen device and is organized in the form of a table. The object dictionary not only contains
the standardized data types and objects of the CANopen communication profile and the device
profiles, but also, if applicable, manufacturer-specific objects and data types.
The description of the object directory entries is structured as follows:
Index (hex) Sub index (hex) Object Name Type Attr. M/O
Index
16-bit address of the entry
Sub index
8-bit pointer to a subentry
• Is only used with complex data structures (e. g. record, array).
• If there is no subentry: Sub index=0.
Object
• NULL entry without data

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• DOMAIN larger variable volume of data, e. g. program code
• DEFTYPE data types definition, e. g. boolean, float, unsigned16
• DEFSTRUCT definition of a record entry, e. g. PDO mapping structure
• VAR single data value, e.g. boolean, float, unsigned16, string
• ARRAY field with similar data, e. g. unsigned16 data
• RECORD field with arbitrarily mixed data types
Name
Short description of the function
Type
Data type, e.g. boolean, float, unsigned16, integer
Attribute
Specifies the access rights for the object:
• rw read and write access
• ro only read access
• const only read access, value = constant
M/O
• M Mandatory: The object must be implemented in the device.
• O Optional: The object must not be implemented in the device.
5.3.1 Structure of the object dictionary
The whole object dictionary is subdivided into several areas:
Index range Use
0000hUnused
0001-009FhData types (special case)
00A0-0FFFhReserved
1000-1FFFhCommunication profile
2000-5FFFhManufacturer-specific area
6000-9FFFhUp to 8 standardized device profiles
A000-AFFFhProcess images of IEC61131 devices
B000-BFFFhProcess images of CANopen gateways according to CiA 302-7
C000-FFFFhReserved