Lika Posicontrol IF55 LIN CB Series User manual

User's guide
IF55 LIN CB
DS406 encoder profile
•SSI to CANopen converter
•Suit ble for SSI line r encoders
•Accepts MSB & LSB Aligned protocols up to 30 bits
•C ble nd M12 connector outputs
•CANopen in compli nce with DS 301 nd DS 406 profiles
Suit ble for the following models:
•IF55 LIN CB
•IF55 LIN CB-C
Gener l Contents
1 - S fety summ ry 19
2 - Identific tion 21
3 - Mech nic l inst ll tion 22
4 - Electric l connections 25
5 - Getting st rted 34
6 - CANopen® interf ce (DS 406) 39
7 – Setting-up 82
8 – Def ult p r meters list 85
Lik Electronic • Tel. [phone] • info@lik .biz • www.lik .biz
Sm rt encoders & ctu tors

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Gener l contents
User's guide............................................................................................................................................................................................1
Gener l contents.............................................................................................................................................................................3
Subject index.....................................................................................................................................................................................6
Typogr phic nd iconogr phic conventions...................................................................................................................7
Prelimin ry inform tion.............................................................................................................................................................8
Gloss ry of CANopen terms......................................................................................................................................................9
1 - S fety summ ry....................................................................................................................................................................19
1.1 Sa ety........................................................................................................................................................................................19
1.2 Electrical sa ety....................................................................................................................................................................19
1.3 Mechanical sa ety...............................................................................................................................................................20
2 - Identific tion..........................................................................................................................................................................21
3 - Mech nic l inst ll tion....................................................................................................................................................22
3.1 Overall dimensions..............................................................................................................................................................22
3.2 Installation on panel (Figure 2).....................................................................................................................................23
3.3 Installation with DIN rail clip (Figure 3)....................................................................................................................23
4 - Electric l connections.......................................................................................................................................................25
4.1 Converter's connection cap (Figure 5).......................................................................................................................25
4.2 SSI connection (Figure 4).................................................................................................................................................26
4.3 CANopen converter with PGs: CB version (Figure 4 and Figure 6)................................................................27
4.4 CANopen converter with M12 connectors: CB-C version (Figure 4 and Figure 7).................................28
4.5 Ground connection (Figure 4)........................................................................................................................................28
4.6 Shield connection...............................................................................................................................................................29
4.7 POWER SUPPLY DIP switch (Figure 8)........................................................................................................................29
4.8 Baud rate: DIP A (Figure 6 and Figure 7)...................................................................................................................30
4.9 Node number: DIP B (Figure 6 and Figure 7)..........................................................................................................31
4.10 RT Bus termination (Figure 6 and Figure 7)..........................................................................................................32
4.11 Diagnostic LEDs (Figure 4)............................................................................................................................................33
5 - Getting st rted......................................................................................................................................................................34
5.1 Quick re erence....................................................................................................................................................................37
6 - CANopen® interf ce (DS 406)......................................................................................................................................39
6.1 EDS ile.....................................................................................................................................................................................39
6.2 State machine.......................................................................................................................................................................39
6.2.1 Initialization state.......................................................................................................................................................40
6.2.2 Pre-operational state................................................................................................................................................40
6.2.3 Operational state.........................................................................................................................................................40
6.2.4 Stopped state................................................................................................................................................................40
6.3 Communication objects...................................................................................................................................................41
6.3.1 Pre-de ined connection set....................................................................................................................................41
6.4 NMT objects...........................................................................................................................................................................42
6.5 Boot-up objects...................................................................................................................................................................42
6.6 PDO objects............................................................................................................................................................................42
PDO1 Cyclic mode: cyclic tr nsmission..................................................................................................................... 42
PDO2 nd PDO3 Sync mode: synchronous tr nsmission..........................................................................43
6.7 SDO objects............................................................................................................................................................................43
6.7.1 Command.......................................................................................................................................................................44

