Posital Fraba CANopen User manual

POSITAL GmbH
Carlswerkstraße 13c, D-51063 Köln, Telefon [phone], Telefax [phone]
www.posital.eu, inf[email protected]
Main Features
-Compact and heavy-duty industrial design
-Interface: CANopen (DS406)
CANopen Lift (DSP417)
-Housing: 36 mm
-Solid shaft: 6 or 10mm
-Blind hollow shaft: 6mm
-Max. 4096 steps per revolution (12 Bit)
-Max. 32768 revolutions (15 Bit)
-Code: Binary
-Velocity Output
-LSS services
Mechanical Structure
-Aluminium flange and housing
-Nickel-plated steel housing
Stainless steel shaft
Precision ball bearings
Programmable Parameters
-Direction of rotation (complement)
-Resolution per revolution
-Total resolution
-Preset value
-Two limit switches and eight cams
-Baud rate and CAN-identifier
-Transmission mode: Polled mode, cyclic
mode, sync mode
Electrical Features
-Programmable Termination Resistor
-Polarity inversion protection
-Over-voltage-peak protection
-Galvanic Isolation
ABSOLUTE ROTARY ENCODER WITH CANOPEN INTERFACE
USER MANUAL

Version 02/09 UME-MCD-CA 2
ABSOLUTE ROTARY ENCODER
CANOPEN
Table of Contents
Main Features........................................................1
Mechanical Structure.............................................1
Programmable Parameters....................................1
Electrical Features.................................................1
Table of Contents.................................................2
General Security Advise......................................4
About this Manual................................................4
1. Introduction......................................................5
1.1 General CANopen Information.........................5
2. Installation........................................................7
2.1 Electrical Connection.......................................7
3. Technical Data..................................................9
Electrical Data........................................................9
Sensor data............................................................9
Tab. 3 Sensor data....................................................9
Flange..................................................................10
Synchro (S)..........................................................10
Blind hollow shaft (B)...........................................10
Clamp (C) ............................................................10
Minimum Mechanical Lifetime..............................10
Cable ...................................................................10
4. Configuration .................................................11
4.1 Operating Modes ...........................................11
4.1.1 General.......................................................11
4.1.2 Mode: Preoperational..................................11
4.1.3 Mode: Start - Operational............................11
4.1.4 Mode: Stopped............................................11
4.1.2 Reinitialization of the Encoder.....................12
4.2 Normal Operating...........................................12
4.3 Storing Parameter..........................................13
4.3.1 List of storable Parameter...........................13
4.3.1 Storing Procedure.......................................13
4.4 Restoring Parameters....................................14
4.5 Usage of Layer Setting Services (LSS)..........14
5. Programmable Parameters ...........................16
5.1 Programming example: Preset Value ............17
5.1.1 Set Encoder Preset Value...........................17
5.2 Communication Profile DS301 specific
objects from 1000h - 1FFFh.................................18
5.3 Manufacturer specific objects 2000h –
5FFFh..................................................................19
5.4 Application specific objects 6000h –67FEh .. 19
5.5 Object Descriptions ....................................... 20
Object 1000h: Device Type ................................. 20
Object 1001h: Error Register............................... 21
Object 1003h: Pre-Defined Error Field ................ 21
Object 1005h: COB-ID Sync................................ 22
Object 1008h: Manufacturer Device Name.......... 22
Object 1009h: Manufacturer Hardware Version... 22
Object 100Ah: Manufacturer Software Version.... 22
Object 100Ch: Guard Time.................................. 23
Object 100Dh: Life Time Factor........................... 23
Object 1010h: Store Parameters......................... 23
Object 1011h: Restore Parameters..................... 24
Object 1012h: COB-ID Time Stamp Object......... 24
Object 1013h: High Resolution Time Stamp........ 24
Object 1014h: COB-ID Emergency Object .......... 25
Object 1016h: Consumer Heartbeat Time........... 25
Object 1017h: Producer Heartbeat Time............. 25
Object 1018h: Identity Object .............................. 26
Object 1020h: Verify configuration....................... 26
Object 1029h: Error behaviour............................. 26
Object 1800h: 1st Transmit PDO Communication
Parameter............................................................ 27
Object 1801h: 2nd Transmit PDO Communication
Parameter............................................................ 27
Event Timer......................................................... 28
Object 1A00h: 1st Transmit PDO Mapping
Parameter............................................................ 28
Object 1A01h: 2nd Transmit PDO Mapping
Parameter............................................................ 29
Object 1F50h: Download Program Area.............. 29
Object 1F51h: Program Control........................... 29
Object 2000h: Position Value .............................. 30
Object 2100h: Operating Parameters.................. 30
Object 2101h: Resolution per Revolution ............ 31
Object 2102h: Total Resolution ........................... 31
Object 2103h: Preset Value................................. 32
Object 2104h: Limit Switch, min. ......................... 32
Object 2105h: Limit Switch, max. ........................ 33
Object 2160h: Customer storage......................... 33
Object 2200h: Cyclic Timer PDO......................... 34

