Siedle Novotechnik TP1 CANopen User manual

TP1/TH1 CANopen Gebrauchsanleitung
TP1/TH1 CANopen user manual
NOVOtechnik
SIEDLE GRUPPE
Version 01 2016/06Änderungen vorbehalten / Specifications subject to change 1
Content
1CANopen 2
1.1 EDS Files 2
1.2 Features 2
1.2.1 Basic information 2
1.2.2 Basics based on CiA DS-301, V4.2.0 2
1.2.3 Basics based on CiA DSP-406, V3.2 3
1.2.4 Basics SDO communication 3
1.2.5 Basics PDO communication 3
1.3 Object Library 4
1.3.1 Communication Profile Area based on DS 301 V4.2.0 4
1.3.2 Device Profile Area 6
1.3.3 Manufacturer specific Area 8
1.4 Explanations to Object Library 9
1.4.1 Object 0x6300 Encoder Cams 9
1.4.2 Cam state registers 9
1.4.3 Object 0x6400 Work Area 9
1.4.3.1 Work Area Supervision 9
1.4.3.2 Work Area State 9
1.5 LSS / Layer Setting Service 9
1.5.1 Configuration of Node-ID 10
1.5.2 Configuration of Bit Rate 10
1.5.3 Store Configuration Data 11
1.6 SDO Services 11
1.6.1 SDO Download 11
1.6.2 SDO Upload 12
1.6.3 SDO Abort 12
1.7 Process Data PDO 12
1.7.1 PDO Default Setting 12
1.7.2 PDO Parameter Setting 12
1.8 Error Handling 14
1.8.1 Emergency Messages 14
1.9 Error Objects 15
1.9.1 Manufacturer-specific Status 15
1.10 Non-Volatile Storage and Data Restoration 16
1.11 Abbreviations 17
1.12 Document Changes 17

TP1/TH1 CANopen Gebrauchsanleitung
TP1/TH1 CANopen user manual
NOVOtechnik
SIEDLE GRUPPE
Version 01 2016/06Änderungen vorbehalten / Specifications subject to change 2
1 CANopen
This document reflects the Novotechnik sensor protocol implementation of the standard CANopen protocol.
A basic knowledge of the CAN Bus is required for a proper understanding of this document.
Most of the definitions made are according to the following CiA Standard specifications.
For making use of all the features that these specifications offer, a knowledge about them is absolutely necessary.
The sensor supports the CANopen Communication profile DS-301, V4.2.0, Encoder profile DSP-406, V3.2 and
Layer Setting Services (LSS) DSP-305, V1.1.2.
1.1 EDS Files
For integration in a common CANopen projecting tool, electronic data sheet (*.eds) files are provided.
These files can be downloaded from the Novotechnik Web Site, see Downloads/Operating manuals
where also this document can be found.