6.8 Object dictionary.................................................................................................................................................................45
6.8.1 Communication Pro ile Area objects (DS 301)...............................................................................................47
1000-00 Device type....................................................................................................................................................47
1001-00 Error register................................................................................................................................................47
1003 Predefined error field......................................................................................................................................47
1005-00 COB-ID SYNC mess ge...........................................................................................................................47
1008-00 M nuf cturer Device n me.................................................................................................................47
1009-00 M nuf cturer H rdw re version......................................................................................................47
100A-00 M nuf cturer Softw re version.......................................................................................................47
100C-00 Gu rd time....................................................................................................................................................48
100D-00 Life time f ctor..........................................................................................................................................48
1010-01 Store p r meters.......................................................................................................................................48
1011-01 Restore def ult p r meters................................................................................................................48
1014-00 COB-ID EMCY..............................................................................................................................................49
1015-00 Inhibit time EMCY....................................................................................................................................49
1018 Identity object.....................................................................................................................................................49
1800 TPDO1 p r meters............................................................................................................................................49
1801 TPDO2 p r meters............................................................................................................................................51
1802 TPDO3 p r meters............................................................................................................................................52
1A00-01 TPDO1 m pping p r meter.................................................................................................................54
1A01-01 TPDO2 m pping p r meter.................................................................................................................54
1A02-01 TPDO3 m pping p r meter.................................................................................................................54
6.8.2 Manu acturer Speci ic Pro ile Area objects.....................................................................................................55
2104-00 Limit switch min........................................................................................................................................55
2105-00 Limit switch m x.......................................................................................................................................55
2200-01 Code Type (BIN/GRAY)............................................................................................................................55
2200-02 SSI Protocol...................................................................................................................................................56
2200-03 Number of SSI clocks..............................................................................................................................56
2200-04 Physic l Tot l Resolution [bits]........................................................................................................57
2200-05 Physic l pulse me sure [nm].............................................................................................................58
2200-06 Byp ss..............................................................................................................................................................59
3000-00 B ud r te........................................................................................................................................................59
3001-00 Node-ID...........................................................................................................................................................59
6.8.3 Standardised Device Pro ile Area objects (DS 406)......................................................................................60
6000-00 Oper ting p r meters............................................................................................................................60
Sc ling function control......................................................................................................................................60
Me suring direction...............................................................................................................................................62
Limit switch min......................................................................................................................................................62
Limit switch m x......................................................................................................................................................62
6001-00 Tot l me suring r nge...........................................................................................................................62
6002-00 Progr mm ble tot l resolution.........................................................................................................65
6003-00 Preset v lue..................................................................................................................................................66
6004-00 Position v lue..............................................................................................................................................68
6005-01 Me suring step setting.........................................................................................................................68
6008-00 High precision position v lue............................................................................................................72
6200-00 Cyclic timer...................................................................................................................................................72
6500-00 Oper ting st tus........................................................................................................................................73
Sc ling............................................................................................................................................................................73
Me suring direction...............................................................................................................................................73

Limit switch min.......................................................................................................................................................73
Limit switch m x......................................................................................................................................................74
Current oper ting st te.......................................................................................................................................74
6501-00 Me suring step...........................................................................................................................................74
6502-00 Number of distinguish ble revolutions.......................................................................................74
6504-00 Supported l rms......................................................................................................................................75
6506-00 Supported w rnings................................................................................................................................75
6507-00 Profile nd softw re version..............................................................................................................75
6508-00 Oper ting time............................................................................................................................................75
6509-00 Offset v lue..................................................................................................................................................75
650A-01 M nuf cturer offset v lue..................................................................................................................76
650B-00 Seri l number..............................................................................................................................................76
6.9 SDO abort codes..................................................................................................................................................................77
6.10 Emergency (EMCY) objects...........................................................................................................................................78
6.11 Node guarding protocol................................................................................................................................................79
7 – Setting-up...............................................................................................................................................................................82
7.1 Setting the Operational, Pre-operational state......................................................................................................82
7.2 Reading the value o the measuring step................................................................................................................82
7.3 Setting the value o the measuring step..................................................................................................................82
7.4 Setting the operating parameters...............................................................................................................................82
7.5 Setting the Preset value...................................................................................................................................................83
7.6 Setting the SYNC counter...............................................................................................................................................83
7.7 Disabling the SYNC mode................................................................................................................................................83
7.8 Enabling the Cyclic mode................................................................................................................................................84
8 – Def ult p r meters list....................................................................................................................................................85

