Lika IF55 ROT CB User manual

User's guide
IF55 ROT CB
DS406 encoder profile
•SSI to CA open converter
•Suitable for SSI rotary encoders
•Accepts MSB & LSB Aligned protocols up to 30 bits
•Cable and M12 connector outputs
•CA open in compliance with DS 301 and DS 406 profiles
Suitable for the following models:
•IF55 ROT CB
•IF55 ROT CB-C
General Contents
1 - Safety summary 19
2 - Identification 21
3 - Mounting instructions 22
4 - Electrical connections 25
5 - Getting started 34
6 - CA open® interface (DS 406) 40
7 - Setting-up 81
8 - Default parameters list 85
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Smart encoders & actuators

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General contents
User's guide............................................................................................................................................................................................1
General contents.............................................................................................................................................................................3
Subject index.....................................................................................................................................................................................6
Typographic and iconographic conventions...................................................................................................................7
Preliminary information.............................................................................................................................................................8
Glossary of CA open terms......................................................................................................................................................9
1 - Safety summary....................................................................................................................................................................19
1.1 Safety........................................................................................................................................................................................19
1.2 Electrical safety....................................................................................................................................................................19
1.3 Mechanical safety...............................................................................................................................................................20
2 - Identification..........................................................................................................................................................................21
3 - Mounting instructions......................................................................................................................................................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 - Electrical 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 started......................................................................................................................................................................34
5.1 Quick reference....................................................................................................................................................................38
6 - CA open® interface (DS 406)......................................................................................................................................40
6.1 EDS file.....................................................................................................................................................................................40
6.2 State machine.......................................................................................................................................................................40
6.2.1 Initialization state.......................................................................................................................................................41
6.2.2 Pre-operational state................................................................................................................................................41
6.2.3 Operational state.........................................................................................................................................................41
6.2.4 Stopped state................................................................................................................................................................41
6.3 Communication objects...................................................................................................................................................42
6.3.1 Pre-defined connection set....................................................................................................................................42
6.4 NMT objects...........................................................................................................................................................................43
6.5 Boot-up objects...................................................................................................................................................................43
6.6 PDO objects............................................................................................................................................................................44
PDO1 Cyclic mode: cyclic transmission of the position.................................................................44
PDO2 and PDO3 SY C mode: synchronous transmission of the position..........................44
6.7 SDO objects............................................................................................................................................................................45
6.7.1 Command.......................................................................................................................................................................45
6.8 Object dictionary.................................................................................................................................................................46

6.8.1 Communication Profile Area objects (DS 301)...............................................................................................47
1000-00 Device type....................................................................................................................................................47
1001-00 Error register................................................................................................................................................47
1003 Pre-defined error field...................................................................................................................................47
1005-00 COB_ID SY C message..........................................................................................................................48
1008-00 Manufacturer device name.................................................................................................................48
1009-00 Manufacturer hardware version......................................................................................................48
100A-00 Manufacturer software version.......................................................................................................48
100C-00 Guard time....................................................................................................................................................48
100D-00 Life time factor..........................................................................................................................................48
1010-01 Store parameters.......................................................................................................................................49
1011-01 Restore default parameters................................................................................................................49
1014-00 COB-ID EMCY..............................................................................................................................................50
1015-00 Inhibit time EMCY....................................................................................................................................50
1018 Identity object.....................................................................................................................................................50
1800 PDO1 parameters...............................................................................................................................................50
1801 PDO2 parameters...............................................................................................................................................52
1802 PDO3 parameters...............................................................................................................................................53
1A00-01 TPDO1 mapping parameter.................................................................................................................55
1A01-01 TPDO2 mapping parameter.................................................................................................................55
1A02-01 TPDO3 mapping parameter.................................................................................................................55
6.8.2 Manufacturer Specific Profile Area objects.....................................................................................................56
2104-00 Limit switch min........................................................................................................................................56
2105-00 Limit switch max.......................................................................................................................................56
2200-01 Code Type (BI /GRAY)............................................................................................................................56
2200-02 SSI Protocol...................................................................................................................................................57
2200-03 umber of SSI clocks..............................................................................................................................57
2200-04 Physical Singleturn Resolution [bits]............................................................................................58
2200-05 Physical Multiturn Resolution [bits].............................................................................................59
2200-06 Bypass..............................................................................................................................................................60
3000-00 Baud rate........................................................................................................................................................60
3001-00 ode-ID...........................................................................................................................................................60
6.8.3 Device Profile Area objects (DS 406)..................................................................................................................61
6000-00 Operating parameters............................................................................................................................61
Code sequence.............................................................................................................................................................61
Scaling function control........................................................................................................................................62
Limit switch min.........................................................................................................................................................63
Limit switch max........................................................................................................................................................63
6001-00 Programmable pulse per revolution..............................................................................................63
6002-00 Programmable total measuring range.........................................................................................65
6003-00 Preset value..................................................................................................................................................67
6004-00 Position value..............................................................................................................................................69
6008-00 High precision position value............................................................................................................69
6200-00 Cyclic timer...................................................................................................................................................70
6500-00 Operating status........................................................................................................................................70
Code sequence.............................................................................................................................................................71
Scaling..............................................................................................................................................................................71
Limit switch min.........................................................................................................................................................71
Limit switch max........................................................................................................................................................71