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CANOPEN
Object 2300h: Save Parameter with Reset..........34
Object 3000h: Node Number ...............................34
Object 3001h: Baudrate.......................................35
Object 3010h: Speed Control...............................35
Object 3011h: Speed Value.................................36
Object 3020h: Acceleration Control .....................36
Object 3021h: Acceleration Value........................36
Object 4000h: Bootloader Control........................36
Object 6000h: Operating parameters...................37
Object 6001h: Measuring units per revolution......38
Object 6002h: Total measuring range in
measuring units....................................................38
Object 6003h: Preset value..................................38
Object 6004h: Position value...............................38
Object 6030h: Speed Value.................................39
Object 6040h: Acceleration Value........................39
Object 6200h: Cyclic timer...................................39
Object 6300h: Cam state register ........................40
Object 6301h: Cam enable register .....................40
Object 6302h: Cam polarity register.....................40
Object 6400h: Area state register ........................43
Object 6401h: Work area low limit .......................44
Object 6402h: Work area high limit...................... 44
Object 6500h: Operating status........................... 44
Object 6501h: Single-turn resolution ................... 45
Object 6502h: Number of distinguishable
revolutions........................................................... 45
Object 6503h: Alarms.......................................... 45
Object 6504h: Supported alarms......................... 46
Object 6505h: Warnings...................................... 46
Object 6506h: Supported warnings ..................... 47
Object 6507h: Profile and software version......... 47
Object 6508h: Operating time.............................. 47
Object 6509h: Offset value.................................. 48
Object 650Ah: Module identification .................... 48
Object 650Bh: Serial number............................... 48
6. Diagnosis ....................................................... 49
6.2 Troubleshooting............................................. 49
7. Mechanical Drawings.................................... 50
Appendix A: Order Codes................................. 53
Appendix B: History.......................................... 54
Appendix C: Glossary....................................... 55
Appendix D: List of tables ................................ 58
Appendix E: Document history........................ 58

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ABSOLUTE ROTARY ENCODER
CANOPEN
General Security Advise
Important Information
Read these instructions carefully, and look at the
equipment to become familiar with the device
before trying to install, operate, or maintain it.
The following special messages may appear
throughout this documentation or on the
equipment to warn of potential hazards or to call
attention to information that clarifies or simplifies
a procedure.
The addition of this symbol to a
Danger or Warning safety label
indicates that an electrical hazard
exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is
used to alert you to potential
personal injury hazards. Obey all
safety messages that follow this symbol to avoid
possible injury or death.
Please Note
Electrical equipment should be serviced only by
qualified personnel. No responsibility is assumed
by POSITAL for any consequences arising out of
the use of this material. This document is not
intended as an instruction manual for untrained
people.
About this Manual
Background
This user manual describes how to install and
configure an MCD absolute rotary encoder with
CANopen interface.
Relate Note
Version date: 08. October 2010
Version number: 10/10
Reference number: UKE20101008
Imprint
POSITAL GmbH
Carlswerkstrasse 13c
D-51063 Köln
Telefon [phone]
Telefax [phone]
Internet http://www.posital.eu
e-mail [email protected]
Copyright
The company POSITAL GmbH claims copyright
on this documentation. It is not allowed to
modify, to extend, to hand over to a third party
and to copy this documentation without written
approval by the company POSITAL GmbH. Nor
is any liability assumed for damages resulting
from the use of the information contained herein.
Further, this publication and features described
herein are subject to change without notice.
User Annotation
The POSITAL GmbH welcomes all readers to
send us feedback and commands about this
document. You can reach us by e-mail at
[email protected]

