Minebea OPT-563B-71 User manual

DIGITAL TRANSMITTER
CANopen Interface
OPT-563B-71
Instruction Manual
EN294-1634C

I
Introduction
Thank you for your purchasing OPT-563B-71 Digital Transmitter with CANopen interface for
optical transmission system flange torque converters.
This instruction manual describes how to operate the device and discusses noteworthy points.
Note that handling or operating the device incorrectly may result in malfunctions. Read this
manual thoroughly before use for correct usage.
Keep this instruction manual in a location where it will be readily accessible to end users.
Note that this manual is intended to be read by engineers.
The explanations included in this manual assume a basic knowledge of CANopen PLC
programs and CANopen interfaces.
Pictograms and Conventions Used in This Manual
This manual uses the following pictograms to indicate actions that must be avoided at all times,
aspects requiring caution, and other noteworthy matters.
Be sure to read the descriptions provided alongside these pictograms.
WARNING
This indicates circumstances in which incorrect handling may result in death or serious injury to
users. Avoid the actions described here at all times.
CAUTION
This indicates circumstances in which incorrect handling may result in injury to users or damage to
property.
This indicates operating or procedural precautions or restrictions.
Always read the details included here to avoid malfunctioning.

II
About This Manual
This instruction manual describes the connection and usage procedures for CANopen
interface specifications available separately for the OPT-563B.
For details of other functions, basic handling instructions, and precautions concerning the
OPT-563B, refer to the OPT-563B Instruction Manual.
OPT-563B Instruction Manual (DRW. No. EN294-1596*)

III
Revision History
Date Manual No. Revision reason (details)
2015/03 DRW. NO. EN294-1634 First issue. ROM VER.1.000
2016/06 DRW. NO. EN294-1634A
Due to ECN No, FN16-02057
-Deletion-
Delete 'Minebea Co., Ltd. Measuring Components Business
Unit' from the front cover.
2016/09 DRW. NO. EN294-1634B
Due to ECN No, FN16-02139
ROM Ver1.800 or later
5-1. Sub Index of Index "0x2001" and "0x2002" is changed to
"0x00" by "0x01". Explanatory note addition.
5-1.（*5）Explanatory note addition.
2017/09 DRW. NO. EN294-1634C Due to ECN FN17-02017
・Delete the company name in the contents.

IV
Contents
Introduction.............................................................................................................................................................I
Pictograms and Conventions Used in This Manual............................................................................................I
About This Manual.................................................................................................................................................II
Revision History....................................................................................................................................................III
1. Overview..........................................................................................................................................................1
1-1. Features........................................................................................................................................................1
2. Part Names and Functions............................................................................................................................2
2-1. Rear Panel CANopen Interface....................................................................................................................2
3. Connections....................................................................................................................................................3
3-1. Interface Connector Pin Arrangement..........................................................................................................3
3-2. Cable Length................................................................................................................................................3
3-3. Connection Precautions ...............................................................................................................................3
4. CANopen Communication Settings .............................................................................................................4
4-1. Function Mode Selection..............................................................................................................................4
4-2. CANopen Settings........................................................................................................................................4
5. Access Sequences.........................................................................................................................................5
5-1. CANopen Object Mapping............................................................................................................................6
6. Errors...............................................................................................................................................................9
7. Interface Specifications...............................................................................................................................10
7-1. CANopen Interface Specifications..............................................................................................................10
7-2. Accessories ................................................................................................................................................10

1
1. Overview
This product is a CANopen slave device.
It supports CANopen communication functions (CiADS301) by adding a CANopen interface to the
OPT-563B.
1-1. Features
The main features of the OPT-563B-71 are as follows:
(1) PDO transfer
Supports PDO transmission. Receiving is not supported.
Torque + rotation speed
Torque status + rotation speed status
(2) SDO transfer
Supports SDO transfer.
Torque (reading only)
Rotation speed (reading only)
Torque status (reading only)
Rotation speed status (reading only)
Torque units/decimal places/polarity (reading and writing)
Rotation speed units/decimal places (reading only)
Rotation speed polarity (reading and writing)
Manufacturer device name (reading only)
Manufacturer hardware version (reading only)
Manufacturer software version (reading only)
PDO transmission interval
(3) CANopen parameter setting
Sets the address and baud rate for the CAN bus.