Current operating state.........................................................................................................................................71
6501-00 Singleturn resolution..............................................................................................................................72
6502-00 umber of distinguishable revolutions.......................................................................................72
6504-00 Supported alarms......................................................................................................................................73
6506-00 Supported warnings................................................................................................................................73
6507-00 Profile and software version..............................................................................................................74
6508-00 Operating time............................................................................................................................................74
6509-00 Offset value..................................................................................................................................................74
650A-01 Module identification............................................................................................................................74
650B-00 Serial number..............................................................................................................................................74
6.9 SDO abort codes..................................................................................................................................................................76
6.10 Emergency (EMCY) objects...........................................................................................................................................77
6.11 Node guarding protocol................................................................................................................................................78
7 - Setting-up................................................................................................................................................................................81
7.1 Setting the Operational, Pre-operational state......................................................................................................81
7.2 Reading the value of the physical resolution per revolution...........................................................................81
7.3 Reading the number of physical revolutions..........................................................................................................81
7.4 Setting the resolution per revolution.........................................................................................................................82
7.5 Setting the total resolution............................................................................................................................................82
7.6 Setting the Operating parameters...............................................................................................................................82
7.7 Setting the Preset value...................................................................................................................................................82
7.8 Setting the Sync counter.................................................................................................................................................83
7.9 Disabling the Sync mode.................................................................................................................................................83
7.10 Enabling the Cyclic mode..............................................................................................................................................83
8 - Default parameters list....................................................................................................................................................85