Version 02/09 UME-MCD-CA 5
ABSOLUTE ROTARY ENCODER
CANOPEN
1. Introduction
This manual explains how to install and
configure the MAGNETOCODE absolute rotary
encoder with CANopen interface applicable for
both military and industrial applications with
CANopen interface. The products are fully
compliant with standard DS406.
Measuring System
Magnetic rotary encoder determine
positions using the Hall effect sensor
technology developed for the automotive
mass market. A permanent magnet fixed to
the shaft generates a magnetic field that is
sampled by the Hall sensor, which
translates the measured value into a unique
absolute position value.
To register revolutions even when no
voltage is applied, energy from the turning
of the shaft must suffice for proper
operation. An innovative, patented
technology makes this feasible even at low
rotational speeds and through long
standstill periods –a Wiegand wire ensures
that the magnetic field can only follow the
turning of the shaft in discrete steps. A coil
wound on the Wiegand wire receives only
brief, strong voltage spikes, which prompt
the reliable recognition of each revolution.
Typical Applications:
• Packing Machines
• Mobile Machines
• Wind Mills
• Medical Equipment
1.1 General CANopen Information
The CANopen system is used in industrial
applications. It is a multiple access system
(maximum: 127 participants), which means that
all devices can access the bus. In simple terms,
each device checks whether the bus is free, and
if it is the device is able to send messages. If two
devices try to access the bus at the same time,
the device with the higher priority level (lowest
ID number) has permission to send its message.
Devices with the lowest priority level must delay
their data transfer and wait before retrying to
send their message. Data communication is
carried out via messages. These messages
consist of 1 COB-ID followed by a maximum of 8
bytes of data. The COB-ID, which determines
the priority of the message, consists of a
function code and a node number. The node
number corresponds to the network address of
the device. It is unique on a bus. The function
code varies according to the type of message
being sent:
Management messages (LMT, NMT)
Messaging and service (SDOs)
Data exchange (PDOs)
Layer Setting Services (LSS)
Predefined messages (synchronization,
emergency messages)

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CANOPEN
The absolute rotary encoder supports the
following operating modes:
Polled mode: The position value is only
sent on request.
Cyclic mode: The position value is sent
cyclically (regular, adjustable interval)
on the bus.
SYNC mode: The position value is sent
after a synchronization message
(SYNC) is received. The position value
is sent every n SYNCs (n ≥ 1).
Other functions (offset values, resolution, etc)
can be configured. The absolute rotary encoder
corresponds to the class 2 encoder profile (DS
406 in which the characteristics of encoder with
CANopen interface are defined). The node
number and speed in bauds are determined by
their corresponding object dictionary entries.
The transmission speed can range from
20kBaud up to 1Mbaud (30m cable for a
maximum speed of 1Mbaud, 1000m cable for a
maximum speed of 20 kbaud). Various software
tools for configuration and parameter-setting are
available from different suppliers. It is easy to
align and program the rotary encoders using the
EDS (electronic data sheet) configuration file
provided.
Further information is available at:
CAN in Automation (CiA) International Users
and Manufacturers Group e.V.
Kontumazgarten 3
DE-90429 Nurenberg
(*) Reference: CAN Application Layer for
Industrial Applications
CiA Draft Standard 201 ... 207, Version
1.1
CAL-based Communication Profile for
Industrial Systems
CiA Draft Standard 301
CiA Draft Standard 305 Layer Setting
Services
CiA Draft Standard 406 Device Profile
for Encoders
Note: All datasheets and manuals can be
downloaded for free from our website
www.posital.eu
We do not assume responsibility for
technical inaccuracies or omissions.
Specifications are subject to change without
notice.