2
2. Part Names and Functions
2-1. Rear Panel CANopen Interface
(1) Interface connector
Connector for the CANopen interface
The connector pins are configured as follows:
Pin No. Signal name Details
1 N.C. Not used
2 CAN_L CAN signal Low
3 CAN_GND CAN ground
4 N.C. Not used
5 CAN_SHLD Shield
6 N.C. Not used
7 CAN_H CAN signal High
8 N.C. Not used
9 N.C. Not used
Housing SHIELD Shield
* The connector is not provided. Compatible plug: Dedicated CANopen connector
Use a connector meeting specifications for CiA DR-303-1.
* Do not connect to N.C. pins.
* Insulated photocoupler from internal circuit.
(2) Status LEDs
The communication status is indicated by two LEDs.
Specifications are defined in the DR303-3 (CiA) standard.
RUN LED (green)
State Description
Off Off
Lit Operating
Continuous blinking Before operation
Blinks once Stopped
Flickering Automatically detecting baud rate
Lit (red) Shifting to abnormal state
(2) Status LEDs
(1) Interface connector

3
ERR LED (red)
State Description
Off Off or operating
Blinks once Error counter reached or exceeded preset value
Flickering Automatically detecting baud rate
Blinks twice NMT slave or NMT master detected a Heartbeat event
(Heartbeat consumer)
Lit Bus off
3. Connections
3-1. Interface Connector Pin Arrangement
Refer to "2-1. Rear Panel CANopen Interface."
3-2. Cable Length
The relationship between the baud rate and overall cable length is as shown below.
Baud rate Overall length
10 kbps Up to 1,000 m
20 kbps Up to 1,000 m
50 kbps Up to 1,000 m
100 kbps Up to 600 m
125 kbps Up to 500 m
250 kbps Up to 250 m
500 kbps Up to 100 m
800 kbps Up to 50 m
1 Mbps Up to 25 m
3-3. Connection Precautions
Always turn off the power before connecting wires.
Do not turn on the power until all installation work is complete. This device lacks a dedicated power
on/off switch.
Where possible, keep the cables connected to the device away from noise sources such as motor
power lines and control I/O units.
Always ground the device. Ground using a Class D independent ground. Do not use a ground
shared with motor power supplies.
Turn on the terminating resistance for the CANopen connector farthest from the PLC.
Use a dedicated CANopen connector cable.
Use a connector cable meeting specifications for CiA DR-303-1.

4
4. CANopen Communication Settings
Set the following items to use the CANopen interface.
4-1. Function Mode Selection
Select Function mode as described below.
1) Hold down the FUNC key for two seconds.
2) Press the ENTER key when [FUNC] appears.
3) Set the desired function number.
For details of function mode settings and operations, refer to "9. Function Mode" in the OPT-563B
Instruction Manual (DRW. No. EN294-1596).
4-2. CANopen Settings
Function No. Item Setting Details
F-42 Node ID
001 to 127
001
F-43 Baud rate
0 10 kbps
1 20 kbps
2 50 kbps
3 100 kbps
4 125 kbps
5 250 kbps
6 500 kbps
7 800 kbps
8 1 Mbps
F-45 PDO output interval 0 to 100 0: OFF
Units: 1 ms
100
(1) Node ID
Set the node ID number.
The number can be set to a value from 001 to 127.
The default setting is 001.
(2) Baud rate
Set the baud rate (in units of bps).
The baud rate can be set to 10 k, 20 k, 50 k, 100 k, 125 k, 250 k, 500 k, 800 k, or 1 M.
The default setting is 1 M.
(3) PDO output interval
Set the PDO output interval (in units of ms).
The interval can be set to a value from 0 to 100. (0: OFF)
The default setting is 100
.
The settings take effect after power is turned off, then turned back on. Turn power off and then back
on after changing any of the settings
An EDS file must be loaded when setting CANopen objects.
If necessary, this can be downloaded from the our website (http://www.minebea-mcd.com/)