Subject index
1
1000-00 Device type......................................................47
1001-00 Error register...................................................47
1003 Prede ined error ield.........................................47
1005-00 COB-ID SYNC message...............................47
1008-00 Manu acturer Device name......................47
1009-00 Manu acturer Hardware version............47
100A-00 Manu acturer So tware version.............47
100C-00 Guard time.......................................................48
100D-00 Li e time actor..............................................48
1010-01 Store parameters..........................................48
1011-01 Restore de ault parameters......................48
1014-00 COB-ID EMCY.................................................49
1015-00 Inhibit time EMCY.........................................49
1018 Identity object.......................................................49
1800 TPDO1 parameters...............................................49
1801 TPDO2 parameters...............................................51
1802 TPDO3 parameters...............................................52
1A00-01 TPDO1 mapping parameter......................54
1A01-01 TPDO2 mapping parameter......................54
1A02-01 TPDO3 mapping parameter......................54
2
2104-00 Limit switch min............................................55
2105-00 Limit switch max...........................................55
2200-01 Code Type (BIN/GRAY)................................55
2200-02 SSI Protocol.....................................................56
2200-03 Number o SSI clocks..................................56
2200-04 Physical Total Resolution [bits]...............57
2200-05 Physical pulse measure [nm]....................58
2200-06 Bypass................................................................59
3
3000-00 Baud rate..........................................................59
3001-00 Node-ID.............................................................59
6
6000-00 Operating parameters.................................60
6001-00 Total measuring range................................62
6002-00 Programmable total resolution..............65
6003-00 Preset value.....................................................66
6004-00 Position value.................................................68
6005-01 Measuring step setting...............................68
6008-00 High precision position value..................72
6200-00 Cyclic timer......................................................72
6500-00 Operating status............................................73
6501-00 Measuring step..............................................74
6502-00 Number o distinguishable revolutions
.............................................................................................74
6504-00 Supported alarms.........................................75
6506-00 Supported warnings....................................75
6507-00 Pro ile and so tware version....................75
6508-00 Operating time...............................................75
6509-00 O set value.....................................................75
650A-01 Manu acturer o set value.......................76
650B-00 Serial number.................................................76
C
COB-ID o PDO1...............................................................49
COB-ID o the PDO2.......................................................51
COB-ID o the PDO3.......................................................52
Current operating state.................................................74
F
Flash memory error.........................................................78
I
Initialization.......................................................................40
L
Last error occurred..........................................................47
Limit switch max..............................................................74
Limit switch max..............................................................62
Limit switch min...............................................................73
Limit switch min...............................................................62
M
Measuring direction................................................62, 73
N
Node guarding error.......................................................78
Number o occurred errors..........................................47
O
Operational.........................................................................40
P
Pre-operational.................................................................40
Previous errors occurred...............................................47
Product code......................................................................49
R
Revision number...............................................................49
S
Scaling..................................................................................73
Scaling unction control...............................................60
Stopped................................................................................40
T
Transmission type.................................................50p., 53
V
Vendor-ID............................................................................49

Typogr phic nd iconogr phic conventions
In this guide, to make it easier to understand and read the text the ollowing typographic and
iconographic conventions are used:
•parameters and objects both o the device and the inter ace are coloured in GREEN;
•alarms are coloured in RED;
•states are coloured in FUCSIA.
When scrolling through the text some icons can be ound on the side o the page: they are expressly
designed to highlight the parts o the text which are o great interest and signi icance or the user.
Sometimes they are used to warn against dangers or potential sources o danger arising rom the use o
the device. You are advised to ollow strictly the instructions given in this guide in order to guarantee
the sa ety o the user and ensure the per ormance o the device. In this guide the ollowing symbols are
used:
This icon, ollowed by the word WARNING, is meant to highlight the parts o the
text where in ormation o great signi icance or the user can be ound: user must
pay the greatest attention to them! Instructions must be ollowed strictly in order
to guarantee the sa ety o the user and a correct use o the device. Failure to heed
a warning or comply with instructions could lead to personal injury and/or damage
to the unit or other equipment.
This icon, ollowed by the word NOTE, is meant to highlight the parts o the text
where important notes need ul or a correct and reliable use o the device can be
ound. User must pay attention to them! Failure to comply with instructions could
cause the equipment to be set wrongly: hence a aulty and improper working o
the device could be the consequence.
This icon is meant to highlight the parts o the text where suggestions use ul or
making it easier to set the device and optimize per ormance and reliability can be
ound. Sometimes this symbol is ollowed by the word EXAMPLE when instructions
or setting parameters are accompanied by examples to clari y the explanation.

Prelimin ry inform tion
This guide is designed to describe the technical characteristics, installation and use o the SSI to
CANopen gateways o the IF55 series.
IF55 series gateways allow the integr tion of SSI encoders, both rotary and linear, into convention l
fieldbuses or industri l Ethernet networks.
The present manual is speci ically designed to describe the SSI to CANopen IF55 model or linear
encoders (order code IF55 LIN CB). For in ormation on the SSI to CANopen IF55 model or rotary
encoders (order code IF55 ROT CB) re er to the speci ic documentation.
For in ormation on the gateways designed or the integration o other ieldbus/Ethernet encoders ( or
example SSI to Pro ibus: order codes IF55 ROT PB and IF55 LIN PB; and SSI to EtherCAT: order codes IF55
ROT EC and IF55 LIN EC), re er to the speci ic documentation.
Please note that the present manual does not prescind rom the user's guide o the SSI encoder it has to
be connected to. Please read care ully the encoder's documentation be ore installing, connecting and
operating the measuring system.
For detailed technical speci ications please re er also to the product datasheet.
CANopen connection cap as ollows:
CB CANopen inter ace with PGs
CB-C CANopen inter ace with M12 connectors
For any urther in ormation please re er to the product data sheet.
To make it easier to read the text, this guide can be divided into two main sections.
In the irst section general in ormation concerning the sa ety, the mechanical installation and the
electrical connection as well as tips or setting up and running properly and e iciently the unit are
provided.
In the second section, entitled CANopen Interf ce (DS406), both general and speci ic in ormation is
given on the CANopen inter ace. In this section the inter ace eatures and the objects implemented in
the unit are ully described.