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CANOPEN
2. Installation
2.1 Electrical Connection
5 pin male M12 connector RJ45 Connector
Tab.1 Signal Assignment Connector / Cable
1
4
2
3
5
Function
Wire end
Connector Pin RJ45
Connector Pin M12
Can High
white
1
4
Can Low
brown
2
5
Can-GND
green
3
1
GND
yellow
4
3
+ Ub= 10-30 V
red
8
2

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CANOPEN
Setting Node Number via SDO Objects
The node number has to be adjusted via SDO
objects. The default node number is 32. To set
the node number, object 3000h has to be
written. For further information regard
chapter 5.5 Object Dictionary.
Setting Baud Rate via SDO Objects
The baud rate has to be adjusted via SDO
objects. The default baud rate is 125 kBaud. To
set baud rate object 3001h has to be written. For
further information please regard chapter 5.5
Object Dictionary.
Setting Node Number via LSS
The node number can also be adjusted via
Layer Setting Services (LSS). For further
information regard chapter 4.5
Setting Baud Rate via LSS
The baud rate can also be adjusted via Layer
Setting Services (LSS). The default baud rate is
125 kBaud. For further information regard
chapter 4.5.
Bus Termination
If the encoder is the last device in the bus you
can use the internal termination resistor which
can be enabled with an SDO object..

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CANOPEN
3. Technical Data
In the following section you will find general technical data about MCD absolute rotary encoders with
CANopen interface.
Electrical Data
Interface
Transceiver according ISO 11898,
galvanically isolated by opto-couplers
Transmission rate
max. 1 MBaud
Device addressing
Adjustable by SDO telegrams or Layer Setting Services
Supply voltage
10 –30* V DC (absolute limits)
Current consumption
max. 100 mA with 10 V DC, max. 50 mA with 24 V DC
Power consumption
max. 1,2 Watts
EMC
Emitted interference: EN 61000-6-4
Noise immunity: EN 61000-6-2
Electrical lifetime
> 105 h
Tab. 2 Electrical Data
*Absolute rotary encoders should be connected only to subsequent electronics whose power supplies comply with EN
50178 (protective low voltage)
Sensor data
Singleturn technology
magnetic 2 axis Hall sensor
Singleturn resolution
up to 4096 steps / revolution (12 Bit)
Singleturn accuracy
+/-0,35°
Internal cycle time
< 1 ms
Multiturn technology
self supplied magnetic pulse counter
Multiturn resolution
Can measure up to 200 Billion revolutions
Tab. 3 Sensor data
Environmental Conditions
Operating temperature
- 30 ... + 85 °C (M12 connector version
- 30 ... + 70 °C (Cable exit version) *
Storage temperature
- 30 ... + 85 °C (M12 connector version
- 30 ... + 70 °C (Cable exit version) *
Humidity
98 % (without liquid state)
Protection Class (EN 60529)
Casing side: IP54 (Cable exit version)
IP65 (M12 Connector version)
Shaft side: IP65
Tab.4 Environmental Conditions

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CANOPEN
Mechanical Data
Housing
Nickel-plated iron housing
Flange
Aluminium
Shaft
Stainless steel
Lifetime
Dependent on shaft version and shaft loading –refer to table
Max. shaft loading
Axial 40 N, radial 110 N
Inertia of rotor
30 gcm2
Friction torque
3 Ncm
RPM (continuous operation)
max. 12.000 RPM
Shock (EN 60068-2-27)
100 g (half sine, 6 ms)
Permanent shock (EN 60028-2-29)
10 g (half sine, 16 ms)
Vibration (EN 60068-2-6)
10 g (10 Hz ... 1,000 Hz)
Weight (standard version)
150 g, including cable
Flange
Synchro (S)
Blind hollow shaft (B)
Clamp (C)
Shaft diameter
6 mm
6 mm
10 mm
Shaft length
11,5 mm
-
20 mm-
Hollow shaft depth min. / max.
-
8 mm / 18 mm
-
Tab. 5 Mechanical data
Minimum Mechanical Lifetime
Flange
Lifetime in 108revolutions with Fa/ Fr
40 N / 60 N
40 N / 80 N
40 N / 110 N
S06 (Synchro flange 6 x 11.5)
216
91
35
Tab. 6 Minimum Mechanical Lifetime
Cable
Operating temperature cable
flexing -5°C bis +70°C
static -30°C bis +70°C
Minimum bend radius
flexing 10x cable diameter
static 5x cable diameter
Cable
aprox 6 mm / type : LIYCY 4x2x0.14
Tab.7 Cable properties