Electric data sheet see file TP1_TH1.eds
1.2 Features
1.2.1 Basic information
Vendor ID: 386 = 0x0182 (Novotechnik)
Product code: TP1: 04035 = 0x0FC3, TH1: 04042 = 0x0FCA
Rev.-No.: f.e 196613 = 0x30005
Serial No.: see product label, “YYMMxxxx”
1.2.2 Basics based on CiA DS-301, V4.2.0
CAN Identifier
Standard 11 bit according to pre-defined connection set:
Services COB-ID
NMT 0x00
SYNC 0x080
EMCY 0x080 + Node-ID
PDO1 (Tx) 0x180 + Node-ID
PDO2 (Tx) 0x280 + Node-ID
SDO (Rx) 0x600 + Node-ID
SDO (Tx) 0x580 + Node-ID
CAN Bit rates
Bit rate is defined in the ordering code:
6_9: 10 kBaud
6_8: 20 kBaud
6_7: 50 kBaud
6_5: 125 kBaud
6_4: 250 kBaud
6_3: 500 kBaud
6_2: 800 kBaud
6_1: 1000 kBaud
setting per LSS (see chapter 1.5 LSS / Layer Setting Ser-
vice) or object 0x2001 (see chapter 1.6 SDO Services)
Node-ID
0x7F
setting per LSS (see chapter 1.5 LSS / Layer Setting Ser-
vice) or object 0x2001 (see chapter 1.6 SDO Services)
SYNC
Consumer
Time Stamp
no
Emergency Messages
Producer
Node Guarding
Yes
Heartbeat
Producer
Non-volatile storage
yes
Program Download
no
NMT Service
Slave

TP1/TH1 CANopen Gebrauchsanleitung
TP1/TH1 CANopen user manual
NOVOtechnik
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Version 01 2016/06Änderungen vorbehalten / Specifications subject to change 3
1.2.3 Basics based on CiA DSP-406, V3.2
Encoder class
C1 C2
Encoder type
Absolute Linear Encoder
Max. bit bandwidth of position value
24 bit
Encoder Cams
Channels to be detected
Cams per channel
Polarity
Hysteresis
Pos.ch1, Pos.ch2
4
invertable
yes
Work Area Supervision
channels
Pos.ch1, Pos.ch2
1.2.4 Basics SDO communication
SDO communication
expedited transfer
segmented transfer
1 Server
yes
no
Block transfer
no
1.2.5 Basics PDO communication
PDO communication principle
Producer
TPDO‘s
TPDO1: asynchronous with Event Timer,
synchronous,
synchronous to measurement cycle
(length dependend 0.5/1/2/4 ms delay 100µs)
TPDO2: synchronous
synchronous to measurement cycle
(length dependend 0.5/1/2/4 ms delay 100µs)
PDO Mapping
dynamic
max. PDO Mapping logs per PDO
5

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TP1/TH1 CANopen user manual
NOVOtechnik
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Version 01 2016/06Änderungen vorbehalten / Specifications subject to change 4
1.3 Object Library
1.3.1 Communication Profile Area based on DS 301 V4.2.0
Object description
Entry description
Index/
subindex
Name
Data Type
Access
PDO
Mapping
Default value
Comment
1000
device type
unsigned32
const
no
0x000A0196
Device profile 406 multi-sensor
encoder interface
1001
error register
unsigned8
ro
no
0x00
See chapter 1.8 Error Handling
1002
manufacturer
status register
unsigned32
ro
no
0
Additional manufacturer spec. status
register
1005
COB-ID SYNC
unsigned32
rw
no
0x00000080
COB-ID SYNC message (CAN-
identifier)
1008
manufacturer
device name
visible_ string
const
no
f.e. TP1-0100-
101-614-105
Device name, see datasheet/ordering
code
100C
guard time
unsigned16
rw
no
0x00000000
disabled
Time base (in ms), which gives
combined with 100D the time in
which the response of the node
guard is expected
100D
life time factor
unsigned8
rw
no
0x00000000
disabled
The life time factor multiplied with the
guard time gives the life time for the
device.
1010
store parameter
field
unsigned32
This entry supports saving of pa-
rameters in non volatile memory.
With a read access the device pro-
vides information about its saving
capabilities.
For saving the signature "save"
(0x65766173) must be written.
1010/1
store parameter
unsigned32
rw
no
0x00000000
Save all parameters
1010/2
field
unsigned32
rw
no
0x00000000
Save communcation parameters
1010/3
unsigned32
rw
no
0x00000000
Save application parameters
1010/4
unsigned32
rw
no
0x00000000
Save manufacturer defined parame-
ters
1011
restore default
parameters
unsigned32
This entry supports restoring of
default parameters. With a read
access the device provides infor-
mation about its capabilities to re-
store these values.
For restoring the signature "load"
(0x64616f6c) must be written.