Gloss ry of CANopen terms
CANopen, like many other networking systems, has a set o unique terminology. Table below contains a
ew o the technical terms used in this guide to describe the CANopen inter ace. They are listed in
alphabetical order. The Glossary is owned and copyrighted by the CAN in Automation international users'
and manu acturers' group.
Applic tion l yer The application layer is the communication entity o the OSI
(Open System Inter ace) re erence model. It provides
communication services to the application program.
Applic tion objects Application objects are signals and parameters o the
application program visible at the application layer API
(application programming inter ace).
Applic tion profile Application pro iles de ine all communication objects and
application objects in all devices that the network consists o .
Asynchronous PDO An asynchronous PDO is transmitted whenever a de ined
internal event occurs. This event may also be the elapsing o
the PDO's event timer. I an asynchronous PDO is received the
protocol so tware immediately updates the mapped objects in
the Object Dictionary.
Boot-up mess ge CANopen communication service transmitted whenever a
node enters the Pre-oper tion l state a ter initialization.
Bus Topology o a communication network, where all nodes are
reached by passive links, which allows transmission in both
directions.
Bus n lyser Tool, which monitors the bus and displays the transmitted bits.
There are bus analysers available on the physical layer, the
data link layer, and di erent application layers (e.g. CANopen
or DeviceNet).
Bus rbitr tion I at the very same moment several nodes try to access the
bus, an arbitration process is necessary. At the end o this
process, only one node has bus access. The bus arbitration
process used in CAN protocol is CMSA/CD (Carrier Sense
Multiple Access/Collision Detection) with AMP (Arbitration on
Message Priority). This allows bus arbitration without
destruction o messages.
Bus length The network cable length between the both termination
resistors. The bus length o CANopen networks is limited by
the used transmission rate. At 1 Mbps the maximum length is
25 m. When using lower transmission rates, longer bus lines
may be used: at 50 kbps a length o 1 km is possible.
Bus off st te The CAN controllers switch to bus o state when the TEC
(transmit error counter) has reached 255. During bus o state,
the CAN controller transmits recessive bits. When a CANopen

device recovers rom bus o state, it has to transmit the boot-
up message and it is recommended to send an Emergency
message with the appropriate error code.
CAN Controller Area Network (CAN) is a serial bus system originally
developed by the Robert Bosch GmbH. It is internationally
standardized by ISO 11898-1. CAN has been implemented by
many semiconductor manu acturers.
CAN protocol controller The CAN protocol controller is part o a CAN module
per orming data en-/de-capsulation, bit-timing, CRC, bit-
stu ing, error handling, ailure con inement, etc.
CAN tr nsceiver The CAN transceiver is connected to the CAN controller and to
the bus lines. It provides the line transmitter and the receiver.
There are high-speed, ault-tolerant, and single-wire
transceivers available as well as transceivers or power-line or
iber optic transmissions.
CANopen Family o pro iles or embedded networking in industrial
machinery, medical equipment, building automation (e.g. li t
control systems, electronically controlled doors, integrated
room control systems), railways, maritime electronics, truck-
based superstructures, o -highway and o -road vehicles, etc.
CANopen pplic tion
l yer
The CANopen application layer and communication pro ile is
standardized by EN 50325-4. It de ines communication
services and objects. In addition, it speci ies the Object
Dictionary and the network management (NMT).
CANopen M n ger The CANopen manager is responsible or the management o
the network. The CANopen manager device shall include the
NMT (network management) Master, the SDO (service data
object) manager, and the Con iguration manager.
CANopen S fety Communication protocol allowing transmission o sa ety-
relevant data. The protocol requires just one physical CAN
network. Redundancy is achieved by sending each message
twice with bit-wise inverted content using two identi iers
di ering at least in two bits.
Certific tion O icial compliance test o components or devices to a speci ic
standard. CiA o icially certi ies CANopen devices.
CiA DR 303 Dra t recommendation or CANopen cabling and connector
pin assignments, coding o pre ixes and SI unit as well as LED
usage.
CiA DS 102 Dra t standard or high-speed transmission according to ISO
11898-2 using 9-pin D-sub connectors.
CiA DS 301 The CANopen application layer and communication pro ile
speci ication covers the unctionality o CANopen NMT
(network management) Slave devices.
CiA DS 401 The CANopen device pro ile or generic I/O modules covers the
de inition o digital and analogue input and output devices.
CiA DS 404 The CANopen device pro ile or measuring devices and closed-