Subject index
1
1000-00 Device type......................................................47
1001-00 Error register...................................................47
1003 Pre-defined error field.......................................47
1005-00 COB_ID SYNC message...............................48
1008-00 Manufacturer device name......................48
1009-00 Manufacturer hardware version............48
100A-00 Manufacturer software version.............48
100C-00 Guard time.......................................................48
100D-00 Life time factor..............................................48
1010-01 Store parameters..........................................49
1011-01 Restore default parameters......................49
1014-00 COB-ID EMCY.................................................50
1015-00 Inhibit time EMCY.........................................50
1018 Identity object.......................................................50
1800 PDO1 parameters.................................................50
1801 PDO2 parameters.................................................52
1802 PDO3 parameters.................................................53
1A00-01 TPDO1 mapping parameter......................55
1A01-01 TPDO2 mapping parameter......................55
1A02-01 TPDO3 mapping parameter......................55
2
2104-00 Limit switch min............................................56
2105-00 Limit switch max...........................................56
2200-01 Code Type (BIN/GRAY)................................56
2200-02 SSI Protocol.....................................................57
2200-03 Number of SSI clocks..................................57
2200-04 Physical Singleturn Resolution [bits]....58
2200-05 Physical Multiturn Resolution [bits].....59
2200-06 Bypass................................................................60
3
3000-00 Baud rate..........................................................60
3001-00 Node-ID.............................................................60
6
6000-00 Operating parameters.................................61
6001-00 Programmable pulse per revolution.....63
6002-00 Programmable total measuring range 65
6003-00 Preset value.....................................................67
6004-00 Position value.................................................69
6008-00 High precision position value..................69
6200-00 Cyclic timer......................................................70
6500-00 Operating status............................................70
6501-00 Singleturn resolution..................................72
6502-00 Number of distinguishable revolutions
.............................................................................................72
6504-00 Supported alarms.........................................73
6506-00 Supported warnings....................................73
6507-00 Profile and software version....................74
6508-00 Operating time...............................................74
6509-00 Offset value.....................................................74
650A-01 Module identification.................................74
650B-00 Serial number.................................................74
C
COB-ID of PDO1...............................................................50
COB-ID of the PDO2.......................................................52
COB-ID of the PDO3.......................................................53
Code sequence...........................................................61, 71
Current operating state.................................................71
F
Flash memory error.........................................................77
I
Initialization.......................................................................41
L
Last error occurred..........................................................47
Limit switch max.......................................................63, 71
Limit switch min.......................................................63, 71
Node guarding error.......................................................77
Number of occurred errors..........................................47
O
Operational.........................................................................41
P
Physical Multiturn Resolution....................................59
Pre-operational.................................................................41
Previous errors occurred...............................................47
Product code......................................................................50
R
Revision number...............................................................50
S
Scaling..................................................................................71
Scaling function control...............................................62
Stopped................................................................................41
T
Transmission type........................................51 e seg., 54
V
Vendor-ID............................................................................50

Typographic and iconographic conventions
In this guide, to make it easier to understand and read the text the following typographic and
iconographic conventions are used:
•parameters and objects both of the device and the interface are coloured in GREE ;
•alarms are coloured in RED;
•states are coloured in FUCSIA.
When scrolling through the text some icons can be found on the side of the page: they are expressly
designed to highlight the parts of the text which are of great interest and significance for the user.
Sometimes they are used to warn against dangers or potential sources of danger arising from the use of
the device. You are advised to follow strictly the instructions given in this guide in order to guarantee
the safety of the user and ensure the performance of the device. In this guide the following symbols are
used:
This icon, followed by the word WAR I G, is meant to highlight the parts of the
text where information of great significance for the user can be found: user must
pay the greatest attention to them! Instructions must be followed strictly in order
to guarantee the safety of the user and a correct use of 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, followed by the word OTE, is meant to highlight the parts of the text
where important notes needful for a correct and reliable use of the device can be
found. User must pay attention to them! Failure to comply with instructions could
cause the equipment to be set wrongly: hence a faulty and improper working of
the device could be the consequence.
This icon is meant to highlight the parts of the text where suggestions useful for
making it easier to set the device and optimize performance and reliability can be
found. Sometimes this symbol is followed by the word EXAMPLE when instructions
for setting parameters are accompanied by examples to clarify the explanation.

Preliminary information
This guide is designed to describe the technical characteristics, installation and use of the SSI to
CANopen gateways of the IF55 series.
IF55 series gateways allow the integration of SSI encoders, both rotary and linear, into conventional
fieldbuses or industrial Ethernet networks.
The present manual is specifically designed to describe the SSI to CANopen IF55 model for rotary
encoders (order code IF55 ROT CB). For information on the SSI to CANopen IF55 model for linear
encoders (order code IF55 LIN CB) refer to the specific documentation.
For information on the gateways designed for the integration of other fieldbus/Ethernet encoders (for
example, SSI to Profibus: order codes IF55 ROT PB and IF55 LIN PB; and SSI to EtherCAT: order codes IF55
ROT EC and IF55 LIN EC; etc.), refer to the specific documentation.
Please note that the present manual does not prescind from the user's guide of the SSI encoder it has to
be connected to. Please read carefully the encoder's documentation before installing, connecting and
operating the measuring system.
For detailed technical specifications please refer also to the product datasheet.
CANopen connection cap as follows:
CB CANopen interface with PGs
CB-C CANopen interface with M12 connectors
For any further information please refer to the product data sheet.
To make it easier to read the text, this guide can be divided into two main sections.
In the first section general information concerning the safety, the mechanical installation and the
electrical connection as well as tips for setting up and running properly and efficiently the unit are
provided.
In the second section, entitled CA open Interface (DS406), both general and specific information is
given on the CANopen interface. In this section the interface features and the objects implemented in
the unit are fully described.

