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
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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-