loop controllers supports also multi-channel devices.
CiA DS 406 The CANopen device pro ile or encoders de ines the
communication o rotating as well as linear sensors.
CiA DSP 302 The dra t standard proposal or programmable CANopen
devices includes CANopen manager unctions, dynamic SDO
connections, standardized boot-up procedure or NMT Slaves
as well as program download.
CiA DSP 304 The CANopen sa ety protocol speci ication is approved by
German authorities and is compliant to SIL class 3
applications.
CiA DSP 305 The Layer Setting Services (LSS) speci y how to set node-ID
and transmission rate via the CANopen network.
CiA DSP 306 This dra t standard proposal de ines ormat and content o
Electronic Data Sheets (EDS) to be used in con iguration tools.
CiA DSP 308 The CANopen ramework or maritime applications de ines
redundancy o networks including swapping mechanism or
SDOs and PDOs.
CiA DSP 309 Set o gateway speci ications or CANopen to Ethernet-based
networks (e.g. Modbus TCP(IP)).
CiA DSP 402 The CANopen device pro ile or drives and motion controllers
de ines the inter ace to requency inverters, servo controllers
as well as stepper motors.
CiA DSP 405 The CANopen device and inter ace pro ile or IEC 61131-3
compatible controllers is based on the CiA DSP 302
speci ication using network variables to be mapped into PDOs,
and unction blocks or SDO services, etc.
CiA DSP 407 The CANopen application pro ile or passenger in ormation
systems developed in cooperation with the German VDV
speci ies inter aces or a range o devices including displays,
ticket printers, passenger counting units, main onboard
computer, etc.
CiA DSP 408 The CANopen device pro ile or hydraulic controllers and
proportional valves is compliant to the bus-independent
VDMA device pro ile.
CiA DSP 410 The CANopen device pro ile or inclinometer supports 16-bit
as well as 32-bit sensors.
CiA DSP 412 The CANopen device pro iles or medical equipment speci y
the inter aces or x-ray collimators, x-ray generators, stands
and tables.
CiA DSP 413 The CANopen inter ace pro iles or in-vehicle truck gateways
speci y gateways to ISO 11992, J1939, and other in-vehicle
networks. The CANopen network is mainly used or truck- or
trailer-based superstructures, e.g. as in garbage trucks, truck-
mounted cranes, and concrete mixers.
CiA DSP 414 The CANopen device pro ile or weaving machines speci ies

the inter ace or eeder sub-systems.
CiA DSP 415 The CANopen application pro ile or asphalt pavers speci ies
inter aces to di erent devices used in road construction
machinery.
CiA DSP 416 The CANopen application pro ile or building doors speci ies
inter aces or locks, sensors, and other devices used in
electronically controlled building doors.
CiA DSP 417 The CANopen application pro ile or li t control speci ies the
inter aces or car controller, door controller, call controller and
other controllers as well as or car units, door units, input
panels, and display units, etc.
CiA DSP 418 The CANopen device pro ile or battery modules speci ies the
inter ace to communicate with battery chargers.
CiA DSP 419 The CANopen device pro ile or battery charger speci ies the
inter ace to communicate with the battery module.
CiA DSP 420 The CANopen device pro ile amily or extruder downstream
devices de ines inter aces or puller, corrugator and saw
devices.
CiA DSP 421 The CANopen device pro ile or railways speci ies inter aces to
sub-systems such as diesel engines, brake controllers, door
controllers, etc.
CiA DSP 422 The CANopen application pro ile or municipal vehicles de ines
the communication o sub-systems used in garbage trucks.
CiA TR 308 This technical report speci ies some timings or CANopen
per ormance testing tools.
Client / Server
communic tion
In a Client/Server communication the Client initiates the
communication with the Server. It is always a point-to-point
communication.
Client SDO The Client SDO initiates the SDO communication by means o
reading or writing to the Object Dictionary o the Server
device.
COB ID The COB ID is the object speci ying the CAN message identi ier
and additional parameters such as valid/invalid and remote
rame support.
Communic tion object
(COB)
A communication object is one or more CAN messages with a
speci ic unctionality, e.g. PDO, SDO, Emergency, Time, or Error
Control.
Communic tion profile A communication pro ile de ines the content o
communication objects such as Emergency, Time, Sync,
Heartbeat, NMT, etc. in CANopen.
Configur tion M n ger The Con iguration Manager (CMT) provides mechanisms or
con iguration o CANopen devices during boot-up.
Confirmed
communic tion
Con irmed communication services require a bi-directional
communication, meaning that the receiving node sends a
con irmation that the message has been received success ully.