Glossary of CA open terms
CANopen, like many other networking systems, has a set of unique terminology. Table below contains a
few of the technical terms used in this guide to describe the CANopen interface. They are listed in
alphabetical order. The Glossary is owned and copyrighted by the CAN in Automation international users'
and manufacturers' group.
Application layer The application layer is the communication entity of the OSI
(Open System Interface) reference model. It provides
communication services to the application program.
Application objects Application objects are signals and parameters of the
application program visible at the application layer API
(application programming interface).
Application profile Application profiles define all communication objects and
application objects in all devices that the network consists of.
Asynchronous PDO An asynchronous PDO is transmitted whenever a defined
internal event occurs. This event may also be the elapsing of
the PDO's event timer. If an asynchronous PDO is received the
protocol software immediately updates the mapped objects in
the Object Dictionary.
Boot-up message CANopen communication service transmitted whenever a
node enters the Pre-operational state after initialization.
Bus Topology of a communication network, where all nodes are
reached by passive links, which allows transmission in both
directions.
Bus analyser Tool, which monitors the bus and displays the transmitted bits.
There are bus analysers available on the physical layer, the
data link layer, and different application layers (e.g. CANopen
or DeviceNet).
Bus arbitration If at the very same moment several nodes try to access the
bus, an arbitration process is necessary. At the end of 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 of messages.
Bus length The network cable length between the both termination
resistors. The bus length of 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 of 1 km is possible.
Bus off state The CAN controllers switch to bus off state when the TEC
(transmit error counter) has reached 255. During bus off state,
the CAN controller transmits recessive bits. When a CANopen

device recovers from bus off state, it has to transmit the boot-
up message and it is recommended to send an Emergency
message with the appropriate error code.
CA 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 manufacturers.
CA protocol controller The CAN protocol controller is part of a CAN module
performing data en-/de-capsulation, bit-timing, CRC, bit-
stuffing, error handling, failure confinement, etc.
CA transceiver 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, fault-tolerant, and single-wire
transceivers available as well as transceivers for power-line or
fiber optic transmissions.
CA open Family of profiles for embedded networking in industrial
machinery, medical equipment, building automation (e.g. lift
control systems, electronically controlled doors, integrated
room control systems), railways, maritime electronics, truck-
based superstructures, off-highway and off-road vehicles, etc.
CA open application
layer
The CANopen application layer and communication profile is
standardized by EN 50325-4. It defines communication
services and objects. In addition, it specifies the Object
Dictionary and the network management (NMT).
CA open Manager The CANopen manager is responsible for the management of
the network. The CANopen manager device shall include the
NMT (network management) Master, the SDO (service data
object) manager, and the Configuration manager.
CA open Safety Communication protocol allowing transmission of safety-
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 identifiers
differing at least in two bits.
Certification Official compliance test of components or devices to a specific
standard. CiA officially certifies CANopen devices.
CiA DR 303 Draft recommendation for CANopen cabling and connector
pin assignments, coding of prefixes and SI unit as well as LED
usage.
CiA DS 102 Draft standard for high-speed transmission according to ISO
11898-2 using 9-pin D-sub connectors.
CiA DS 301 The CANopen application layer and communication profile
specification covers the functionality of CANopen NMT
(network management) Slave devices.
CiA DS 401 The CANopen device profile for generic I/O modules covers the
definition of digital and analogue input and output devices.
CiA DS 404 The CANopen device profile for measuring devices and closed-

