Kübler Sendix 7058 User manual

Manual
Sendix 7058 / 7078 / 7158 / 7178
Absolute Singleturn Encoder
Sendix 7068 / 7088 / 7168 / 7188
Absolute Multiturn Encoder
R60712.0002

R60712.0002 EN
Company Kübler Group, Fritz Kübler GmbH
Schubertstr. 47
78054 Villingen-Schwenningen
Germany
www.kuebler.com
Application support Tel. [phone]
Fax [phone]
[email protected]
Document no. R60712.0002
Document-Title Manual
Sendix 7058 / 7078 / 7158 / 7178
Sendix 7068 / 7088 / 7168 / 7188
Language version English (EN) – English is the original version
Document version 28.06.2018, Document no. R60712.0002 - Index 3
Copyright ©2018, Kübler Group, Fritz Kübler GmbH
Legal notice All contents included in this manual are protected by the terms of
use and copyrights of Fritz Kuebler GmbH. Any reproduction,
modification, usage or publication in other electronic and printed
media as well as in the internet requires prior written
authorization by Fritz Kuebler GmbH.

1 Table of contents
R60712.0002 EN
Table of contents
Table of contents
List of abbreviations
1. Technical details and characteristics ...............................................................................6
1.1 CANopen Multiturn /Singleturn Encoder Series 58X8...........................................................6
1.2 The CANopen Communication Profile DS 301 V4.2.0..........................................................6
1.3 Encoder Device Profile DS 406 V3.1....................................................................................7
1.4 Objectives of LSS.................................................................................................................7
1.5 Data transmission.................................................................................................................7
1.6 Objects and Function Code in the Predefined Connection Set..............................................8
1.7 Transmission of Process Data..............................................................................................9
2. Electrical installation and CAN bus.................................................................................11
2.1 Supply voltage (Power supply) ...........................................................................................11
2.2 CANbus lines......................................................................................................................11
2.3 Bus Termination .................................................................................................................12
3. Grounding and equipotential bonding............................................................................13
4. Quick Start Guide - Default settings on delivery............................................................14
4.1 Encoders with cable outlet..................................................................................................14
4.2 Communication parameter .................................................................................................14
4.3 Encoder profile...................................................................................................................15
5. Emergency Objects..........................................................................................................17
6. Heartbeat Protocol ...........................................................................................................18
7. Objects of Encoder Profile DS 306..................................................................................19
7.1 Object 6000h Operating Parameters ..................................................................................19
7.2 Object 6001h: measuring steps per revolution (Resolution)................................................20
7.3 Object 6002h: Total number of measuring steps.................................................................20
7.4 Object 6003h: Preset Value................................................................................................20
7.5 Object 6004h: Position Value..............................................................................................21
7.6 Object 6030h: Speed Value................................................................................................21
7.7 Object 6040h: Acceleration Value.......................................................................................21
7.8 Object 6200h: Cyclic Timer.................................................................................................22
7.9 Object 6500h: Display Operating Status.............................................................................22
7.10 Object 6502h: Number of Multiturn revolutions........................................................22
7.11 Object 6503h: Alarms..............................................................................................23
7.12 Object 6504h: Supported Alarms.............................................................................23

1 Table of contents
R60712.0002 EN
7.13 Object 6505h: Warnings..........................................................................................23
7.14 Object 6506h: Supported Warnings.........................................................................24
7.15 Object 6400h: Working Area State Register 2 values ..............................................24
7.16 Object 2100h: Baud rate..........................................................................................25
7.17 Object 2101h: Node address...................................................................................25
7.18 Object 2102h: CAN bus termination OFF/ON ..........................................................26
7.19 Object 2103h: Firmware flash version......................................................................26
7.20 Object 2105h: Save All Bus Parameters..................................................................26
7.21 Objekt 2110h: Sensor Configuration Data................................................................27
7.22 Objekt 2120,4h: Actual temperature Position-Sensor *............................................27
7.23 Objekt 2120,2h: Actual temperature lower limit Position-Sensor..............................28
7.24 Objekt 2120,3h: Actual temperature upper limit Position-Sensor .............................28
7.25 Object 2130h: Encoder Measuring Step ..................................................................28
7.26 Object 2140h: Customer Memory (16 Bytes)...........................................................29
7.27 Object 2150h: Temperature History.........................................................................29
8. Network Management.......................................................................................................31
9. NMT Commands...............................................................................................................32
10. Glossary............................................................................................................................33