Conform nce test pl n De initions o test cases that have to be passed success ully in
order to achieve con ormance to a communication standard.
The con ormance test plan or CAN is standardized by ISO
16845.
Conform nce test tool A con ormance test tool is the implementation o a
con ormance test plan.
Consumer In CAN networks a receiver o messages is called a consumer
meaning the acceptance ilter is opened.
D-sub connector Standardized connectors. Most common in use is the 9-pin D-
sub connector (DIN 41652); its pin-assignment or CAN
networks is speci ied in CiA DS 102.
D t link l yer Second layer in the OSI re erence model providing basic
communication services. The CAN data link layer de ines data,
remote, error, and overload rames.
D t type Object attribute in CANopen de ining the ormat, e.g.
UNSIGNED8, INTEGER16, BOOLEAN, etc.
Def ult v lue Object attribute in CANopen de ining the pre-setting o not
user-con igured objects a ter power-on or application reset.
Device profile A device pro ile de ines the device-speci ic communication
services including the con iguration services in all details.
Dr ft Recommend tion
(DR)
This kind o recommendation is not ixed, but it is published.
CiA's dra t recommendations are not changed within one year.
Dr ft St nd rd (DS) This kind o standard is not ixed, but it is published. CiA's
dra t standards are not changed within one year.
Dr ft St nd rd Propos l
(DSP)
This kind o standard is a proposal, but it is published. CiA's
dra t standard proposals may be changed anytime without
noti ication.
EDS checker So tware tool that checks the con ormity o electronic data
sheets. The CANopen EDS checker is available on CiA's web-
site to be downloaded.
EDS gener tor So tware tool that generates CANopen electronic data sheets.
Electronic D t Sheet
(EDS)
Electronic data sheets describe the unctionality o a device in
a standardized manner.
Emergency mess ge Pre-de ined communication service in CANopen mapped into
a single 8-byte data rame containing a 2-byte standardized
error code, the 1-byte error register, and 5-byte
manu acturer-speci ic in ormation. It is used to communicate
device and application ailures.
EN 50325-4 CENELEC standard de ining the CANopen application layer
(version 4.0).
Entry c tegory Object attribute in CANopen de ining whether this object is
mandatory or optional.
Error code CANopen speci ies standardized error codes transmitted in
emergency messages.

Error control mess ge The CANopen error control messages are mapped to a single
1-byte CAN data rame assigned with a ixed identi ier that is
derived rom the device's Node ID. It is transmitted as boot-up
message be ore entering Pre-oper tion l state a ter
initialization, and it is transmitted i remotely requested by the
NMT Master (node guarding) or periodically by the device
(heart-beat).
Event driven Event driven messages are transmitted when a de ined event
occurs in the node. This may be a change o input states,
elapsing o a local timer, or any other local event.
Event timer The event timer is assigned in CANopen to one PDO. It de ines
the requency o transmission.
Expedited SDO This is a con irmed communication service o CANopen (peer-
to-peer). It is made up by one SDO initiate message o the
Client node and the corresponding con irmation message o
the Server node. Expedited SDOs are used i not more than 4
byte o data has to be transmitted.
Flying M ster In sa ety-critical applications, it may be required that a
missing NMT Master is substituted automatically by another
stand-by NMT Master. This concept o redundancy is called
Flying Master.
Form error A corruption o one o the pre-de ined recessive bits (CRC
delimiter, ACK delimiter and EOF) is regarded as a orm error
condition that will cause the transmission o an error rame in
the very next bit-time.
Function code First our bits o the CAN identi ier in the CANopen pre-
de ined identi ier set indicating the unction o the
communication object (e.g. TPDO_1 or Error Control message).
G lv nic isol tion Galvanic isolation in CAN networks is per ormed by
optocouplers or trans ormers placed between CAN controller
and CAN transceiver chip.
G tew y Device with at least two network inter aces trans orming all
seven OSI (open system interconnection) protocol layers, e.g.
CANopen-to-Ethernet gateway.
He rtbe t CANopen uses heartbeat message to indicate that a node is
still alive. This message is transmitted periodically.
He rtbe t consumer time The heartbeat consumer time de ines the time when a node is
regarded as no longer alive due to a missing heartbeat
message.
He rtbe t producer time The heartbeat producer time de ines the transmission
requency o a heartbeat message.
Identifier In general, the term identi ier re ers to a CAN message
identi ier. The CAN message identi ier identi ies the content o
a data rame. The identi ier o a remote rame corresponds to
the identi ier o the requested data rame. The identi ier
includes implicitly the priority or the bus arbitration.