loop controllers supports also multi-channel devices.
CiA DS 406 The CANopen device profile for encoders defines the
communication of rotating as well as linear sensors.
CiA DSP 302 The draft standard proposal for programmable CANopen
devices includes CANopen manager functions, dynamic SDO
connections, standardized boot-up procedure for NMT Slaves
as well as program download.
CiA DSP 304 The CANopen safety protocol specification is approved by
German authorities and is compliant to SIL class 3
applications.
CiA DSP 305 The Layer Setting Services (LSS) specify how to set node-ID
and transmission rate via the CANopen network.
CiA DSP 306 This draft standard proposal defines format and content of
Electronic Data Sheets (EDS) to be used in configuration tools.
CiA DSP 308 The CANopen framework for maritime applications defines
redundancy of networks including swapping mechanism for
SDOs and PDOs.
CiA DSP 309 Set of gateway specifications for CANopen to Ethernet-based
networks (e.g. Modbus TCP(IP)).
CiA DSP 402 The CANopen device profile for drives and motion controllers
defines the interface to frequency inverters, servo controllers
as well as stepper motors.
CiA DSP 405 The CANopen device and interface profile for IEC 61131-3
compatible controllers is based on the CiA DSP 302
specification using network variables to be mapped into PDOs,
and function blocks for SDO services, etc.
CiA DSP 407 The CANopen application profile for passenger information
systems developed in cooperation with the German VDV
specifies interfaces for a range of devices including displays,
ticket printers, passenger counting units, main onboard
computer, etc.
CiA DSP 408 The CANopen device profile for hydraulic controllers and
proportional valves is compliant to the bus-independent
VDMA device profile.
CiA DSP 410 The CANopen device profile for inclinometer supports 16-bit
as well as 32-bit sensors.
CiA DSP 412 The CANopen device profiles for medical equipment specify
the interfaces for x-ray collimators, x-ray generators, stands
and tables.
CiA DSP 413 The CANopen interface profiles for in-vehicle truck gateways
specify gateways to ISO 11992, J1939, and other in-vehicle
networks. The CANopen network is mainly used for truck- or
trailer-based superstructures, e.g. as in garbage trucks, truck-
mounted cranes, and concrete mixers.
CiA DSP 414 The CANopen device profile for weaving machines specifies

the interface for feeder sub-systems.
CiA DSP 415 The CANopen application profile for asphalt pavers specifies
interfaces to different devices used in road construction
machinery.
CiA DSP 416 The CANopen application profile for building doors specifies
interfaces for locks, sensors, and other devices used in
electronically controlled building doors.
CiA DSP 417 The CANopen application profile for lift control specifies the
interfaces for car controller, door controller, call controller and
other controllers as well as for car units, door units, input
panels, and display units, etc.
CiA DSP 418 The CANopen device profile for battery modules specifies the
interface to communicate with battery chargers.
CiA DSP 419 The CANopen device profile for battery charger specifies the
interface to communicate with the battery module.
CiA DSP 420 The CANopen device profile family for extruder downstream
devices defines interfaces for puller, corrugator and saw
devices.
CiA DSP 421 The CANopen device profile for railways specifies interfaces to
sub-systems such as diesel engines, brake controllers, door
controllers, etc.
CiA DSP 422 The CANopen application profile for municipal vehicles defines
the communication of sub-systems used in garbage trucks.
CiA TR 308 This technical report specifies some timings for CANopen
performance testing tools.
Client / Server
communication
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 of
reading or writing to the Object Dictionary of the Server
device.
COB ID The COB ID is the object specifying the CAN message identifier
and additional parameters such as valid/invalid and remote
frame support.
Communication object
(COB)
A communication object is one or more CAN messages with a
specific functionality, e.g. PDO, SDO, Emergency, Time, or Error
Control.
Communication profile A communication profile defines the content of
communication objects such as Emergency, Time, Sync,
Heartbeat, NMT, etc. in CANopen.
Configuration Manager The Configuration Manager (CMT) provides mechanisms for
configuration of CANopen devices during boot-up.
Confirmed
communication
Confirmed communication services require a bi-directional
communication, meaning that the receiving node sends a
confirmation that the message has been received successfully.