1011/1
unsigned32
rw
no
0x00000000
Restore all default parameters
1011/2
unsigned32
rw
no
0x00000000
Restore communication default
parameters
1011/3
unsigned32
rw
no
0x00000000
Restore application default parame-
ters
1011/4
unsigned32
rw
no
0x00000000
Restore manufacturer defined pa-
rameters
1014
COB-ID EMCY
unsigned32
ro
no
0x00000080
+ Node-ID
COB-ID used for emergency mes-
sage (Emergency Server).
1017
producer heart-
beat time
unsigned16
rw
no
0x00000000
disabled
Heartbeat time periode in ms.
Range 0...0xFFFF
1018
identify object
identity
General information about the device.
This information is also used as the
LSS address when using “switch
mode selective” command
1018/1
unsigned32
ro
no
0x00000182
Vendor ID
1018/2
unsigned32
ro
no
0x0 (see
1.2.1Basic
information)
Product code
1018/3
unsigned32
ro
no
(see
1.2.1Basic
information)
Revision number
1018/4
unsigned32
ro
(see
1.2.1Basic
information)
Serial number
1800
transmit PDO
communication
parameter 1
PDO_COMM
_PAR
It contains the communication pa-
rameters of the current PDO the
device is able to transmit.
1800/1
unsigned32
rw
no
0x40000180
COB-ID of the PDO

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Object description
Entry description
Index/
subindex
Name
Data Type
Access
PDO
Mapping
Default value
Comment
+ Node ID
1800/2
unsigned8
rw
no
0xFE =254
Transmission type: synchronous to
measurement cycle 255,
asynchronous 254, synchronous
1...239 acc. CiA DS 301
1800/3
unsigned16
rw
no
0x0
Inhibit Time in 100µs
1800/4
unsigned8
rw
no
0x00
Compatibility entry
1800/5
unsigned16
rw
no
0x0
disabled
Event timer in ms
Range 1...65535
1801
transmit PDO
communication
parameter 2
PDO_COMM
_PAR
It contains the communication pa-
rameters of the current PDO the
device is able to transmit.
1801/1
unsigned32
rw
no
0x40000280
COB-ID of the PDO
1801/2
unsigned8
rw
no
0x1
Transmission type: synchronous to
measurement cycle 255, synchro-
nous 1...239 acc. CiA DS 301
1801/3
unsigned16
rw
no
0x0
Inhibit Time in 100µs
1A00
TPDO mapping
parameter 1
PDO_
MAPPING
Contains the mapping for the PDOs
the device is able to transmit
1A00/0
unsigned8
rw
no
0x21)
0x32)
Number of entries
1A00/1
unsigned32
rw
no
0x60200120
Mapping entry 1,
default: Position value channel 1
1A00/2
unsigned32
rw
no
0x602002201)
0x603001202)
Mapping entry 2,
default: Position value channel 2 1)
default: Speed value channel 1 2)
1A00/3
unsigned32
rw
no
0x630001082
Mapping entry 3
default: 1)
default: CAM Status channel 1 2)
1A00/4
unsigned32
rw
no
0x00000000
Mapping entry 4
1A00/5
unsigned32
rw
no
0x00000000
Mapping entry 5
1A01/0
TPDO mapping
unsigned8
rw
no
0x21)
0x32)
Number of entries
1A01/1
parameter 2
unsigned32
rw
no
0x60200120
Mapping entry 1,
default: Position value channel 1
1A01/2
unsigned32
rw
no
0x602002201)
0x603001202)
Mapping entry 2,
default: Position value channel 2 1)
default: Speed value channel 1 2)
1A01/3
unsigned32
rw
no
0x630001082
Mapping entry 3
default: 1)
default: CAM Status channel 1 2)
1A01/4
unsigned32
rw
no
0x00000000
Mapping entry 4
1A01/5
unsigned32
rw
no
0x00000000
Mapping entry 5
1F80
NMT startup
unsigned32
rw
no
0x0
This object determines the startup
behavior of a device in the network.