Index 16-bit address to access the CANopen dictionary; or array
and records the address is extended by an 8-bit Subindex.
Inhibit timer Object in CANopen or PDOs and Emergency messages that
orbids or the speci ied time (inhibit time) a transmission o
this communication object.
Initi liz tion st te NMT Slave state in CANopen that is reached automatically
a ter power-on and communication or application reset.
Interf ce profile CANopen pro ile that describes just the inter ace and not the
application behaviour o device, e.g. gateway and bridge
devices.
ISO 11898-1 International standard de ining the CAN data link layer
including LLC, MAC and PLS sub-layers.
ISO 11898-2 International standard de ining the CAN high-speed MAU.
Life gu rding Method in CANopen to detect that the NMT Master does not
guard the NMT Slave any more. This not recommended or
new systems designs.
Line topology Networks, where all nodes are connected directly to one bus
line. CAN networks use theoretically just line topologies
without any stub cable. However in practice you ind tree and
star topologies as well.
M ster Communication or application entity that is allowed to control
a speci ic unction. In networks this is or example the
initialization o a communication service.
Multiplexed PDO (MPDO) The MPDO is made o 8 byte including one control byte, three
multiplexer bytes (containing the 24-bit Index and Subindex),
and our bytes o object data.
Network length Bus length. The network cable length between both
termination resistors. The bus length o CANopen networks is
limited by the used transmission rate. At 1 Mbps the maximum
length is 25 m. When using lower transmission rates, longer
bus lines may be used: at 50 kbps a length o 1 km is possible.
Network m n gement Entity responsible or the network boot-up procedure and the
optional con iguration o nodes. It also may include node-
supervising unctions such as node guarding.
Network v ri bles Network variables are used in programmable CANopen devices
to be mapped into PDOs a ter programming the device.
NMT Network management in CANopen.
NMT M ster The NMT Master device per orms the network management by
means o transmitting the NMT message. With this message, it
controls the state machines o all connected NMT Slave
devices.
NMT Sl ve The NMT Slaves receive the NMT message, which contains
commands or the NMT state machine implemented in
CANopen devices.

NMT st te m chine The NMT state machines support di erent states and the
highest prior CAN message transmitted controls the transition
to the states by the NMT Master.
Node gu rding Mechanism used in CANopen and CAL to detect bus o or
disconnected devices. The NMT Master sends a remote rame
to the NMT Slave that is answered by the corresponding error
control message.
Node ID Unique identi ier or a device required by di erent CAN-based
higher-layer protocols in order to assign CAN identi iers to
this device, e.g. in CANopen and DeviceNet. In the pre-de ined
connection set o CANopen some o the CAN message
identi iers are derived rom the assigned Node ID.
Object Diction ry Heart o each CANopen device containing all communication
and application objects.
Oper tion l st te In the NMT Oper tion l state all CANopen communication
services are available.
PDO m pping In PDOs, there may be mapped up to 64 objects. The PDO
mapping is described in the PDO mapping parameters.
Pin ssignment De inition o the use o connector pins.
Pre-defined connection
set
The pre-de ined connection set is a de ault assignment o CAN
message identi iers to CANopen communication objects. Some
CANopen communication objects are distributed in broadcast
(NMT message, Sync message, Time message) and others are
transmitted between NMT Master device and dedicated NMT
Slave devices (PDO, SDO, Emergency, and Error Control). This
de ault assignment guarantees that the CAN message
identi iers are uniquely assigned in the network, i the node-ID
has been assigned uniquely.
Pre-oper tion l st te In the NMT Pre-oper tion l state no CANopen PDO
communication is allowed.
Process D t Object
(PDO)
Communication object de ined by the PDO communication
parameter and PDO mapping parameter objects. It is an
uncon irmed communication service without protocol
overhead.
Producer In CAN networks a transmitter o messages is called a
producer.
Protocol Formal set o conventions and rules or the exchange o
in ormation between nodes, including the speci ication o
rame administration, rame trans er and physical layer.
Receiver A CAN node is called receiver or consumer, i it is not
transmitter and the bus is not idle.
Redund nt networks In some sa ety-critical applications (e.g. maritime systems),
redundant networks may be required that provide swapping
capability in case o detected communication ailures.
Remote fr me With a remote rame another node is requested to transmit