Conformance test plan Definitions of test cases that have to be passed successfully in
order to achieve conformance to a communication standard.
The conformance test plan for CAN is standardized by ISO
16845.
Conformance test tool A conformance test tool is the implementation of a
conformance test plan.
Consumer In CAN networks a receiver of messages is called a consumer
meaning the acceptance filter is opened.
D-sub connector Standardized connectors. Most common in use is the 9-pin D-
sub connector (DIN 41652); its pin-assignment for CAN
networks is specified in CiA DS 102.
Data link layer Second layer in the OSI reference model providing basic
communication services. The CAN data link layer defines data,
remote, error, and overload frames.
Data type Object attribute in CANopen defining the format, e.g.
UNSIGNED8, INTEGER16, BOOLEAN, etc.
Default value Object attribute in CANopen defining the pre-setting of not
user-configured objects after power-on or application reset.
Device profile A device profile defines the device-specific communication
services including the configuration services in all details.
Draft Recommendation
(DR)
This kind of recommendation is not fixed, but it is published.
CiA's draft recommendations are not changed within one year.
Draft Standard (DS) This kind of standard is not fixed, but it is published. CiA's
draft standards are not changed within one year.
Draft Standard Proposal
(DSP)
This kind of standard is a proposal, but it is published. CiA's
draft standard proposals may be changed anytime without
notification.
EDS checker Software tool that checks the conformity of electronic data
sheets. The CANopen EDS checker is available on CiA's web-
site to be downloaded.
EDS generator Software tool that generates CANopen electronic data sheets.
Electronic Data Sheet
(EDS)
Electronic data sheets describe the functionality of a device in
a standardized manner.
Emergency message Pre-defined communication service in CANopen mapped into
a single 8-byte data frame containing a 2-byte standardized
error code, the 1-byte error register, and 5-byte
manufacturer-specific information. It is used to communicate
device and application failures.
E 50325-4 CENELEC standard defining the CANopen application layer
(version 4.0).
Entry category Object attribute in CANopen defining whether this object is
mandatory or optional.
Error code CANopen specifies standardized error codes transmitted in
emergency messages.

Error control message The CANopen error control messages are mapped to a single
1-byte CAN data frame assigned with a fixed identifier that is
derived from the device's Node ID. It is transmitted as boot-up
message before entering Pre-operational state after
initialization, and it is transmitted if remotely requested by the
NMT Master (node guarding) or periodically by the device
(heart-beat).
Event driven Event driven messages are transmitted when a defined event
occurs in the node. This may be a change of input states,
elapsing of a local timer, or any other local event.
Event timer The event timer is assigned in CANopen to one PDO. It defines
the frequency of transmission.
Expedited SDO This is a confirmed communication service of CANopen (peer-
to-peer). It is made up by one SDO initiate message of the
Client node and the corresponding confirmation message of
the Server node. Expedited SDOs are used if not more than 4
byte of data has to be transmitted.
Flying Master In safety-critical applications, it may be required that a
missing NMT Master is substituted automatically by another
stand-by NMT Master. This concept of redundancy is called
Flying Master.
Form error A corruption of one of the pre-defined recessive bits (CRC
delimiter, ACK delimiter and EOF) is regarded as a form error
condition that will cause the transmission of an error frame in
the very next bit-time.
Function code First four bits of the CAN identifier in the CANopen pre-
defined identifier set indicating the function of the
communication object (e.g. TPDO_1 or Error Control message).
Galvanic isolation Galvanic isolation in CAN networks is performed by
optocouplers or transformers placed between CAN controller
and CAN transceiver chip.
Gateway Device with at least two network interfaces transforming all
seven OSI (open system interconnection) protocol layers, e.g.
CANopen-to-Ethernet gateway.
Heartbeat CANopen uses heartbeat message to indicate that a node is
still alive. This message is transmitted periodically.
Heartbeat consumer time The heartbeat consumer time defines the time when a node is
regarded as no longer alive due to a missing heartbeat
message.
Heartbeat producer time The heartbeat producer time defines the transmission
frequency of a heartbeat message.
Identifier In general, the term identifier refers to a CAN message
identifier. The CAN message identifier identifies the content of
a data frame. The identifier of a remote frame corresponds to
the identifier of the requested data frame. The identifier
includes implicitly the priority for the bus arbitration.