Bit 3 set: sensor starts in operational
mode
1) for 1 position marker
2) for 2 position markers

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1.3.2 Device Profile Area
* for 1 position marker: default value 0x01
** for 1 position marker: not available
Object description
Entry description
Index/
subindex
Name
Data Type
Access
PDO
Mapping
Default value
Comment
6000
operating
parameter
unsigned16
rw
no
0x0
This object contains the functions for
code sequence and commissioning
diagnostic control
6005
Linear encoder
measuring step
settings
Object sets the number of distin-
guishable steps over the total meas-
uring range (total resolution)???
6005/0
Unsigned8
ro
no
0x02
Number of objects
6005/1
unsigned32
ro
no
0x100000
Position measuring steps in 0.001 µm
6005/2
unsigned32
ro
no
0x100
Speed measuring step in 0.01 µm
6010
preset value
integer32
This object supports adaption of the
encoder zero point to the mechanical
zero point of the system
6010/0
ro
no
0x02*
Number of available channels
6010/1
integer32
rw
no
0x0
Preset value channel 1
6010/2
integer32
rw
no
0x0**
Preset value channel 2
6020
position value
integer32
This object defines the output posi-
tion value
6020/0
ro
no
0x2*
Number of available channels
6020/1
integer32
ro
yes
0x0
Position value channel 1
6020/2
integer32
ro
yes
0x0**
Position value channel 2
6030
speed value
unsigned
This object defines the output speed
value
6030/0
ro
no
0x2*
Number of available channels
6030/1
integer16
ro
yes
0x0
Speed value channel 1
6030/2
integer16
ro
yes
0x0**
Speed value channel 2
6300
CAM state
register
unsigned8
defines the status bit of the cam in a
cam channel. The bit value 0 means
"cam inactive". The bit value 1 means
"cam active". If the polarity bit of a
cam is set the actual cam state will
be inverted.
6300/0
ro
no
0x2*
Number of available channels
6300/1
unsigned8
ro
yes
0x0
CAM state channel 1
6300/2
unsigned8
ro
yes
0x0**
CAM state channel 2
6301
CAM enable
unsigned8
This object contains the calculation
state for 4 cams for one position
channel.
If the enable bit is set to 1, the cam
state will be calculated by the device.
In the other case the cam state of the
related cam will be set permanently
to 0.
6301/0
CAM enable
ro
no
0x2*
Number of available channels
6301/1
unsigned8
rw
no
0x0
CAM enable channel 1
6301/2
unsigned8
rw
no
0x0**
CAM enable channel 2
6302
CAM polarity
register
unsigned
This object contains the actual
polarity settings for 4 cams for one
position channel. If the polarity bit is
set to 1, the cam state of an active
cam will signal by setting the related
cam state bit to zero. In the other
case the cam state of the related cam
will not be inverted.
6302/0
ro
no
0x2*
Number of available channels
6302/1
unsigned8
rw
no
0x0
CAM polarity channel 1
6302/2
unsigned8
rw
no
0x0**
CAM polarity channel 2
6310
CAM 1 low limit
integer32
determines the lower limit of position
for cam 1
6310/0
ro
no
0x2*
Number of available channels
6310/1
integer32
rw
no
0x00
CAM 1 low limit channel 1
6310/2
Integer32
rw
no
0x00**
CAM 1 low limit channel 2
6311
CAM 2 low limit
integer32
determines the lower limit of position
for cam 2
6311/0
ro
no
0x2*
Number of available channels
6311/1
integer32
rw
no
0x00
CAM 2 low limit channel 1

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Object description
Entry description
Index/
subindex
Name
Data Type
Access
PDO
Mapping
Default value
Comment
6311/2
Integer32
rw
no
0x00**