the corresponding data rame identi ied by the very same
identi ier. The remote rame's DLC has the value o the
corresponding data rame DLC. The data ield o the remote
rame has a length o 0 byte.
Remote tr nsmission
request (RTR)
Bit in the arbitration ield indicating i the rame is a remote
rame (recessive value) or a data rame (dominant value).
Repe ter Passive component that re reshes CAN bus signals. It is used
to increase the maximum number o nodes, or to achieve
longer networks (>1 km), or to implement tree or meshed
topologies.
Reset pplic tion This NMT command resets all objects in CANopen devices to
the de ault values or the permanently stored con igured
values.
Reset communic tion This NMT command resets only the communication objects in
CANopen devices to the de ault values or the permanently
stored con igured values.
RPDO The Receive Process Data Object (RPDO) is a communication
object that is received by a CANopen device.
SDO block tr nsfer SDO block trans er is a CANopen communication service or
increasing downloading. In SDO block trans er, the
con irmation is sent a ter the reception o a number o SDO
segments.
SDO M n ger The SDO Manager handles the dynamic establishment o SDO
connections. It resides on the very same node as the NMT
Master.
Segmented SDO I objects longer than 4 bytes are transmitted by means o
SDO services, a segmented trans er is used. The number o
segments is theoretically not limited.
Server SDO The Server SDO receives the SDO messages rom the
corresponding SDO Client and responds to each SDO message
or to a block o SDO messages (SDO block trans er).
Service D t Object (SDO) SDOs provide the access to entries in the CANopen Object
Dictionary. An SDO is made up o at least two CAN messages
with di erent identi iers. SDOs are always con irmed point-to-
point communication services.
SI unit International system o units or physical values as speci ied in
ISO 1000:1983.
Stopped st te NMT state in which only NMT messages are per ormed and
under some conditions error control messages are transmitted.
Sub-index 8-bit sub-address to access the sub-objects o arrays and
records.
Suspend tr nsmission CAN controllers in error passive mode have to wait additional
8 bit-times be ore the next data or remote rame may be
transmitted.
SYNC mess ge Dedicated CANopen message orcing the receiving nodes to

sample the inputs mapped into synchronous TPDOs. Receiving
this message causes the node to set the outputs to values
received in the previous synchronous RPDO.
Termin tion resistor In CAN high-speed networks with bus topology, both ends are
terminated with resistors in order to suppress re lections.
TIME mess ge Standardized message in CANopen containing the time as a 6-
byte value given as ms a ter midnight and days a ter 1st
January 1984.
TPDO The Transmit Process Data Object (TPDO) is a communication
object that is transmitted by a CANopen device.
Tr nsmission type CANopen object de ining the scheduling o a PDO.
V lue definition Detailed description o the value range in CANopen pro iles.
V lue r nge Object attribute in CANopen de ining the allowed values that
this object supports.

IF55 LIN CANopen®
1 - S fety summ ry
1.1 S fety
Always adhere to the pro essional sa ety and accident prevention regulations
applicable to your country during device installation and operation;
installation and maintenance operations have to be carried out by quali ied
personnel only, with power supply disconnected and stationary mechanical
parts;
device must be used only or the purpose appropriate to its design: use or
purposes other than those or which it has been designed could result in
serious personal and/or the environment damage;
high current, voltage and moving mechanical parts can cause serious or atal
injury;
warning! Do not use in explosive or lammable areas;
ailure to comply with these precautions or with speci ic warnings elsewhere
in this manual violates sa ety standards o design, manu acture, and
intended use o the equipment;
Lika Electronic assumes no liability or the customer's ailure to comply with
these requirements.
1.2 Electric l s fety
Turn o power supply be ore connecting the device;
connect according to explanation in the “4 - Electrical connections” section
on page 25;
in compliance with the 2014/30/EU norm on electromagnetic
compatibility, ollowing precautions must be taken:
- be ore handling and installing, discharge electrical charge rom
your body and tools which may come in touch with the device;
- power supply must be stabilized without noise, install EMC ilters on device
power supply i needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as ar as possible rom any capacitive or inductive noise
source, shield the device rom noise source i needed;
- to guarantee a correct working o the device, avoid using strong magnets on
or near by the unit;
- minimize noise by connecting the shield and/or the connector housing
and/or the rame to ground. Make sure that ground is not a ected by noise.
The connection point to ground can be situated both on the device side and
on user’s side. The best solution to minimize the inter erence must be carried
out by the user. Provide the ground connection as close as possible to the
encoder. We suggest using the ground screw provided in the cap (use a TCEI
M3 x 6 cylindrical head screw with 2 tooth lock washers).
MAN IF55 LIN CB E 1.2.odt 1 - Sa ety summary 19 o 88

IF55 LIN CANopen®
1.3 Mech nic l s fety
Install the device ollowing strictly the in ormation in the “3 - Mechanical
installation” section on page 22;
mechanical installation has to be carried out with stationary mechanical
parts;
do not disassemble the encoder;
do not tool the encoder or its sha t;
delicate electronic equipment: handle with care; do not subject the device
and the sha t to knocks or shocks;
respect the environmental characteristics declared by manu acturer.
MAN IF55 LIN CB E 1.2.odt 1 - Sa ety summary 20 o 88