5
5. Access Sequences
CANopen is accessed as shown in the following diagrams.
(1) PDO transmission
* ④PDO transmission occurs only if there are changes in the data updated in ②and ③.
(2) SDO transmission (SDO reading)
(3) SDO reception (SDO writing)
Rotation speed
senso
r
Torque sensor
Torque
converter
System
Software ②Set_Attribute
③Information
update
④Response transmission ⑤SDO
response
①SDO download
CAN
Master
device
CANbus
OPT-563B
CANopen
interface
OPT-563B
Rotation speed
senso
r
Torque sensor
Torque
converter
System
Software ②Get_Attribute
③Information
acquisition
④Response transmission ⑤SDO
response
①SDO upload
CAN
Master
device
CANbus
CANopen
interface
Rotation speed
senso
r
Torque sensor
Torque
converter
System
Software
CANopen
interface CAN
Master
device
④PDO
trans-
mission
OPT-563B
①Timer event
②Information
acquisition
③DPRAM
update
CANbus

6
5-2. CANopen Object Mapping
Manufacturer-specific Object
Order# Index
(ADI# + 0x2000) Sub-index (ADI Element#) Data Type Data
1 0x2001 0x00 SINT32 Torque (*1)
2 0x2002 0x00 SINT32 Rotation speed (*2)
3 0x2011 0x01 UINT32 Torque status (*3)
0x02 UINT32 Rotation speed status (*4)
4 0x2333 0x00 UINT16 Torque units (0: Nm, 1: kNm, 2: V)
5 0x2334 0x00 UINT16
Torque decimal places (0: No decimal point, 1 -
4: decimal places)
* Decimal places returned as 3 only if the
torque units are V and the value set specifies
4 decimal places
6 0x2335 0x00 UINT16
Torque polarity (135: + for counter-clockwise,
136: + for clockwise)
7 0x2343 0x00 UINT16 Rotation speed units (1644: rpm fixed)
8 0x2344 0x00 UINT16
Rotation speed decimal places (0: No decimal
point, fixed)
9 0x2345 0x00 UINT16
Rotation speed polarity (135: + for
counter-clockwise, 136: + for clockwise)
10 0x2350 0x00 UINT16 PDO transmission interval (ms)
PDO Mapping
PDO# Transmission
Details COB-ID (*5) Tx Type Inhibit Time Event Timer Mapped Objects
1 Torque + rotation
speed 0x180 COS(254) 0 0
0x2001 - 0x00
0x2002 - 0x00
2 Status 0x280 COS(254) 0 0
0x2011 - 0x01
0x2011 - 0x02
When this device is used without the configuration change from the condition at the shipment, the data from [COB-ID 0ｘ
380+ Device Address] and [0ｘ480+ Device Address] outputs once from master by the communication-start request.
When the configuration has been changed, data is not output.
(*1) Torque value format (SINT32)
0x8000_0000: IN-1 error
0x8000_0001: +OL error
0x8000_0002: -OL error
(*2) Rotation speed value format (SINT32)
0x8000_0000: Function F-24 setting is off (rotation speed detection signal is off).
0x8000_0001: +OS error
0x8000_0002: -OS error