1 List of abbreviations
R60712.0002 EN
List of abbreviations
Abbreviation Meaning
CAL
CAN Application Layer. Application layer (Layer 7) in the CAN
communication model
CAN
Controller Area Network
CiA
CAN in Automation. International association of CAN products users
and manufacturers
CMS
CAN Message Specification. Service element of CAL
COB
Communication Object. Transport unit in the CAN network (CAN
message). Data is sent through the network in a COB.
COB-ID
C OB-Identifier. Univocal designation of a CAN message. The identifier
determines the priority of the COBs in the network.
DBT
Distributor. Service element of CAL, responsible for the dynamic
allocation of identifiers.
DS
Draft Standard
DSP
Draft Standard Proposal
ID
Identifier, see COB-ID
LMT
Layer Management. Service element of CAL, responsible for the
configuration of the parameters in the various layers of the
communication model.
LSB
Least Significant Bit/Byte
MSB
Most Significant Bit/Byte NMT Network Management. Service element
of CAL, responsible for the initialization, configuration and errors
handling within the network.
MT
Multiturn encoder
OSI
Open Systems Interconnection. Layers model for describing the
functional areas in a data communication system.
PDO
Process Data Object. Object for the exchange of process data.
RTR
Remote Transmission Request; data request telegram
SDO
Service Data Object; communication object used by the master to
access the object dictionary of a node.
SYNC
Synchronization telegram. Bus participants answer the SYNC
command with their process value.

1 Technical details and characteristics
R60712.0002 EN - 6
1. Technical details and characteristics
1.1 CANopen Multiturn /Singleturn Encoder Series 58X8
The CANopen encoders of Series 7068/88 support the latest CANopen communication profile
according DS 301 V4.02. In addition, device-specific profiles such as the encoder profile DS 406 V3.1
are adapted. The following operating modes can be selected: Polled Mode, Cyclic Mode, Sync Mode
and a High Resolution Sync Protocol.
Moreover, scale factors, preset values, limit switch values and many other additional parameters can
be programmed via the CAN-Bus. At Power ON all parameters are loaded from an EEPROM, which
had previously been saved in the non-volatile memory to protect them in case of power failure. The
following output values may be freely combined as PDO (PDO Mapping): position, speed,
acceleration as well as the status of the four limit switches.
The encoders are available with a cable connection, for which changes to the device address and
baud rate are software controlled. The models have an integrated T-coupler to allow an easy
installation .
1.2 The CANopen Communication Profile DS 301 V4.2.0
CANopen represents a unified user interface and thus allows for a simplified system structure with a
wide variety of devices.CANopen is optimized for the fast exchange of data in real-time systems and
possesses a number of different device profile that have been standardized. The CAN in Automation
(CiA) manufacturers and users group is responsible for creating and standardization
of the relevant profiles.
CANopen offers
• user-friendly access to all device parameters
• auto-configuration of the network and of the devices
• device synchronization within the network
• cyclic and event-driven process data exchange
• simultaneous read and write of data
CANopen uses four communication objects (COB) with different properties
• Process Data Objects (PDO) for real-time data,
• Service Data Objects (SDO) for transmitting parameters and programs,
• Network Management (NMT, Life-Guarding, Heartbeat)
• Predefined Objects (for Synchronisation, Time-Stamp, Emergency)
All device parameters are filed in an Object Dictionary. This Object Dictionary contains the
description, data type and structure of the parameters, as well as the address (Index).
The dictionary is divided into a communications profile section, a section covering the device profile
as well as a section specific to the manufacturer.