Index 16-bit address to access the CANopen dictionary; for array
and records the address is extended by an 8-bit Subindex.
Inhibit timer Object in CANopen for PDOs and Emergency messages that
forbids for the specified time (inhibit time) a transmission of
this communication object.
Initialization state NMT Slave state in CANopen that is reached automatically
after power-on and communication or application reset.
Interface profile CANopen profile that describes just the interface and not the
application behaviour of device, e.g. gateway and bridge
devices.
ISO 11898-1 International standard defining the CAN data link layer
including LLC, MAC and PLS sub-layers.
ISO 11898-2 International standard defining the CAN high-speed MAU.
Life guarding Method in CANopen to detect that the NMT Master does not
guard the NMT Slave any more. This not recommended for
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 find tree and
star topologies as well.
Master Communication or application entity that is allowed to control
a specific function. In networks this is for example the
initialization of a communication service.
Multiplexed PDO (MPDO) The MPDO is made of 8 byte including one control byte, three
multiplexer bytes (containing the 24-bit Index and Subindex),
and four bytes of object data.
etwork length Bus length. The network cable length between both
termination resistors. The bus length of 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 of 1 km is possible.
etwork management Entity responsible for the network boot-up procedure and the
optional configuration of nodes. It also may include node-
supervising functions such as node guarding.
etwork variables Network variables are used in programmable CANopen devices
to be mapped into PDOs after programming the device.
MT Network management in CANopen.
MT Master The NMT Master device performs the network management by
means of transmitting the NMT message. With this message, it
controls the state machines of all connected NMT Slave
devices.
MT Slave The NMT Slaves receive the NMT message, which contains
commands for the NMT state machine implemented in
CANopen devices.

MT state machine The NMT state machines support different states and the
highest prior CAN message transmitted controls the transition
to the states by the NMT Master.
ode guarding Mechanism used in CANopen and CAL to detect bus off or
disconnected devices. The NMT Master sends a remote frame
to the NMT Slave that is answered by the corresponding error
control message.
ode ID Unique identifier for a device required by different CAN-based
higher-layer protocols in order to assign CAN identifiers to
this device, e.g. in CANopen and DeviceNet. In the pre-defined
connection set of CANopen some of the CAN message
identifiers are derived from the assigned Node ID.
Object Dictionary Heart of each CANopen device containing all communication
and application objects.
Operational state In the NMT Operational state all CANopen communication
services are available.
PDO mapping In PDOs, there may be mapped up to 64 objects. The PDO
mapping is described in the PDO mapping parameters.
Pin assignment Definition of the use of connector pins.
Pre-defined connection
set
The pre-defined connection set is a default assignment of CAN
message identifiers 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
default assignment guarantees that the CAN message
identifiers are uniquely assigned in the network, if the node-ID
has been assigned uniquely.
Pre-operational state In the NMT Pre-operational state no CANopen PDO
communication is allowed.
Process Data Object
(PDO)
Communication object defined by the PDO communication
parameter and PDO mapping parameter objects. It is an
unconfirmed communication service without protocol
overhead.
Producer In CAN networks a transmitter of messages is called a
producer.
Protocol Formal set of conventions and rules for the exchange of
information between nodes, including the specification of
frame administration, frame transfer and physical layer.
Receiver A CAN node is called receiver or consumer, if it is not
transmitter and the bus is not idle.
Redundant networks In some safety-critical applications (e.g. maritime systems),
redundant networks may be required that provide swapping
capability in case of detected communication failures.
Remote frame With a remote frame another node is requested to transmit