7
(*3) Torque status format (UINT32)
bit0(ST):
1: Torque value normal
0: Error value
bit1(+OL):
1: +OL error, 0: Normal
bit2(-OL):
1: -OL error, 0: Normal
bit3(IN-1):
1: IN-1 error, 0: Normal
bit16(EPR):
1: EEPROM error, 0: Normal
bit17(CER):
1: PDO communication error, 0: Normal
(*4) Rotation speed status format (UINT32)
bit0(ST):
1: Rotation speed value normal
0: Error value
bit1(+OS):
1: +OS error, 0: Normal
bit2(-OS):
1: -OS error, 0: Normal
bit16(EPR):
1: EEPROM error, 0: Normal
(*5) The actual COB-ID will consist of the value indicated plus the device address.
When the configuration has been changed, COB-ID becomes the fixed value set by the configuration.
ST
07 15 8
1623 31 24
+OS-OS
EPR
d.c.d.c.
d.c. d.c.
ST
07 15 8
1623 31 24
+OL-OL IN-1
EPRCER
d.c.d.c.
d.c. d.c.

8
SDO Mapping
Details CANopen Object Writing Remarks
Manufacturer device name 0x1008 - 0x00 No
Manufacturer hardware version 0x1009 - 0x00 No
Manufacturer software version 0x100A - 0x00 No
Torque, rotation speed, status See "Manufacturer-specific
Object." No
Torque units, decimal places,
polarity See "Manufacturer-specific Object." Yes
Rotation speed units, decimal
places See "Manufacturer-specific Object." No
Rotation speed polarity See "Manufacturer-specific
Object." Yes
PDO transmission interval See "Manufacturer-specific
Object." Yes
* The COB-ID uses the default value (From server: 0x580 + device address, From client: 0x600 + device
address).

9
6. Errors
Error Details
IN-1 error Displayed when no torque signal is input in measurement mode or monitor mode
+OL error Displayed when the input torque exceeds [+110% of maximum display value] or 16
kHz in measurement mode
-OL error Displayed when the input torque is less than [-110% of maximum display value] or
4 kHz in measurement mode
+OS error Displayed when the rotation speed exceeds 27500 in measurement mode
-OS error Displayed when the rotation speed is less than -27500 in measurement mode
EEPROM error Displayed when an EEPROM write error or read error is detected
PDO communication
error Displayed when a PDO communication error is detected

10
7. Interface Specifications
7-1. CANopen Interface Specifications
Specifications Details
Baud rate Select from 10 kbps, 20 kbps, 50 kbps, 100 kbps, 125 kbps, 250 kbps,
500 kbps, 800 kbps, and 1 Mbps.
Node ID Select a value from 001 to 127.
PDO output interval Select a value from 000 to 100 (Units: ms).
Cable length Baud rate (bps) Overall length (m)
10 k Up to 1,000
20 k Up to 1,000
50 k Up to 1,000
100 k Up to 600
125 k Up to 500
250 k Up to 250
500 k Up to 100
800 k Up to 50
1 M Up to 25
Connector cable Use a dedicated CANopen cable.
Connector Use a dedicated CANopen connector.
Termination Use a connector with internal terminating resistance.
Status LEDs [RUN]and [ERR]
7-2. Accessories
CANopen Instruction
Manual 1 copy

●The contents of this manual may subject to change without notice.
HEAD QUARTER: MinebeaMitsumi Inc.
4106-73 Miyota, Miyota-machi, Kitasaku gun, Nagano-ken 389-0293 Japan
Tel: [phone] Fax: [phone]
Sensing Device Product Sales Management:
1-1-1, Katase, Fujisawa-shi, Kanagawa-ken, 251-8531 Japan
Tel: [phone] Fax: [phone]
Sensing Device Business Unit
FUJISAWAPLANT 1-1-1, Katase, Fujisawa-shi, Kanagawa-ken, 251-8531 Japan
Tel: [phone] Fax: [phone]
KARUIZAWA PLANT 4106-73 Miyota, Miyota-machi, Kitasaku gun, Nagano-ken 389-0293 Japan
Tel: [phone] Fax: [phone]
HOMEPAGE ADDRESS http://www.minebea-mcd.com