1 Technical details and characteristics
R60712.0002 EN - 7
1.3 Encoder Device Profile DS 406 V3.1
This profile describes a vendor-independent mandatory definition of the interface with regard to
encoders. It is laid down in the profile, which CANopen functions are to be used as well as how they
are to be used. This standard thus makes possible an open vendor-independent bus system.
Figure 1
The device profile is broken down into two Object classes:
• Class C1 describes all the basic functions that the encoder must contain.
• Class C2 contains numerous extended functions, which must either be supported by encoders
of this class (Mandatory) or which are optional. Class 2 devices thus contain all C1 and C2
mandatory functions, as well as additional optional functions dependent on the manufacturer.
An address range is also defined in the profile to which the manufacturer’s own special
functions can be assigned.
1.4 Objectives of LSS
CiA DSP 305 CANopen Layer Setting Service and Protocol (LSS) services and protocols were
created to enable the following parameters to be read and changed through the network:
1. The CANopen Node ID
2. The CAN baud rate
3. The LSS address
This increases the “plug–and-play” capabilities of devices on CANopen networks as preconfiguration
of the network is less restrictive. The LSS Master is responsible for configuring these parameters on
one or more LSS Slaves on a CANopen network.
1.5 Data transmission
With CANopen data are transferred via two different communication types (COB=Communication
Object) with different properties:
• Process Data Objects (PDO – real-time capable)
• Service Data Objects (SDO)

1 Technical details and characteristics
R60712.0002 EN - 8
The Process Data Objects (PDO) provide high-speed exchange of real-time data (e.g. encoder
position, speed, comparative position status) with a maximum length of 8 byte. These data are
transmitted with a high priority (low COB-Identifier). PDOs are broadcast messages and provide their
real-time data simultaneously to all desired receivers. PDOs can be mapped, i.e. 4 byte of position
and 2 byte of speed can be combined in one 8 byte data word.
The Service Data Objects (SDO) form the communication channel for the transfer of device
parameters (e.g. encoder resolution programming). As these parameters are transmitted acyclically
(e.g. only once during boot-up of the network), the SDO objects have a low priority (high COB-
Identifier).
1.6 Objects and Function Code in the Predefined Connection
Set
For easier management of the Identifiers CANopen uses the „Predefined Master/Slave Connection
Set“, where all identifiers are defined with standard values in the object dictionary. These identifiers
can however be changed and customized via SDO access.
The 11-bit Identifier is made up of a 4-bit function code and a 7-bit node-ID number.
The higher the value of the COB-Identifier, the lower is its priority!
Broadcast (network-wide) Objects
Figure 2
Peer-To Peer (device-to-device) Objects
Figure 3

1 Technical details and characteristics
R60712.0002 EN - 9
Restricted, reserved Objects
Figure 4
1.7 Transmission of Process Data
With the CANopen encoder three PDO services PDO1 (tx) ,PDO2 (tx) and PDO3(tx) and a Receive-
PDO are available. A PDO transmission can be triggered by a variety of events (see Object Dictionary
Index 1800h):
• asynchronously (event driven) by an internal cyclic device timer or by a change in the
process value of the sensor data
• synchronously as a response to a SYNC telegram; (a SYNC command will cause all
CANopen nodes to store their values synchronously,
• after which they are transferred in succession to the bus according to their set priority)
• as a response to an RTR-Telegram (per Remote Frame=recessive RTR-bit, exactly that
message with the communicated ID will be requested)
The PDO messages could have the following structure
Figure 5

1 Technical details and characteristics
R60712.0002 EN - 10
1Flags Status byte of the Working-area Object 6400h
2Speed 16-bit word Signed
3Acceleration 16-bit word Signed
Transmit PDO 1 is made up (mapped) from the 32-bit position value state of the Working area
registers (6400h).
Transmit PDO 2 is made up from the 32-bit position values, 16-bit speed and 16-bit acceleration.
Transmit PDO 3 consists of the position as SYNC PDO.
All other PDO combinations with other objects are possible, as long as the maximum 8 byte data
length is not exceeded.