the corresponding data frame identified by the very same
identifier. The remote frame's DLC has the value of the
corresponding data frame DLC. The data field of the remote
frame has a length of 0 byte.
Remote transmission
request (RTR)
Bit in the arbitration field indicating if the frame is a remote
frame (recessive value) or a data frame (dominant value).
Repeater Passive component that refreshes CAN bus signals. It is used
to increase the maximum number of nodes, or to achieve
longer networks (>1 km), or to implement tree or meshed
topologies.
Reset application This NMT command resets all objects in CANopen devices to
the default values or the permanently stored configured
values.
Reset communication This NMT command resets only the communication objects in
CANopen devices to the default values or the permanently
stored configured values.
RPDO The Receive Process Data Object (RPDO) is a communication
object that is received by a CANopen device.
SDO block transfer SDO block transfer is a CANopen communication service for
increasing downloading. In SDO block transfer, the
confirmation is sent after the reception of a number of SDO
segments.
SDO Manager The SDO Manager handles the dynamic establishment of SDO
connections. It resides on the very same node as the NMT
Master.
Segmented SDO If objects longer than 4 bytes are transmitted by means of
SDO services, a segmented transfer is used. The number of
segments is theoretically not limited.
Server SDO The Server SDO receives the SDO messages from the
corresponding SDO Client and responds to each SDO message
or to a block of SDO messages (SDO block transfer).
Service Data Object (SDO) SDOs provide the access to entries in the CANopen Object
Dictionary. An SDO is made up of at least two CAN messages
with different identifiers. SDOs are always confirmed point-to-
point communication services.
SI unit International system of units for physical values as specified in
ISO 1000:1983.
Stopped state NMT state in which only NMT messages are performed and
under some conditions error control messages are transmitted.
Sub-index 8-bit sub-address to access the sub-objects of arrays and
records.
Suspend transmission CAN controllers in error passive mode have to wait additional
8 bit-times before the next data or remote frame may be
transmitted.
SY C message Dedicated CANopen message forcing 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.
Termination resistor In CAN high-speed networks with bus topology, both ends are
terminated with resistors in order to suppress reflections.
TIME message Standardized message in CANopen containing the time as a 6-
byte value given as ms after midnight and days after 1st
January 1984.
TPDO The Transmit Process Data Object (TPDO) is a communication
object that is transmitted by a CANopen device.
Transmission type CANopen object defining the scheduling of a PDO.
Value definition Detailed description of the value range in CANopen profiles.
Value range Object attribute in CANopen defining the allowed values that
this object supports.

IF55 ROT CA open®
1 - Safety summary
1.1 Safety
Always adhere to the professional safety and accident prevention regulations
applicable to your country during device installation and operation;
installation and maintenance operations have to be carried out by qualified
personnel only, with power supply disconnected and stationary mechanical
parts;
device must be used only for the purpose appropriate to its design: use for
purposes other than those for 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 fatal
injury;
warning! Do not use in explosive or flammable areas;
failure to comply with these precautions or with specific warnings elsewhere
in this manual violates safety standards of design, manufacture, and
intended use of the equipment;
Lika Electronic assumes no liability for the customer's failure to comply with
these requirements.
1.2 Electrical safety
Turn off power supply before 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, following precautions must be taken:
- before handling and installing, discharge electrical charge from
your body and tools which may come in touch with the device;
- power supply must be stabilized without noise, install EMC filters on device
power supply if 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 far as possible from any capacitive or inductive noise
source, shield the device from noise source if needed;
- to guarantee a correct working of 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 frame to ground. Make sure that ground is not affected 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 interference 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 ROT CB E 1.2.odt 1 - Safety summary 19 of 88

IF55 ROT CA open®
1.3 Mechanical safety
Install the device following strictly the information in the “3 - Mounting
instructions” 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 shaft;
delicate electronic equipment: handle with care; do not subject the device
and the shaft to knocks or shocks;
respect the environmental characteristics declared by manufacturer.
MAN IF55 ROT CB E 1.2.odt 1 - Safety summary 20 of 88