2 Electrical installation and CAN bus
R60712.0002 EN - 11
2. Electrical installation and CAN bus
2.1 Supply voltage (Power supply)
Connect the Supply voltage to the lead 1 and 2 (0V) and (+ VDC).
Figure 6
2.2 CANbus lines
Connect the CANBUS Input-lines to lead 4 and 5 (CAN_H) and ( CAN_L) and for outgoing lines to
lead 7 and 8.
Figure 7

2 Electrical installation and CAN bus
R60712.0002 EN - 12
2.3 Bus Termination
If the device represents the final station on the bus, then the looped-through CANbus must be
terminated at both ends with a bus termination resistor between CAN_H and CAN_L. At closed
housings it is necessary to order with termination adjusted the right way, otherwise it is mandatory to
adapt an external resistor.
Connect the Termination resistor (120 Ohm) to lead 7 and 8 (CAN_H) and (CAN_L).
Figure 8

3 Grounding and equipotential bonding
R60712.0002 EN - 13
3. Grounding and equipotential bonding
Effective grounding and equipotential bonding are very important for the interference immunity of
CANbus networks. Grounding and bonding is thus primarily to ensure correct functioning of CANbus,
and not for safety reasons. Proper grounding of the cable shield ensures that electrostatic
interference is reduced, so minimizing pickup. Equipotential bonding ensures that the ground or earth
potential is the same across the network. This, in turn, prevents ground currents flowing through the
CANbus cable shield. The following information provides general guidance for the installation of
grounding and equipotential bonding.
At the CANbus station
Connect the CANbus cable shield to the equipotential bonding at every CANbus station.
The CANbus connector, where used, provides connection for the cable shield. However, this requires
a properly made the shield connection in the connector.
Figure 9

4 Quick Start Guide - Default settings on delivery
R60712.0002 EN - 14
4. Quick Start Guide - Default settings on delivery
4.1 Encoders with cable outlet
Description
Setting
Switch
Software
Baud rate
250 Kbit/s
Switch setting 5
Object 2100h = 5h
Node address
63
Switch setting 3Fh
Object 2100h = 3Fh
Termination
off
Switch setting off
Object 2100h = 01h
Figure 10
4.2 Communication parameter
Index (hex)
Name
Standard value
1005h
COB-ID Sync
80h
100Ch
Guard Time
0
100Dh
Life Time Factor
0
1012h
COB-ID Time stamp
100h
1013h
High Resolution time stamp
0
1017h
Producer heartbeat time
0
1029h
Error Behaviour
0 = Comm Error
1 = Device specific
1 = Manufacturer Error
1800h
TPD01 Communication Parameter
01h
COB-ID
180h + Node number
02h
Transmission Type
255 (asynch)
03h
Inhibit Time
0 [steps in 100µs]
05h
Event Timer
0 [steps in ms]
1801h
TPD02 Communication Parameter
01h
COB-ID
280h + Node number
02h
Transmission Type
01 (asynch)
03h
Inhibit Time
0 [steps in 100µs]
05h
Event Timer
0 [steps in ms]
1802h
TPD03 Communication Parameter
01h
COB-ID
380h + Node number

4 Quick Start Guide - Default settings on delivery
R60712.0002 EN - 15
02h
Transmission Type
255 / 0xFFh (synch)
03h
Inhibit Time
0 [steps in 100µs]
05h
Event Timer
0 [steps in ms]
1A00h
TPD01 Mapping
01h
1. Mapped Object
0x60040020
1A01h
TPD02 Mapping
01h
2. Mapped Object
0x60300110
1A02h
TPD03 Mapping
01h
3. Mapped Object
0x60040020
Figure 11
4.3 Encoder profile
Figure 12
The original Standard Values (default values on delivery) can be reloaded again by means of Object
1011h (restore parameters). In order to ensure that parameter changes are saved in the event of
power failure, then these must without fail be transferred to the EEPROM by means of Object 1010h
(store parameters). This will cause all data already present in the EPROM to be over-written!
If errors have occurred during programming of the objects and if these parameters are then saved in
the EEPROM, it will not be possible to address the encoder next time it is switched on (the encoder
will send only Emergency messages). This error can be cleared only by means of a general Reset of
the encoder.

4 Quick Start Guide - Default settings on delivery
R60712.0002 EN - 16
The default setting for the Mapping of the Transmit PDO:
Figure 13
The CANopen encoder supports variable mapping on all 3 Transmit PDOs.

5 Emergency Objects
R60712.0002 EN - 17
5. Emergency Objects
Emergency Objects arise with error situations within a CAN network and are triggered depending on
the event and transmitted over the bus with a high priority.
Important: an Emergency Object is only triggered once per “Event”. No new object is generated while
the error still exists. Once the error is eliminated, then a new Emergency Object with the content 0
(Error Reset or No Error) is generated and transmitted over the bus.
Error Codes supported
The Error Codes are highlighted in orange
Figure 13

6 Heartbeat Protocol
R60712.0002 EN - 18
6. Heartbeat Protocol
Figure 15
Nowadays as an alternative to Node Guarding the modern Heartbeat Protocol should be used. The
protocol is activated if a value > 0 is written to Object 1017h Producer Heartbeat Time.
A “Heartbeat–Producer” cyclically transmits this Heartbeat message. One or more “Heartbeat-
Consumer(s)” can receive this Heartbeat message. If the cyclic transmission of this Heartbeat
message is missing, then a “Heartbeat Event” is generated. The behavior in the case of an error is
defined in Object 1029h Subindex 1 “Communication Error”.

7 Objects of Encoder Profile DS 306
R60712.0002 EN - 19
7. Objects of Encoder Profile DS 306
7.1 Object 6000h Operating Parameters
Bit 0: Code sequence: 0 = increasing when turning clockwise (cw)
1 = increasing when turning counter-clockwise (ccw)
Default: Bit = 0
Bit 2: Scaling Function: 0 = disable, 1 = enable; Standard: Bit = 1 (s. Object 6001,6002)
Default: Bit = 1
Bit13: Speed Format: 0 = RPM, 1 = Units /second
Default Bit = 0
Bit14: Startup Mode: 0 = after Bootup Pre-Operational, 1 = after Bootup Operational mode
Default Bit = 0
Bit15: Event Mode: 0 = Position output acc. to TPDO 1800h, 1 = output on each change of
position
Default Bit = 0
Bit Function Bit = 0 Bit = 1 C1 C2
0 Code sequence CW CCW M M
1 Commissioning Diagnostic Control Disabled Enabled O O
2 Enable scaling Disabled Enabled O M
3 Measuring direction Forward Reverse O O
4 …
11 Reserved for further use
12 Manufacturer specific parameter N.A. N.A. O O
13 Speed Format RPM Unit/sec O O
14 Sartup automatic in OP-Mode Disabled Enabled O O
15 Event Mode Position* Disabled Enabled O O
Figure 16
* set this mode in Transmission Type in TPDO to 254
M = Function must be supported
O = optional

7 Objects of Encoder Profile DS 306
R60712.0002 EN - 20
7.2 Object 6001h: measuring steps per revolution (Resolution)
This parameter configures the desired resolution per revolution. The encoder itself then internally
calculates the appropriate scale factor. The calculated scaling factor MUR (by which the physical
position value will be multiplied) is worked out according to the following formula:
MURF = Measuring steps per revolution (6001h) / phys. resolution Singleturn (6501h)
Data content:
Range of values: 1....maximum physical resolution (65536) 16-bit
Default setting: 8192 (13-bit)
7.3 Object 6002h: Total number of measuring steps
This parameters configures the total number Singleturn and Multiturn measuring steps. A factor will
be applied to the maximum physical resolution. The factor is always < 1 . After the stated number of
measuring steps, the encoder will reset itself to zero.
Data content:
Range of values: 1....maximum physical resolution (268435456) 28-bit
Default setting: 33554432 (25-bit)
Example: Input 200000h
The physical position value will be multiplied by a factor of 0. XXXXXX and output as the final
position.
7.4 Object 6003h: Preset Value
The position value of the encoder will be set to this preset value. This allows, for example, for the
encoder’s zero position to be compared with the machine’s zero position.
Data content:
Range of values: 1.... maximum physical resolution (268435456) 28-bit
Default setting: 0