CAM 2 low limit channel 2
6312
CAM 3 low limit
integer32
determines the lower limit of position
for cam 3
6312/0
ro
no
0x2*
Number of available channels
6312/1
integer32
rw
no
0x00
CAM 3 low limit channel 1
6312/2
Integer32
rw
no
0x00**
CAM 3 low limit channel 2
6313
CAM 4 low limit
integer32
determines the lower limit of position
for cam 4
6313/0
ro
no
0x2*
Number of available channels
6313/1
integer32
rw
no
0x00
CAM 4 low limit channel 1
6313/2
Integer32
rw
no
0x00**
CAM 4 low limit channel 2
6320
CAM 1 high limit
integer32
determines the higher limit of position
for cam 1
6320/0
ro
no
0x2*
Number of available channels
6320/1
integer32
rw
no
0x3FFF
CAM 1 high limit channel 1
6320/2
Integer32
rw
no
0x3FFF**
CAM 1 high limit channel 2
6321
CAM 2 high limit
integer32
determines the higher limit of position
for cam 2
6321/0
ro
no
0x2*
Number of available channels
6321/1
integer32
rw
no
0x3FFF
CAM 2 high limit channel 1
6321/2
Integer32
rw
no
0x3FFF**
CAM 2 high limit channel 2
6322
CAM 3 high limit
integer32
determines the higher limit of position
for cam 3
6322/0
ro
no
0x2*
Number of available channels
6322/1
integer32
rw
no
0x3FFF
CAM 3 high limit channel 1
6322/2
Integer32
rw
no
0x3FFF**
CAM 3 high limit channel 2
6323
CAM 4 high limit
integer32
determines the higher limit of position
for cam 4
6323/0
ro
no
0x2*
Number of available channels
6323/1
integer32
rw
no
0x3FFF
CAM 4 high limit channel 1
6323/2
Integer32
rw
no
0x3FFF**
CAM 4 high limit channel 2
6330
CAM 1
hysteresis
unsigned16
This object contains the delay setting
of switch points for cam 1
6330/0
ro
no
0x2*
Number of available channels
6330/1
unsigned16
rw
no
0x0
CAM 1 hysteresis channel 1
6330/2
unsigned16
rw
no
0x0**
CAM 1 hysteresis channel 2
6331
CAM 2
hysteresis
unsigned16
This object contains the delay setting
of switch points for cam 2
6331/0
ro
no
0x2*
Number of available channels
6331/1
unsigned16
rw
no
0x0
CAM 2 hysteresis channel 1
6331/2
unsigned16
rw
no
0x0**
CAM 2 hysteresis channel 2
6332
CAM 3
hysteresis
unsigned16
This object contains the delay setting
of switch points for cam 3
6332/0
ro
no
0x2*
Number of available channels
6332/1
unsigned16
rw
no
0x0
CAM 3 hysteresis channel 1
6332/2
unsigned16
rw
no
0x0**
CAM 3 hysteresis channel 2
6333
CAM 4
hysteresis
unsigned16
This object contains the delay setting
of switch points for cam 4
6333/0
ro
no
0x2*
Number of available channels
6333/1
unsigned16
rw
no
0x0
CAM 4 hysteresis channel 1
6333/2
unsigned16
rw
no
0x0**
CAM 4 hysteresis channel 2
6400
area state
register
unsigned8
This object contains the actual area
status of the encoder position.
Bit meaning
0 out of range
1 range overflow
2 range underflow
6400/0
ro
no
0x2*
Number of available work areas
6400/1
unsigned8
ro
yes
0x0
Work area state channel 1
6400/2
unsigned8
ro
yes
0x0**
Work area state channel 2
6401
work area low
limit
integer32
This object contains the lower limit of
the work area
6401/0
ro
no
0x2*
Number of available work areas
6401/1
integer32
rw
no
0x00
Low limit work area 1
6401/2
integer32
rw
no
0x00**
Low limit work area 2
6402
work area high
limit
integer32
This object contains the higher limit of
the work area
6402/0
ro
no
0x2*
Number of available channels
6402/1
integer32
rw
no
0x3FFF
High limit work area 1

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Object description
Entry description
Index/
subindex
Name
Data Type
Access
PDO
Mapping
Default value
Comment
6402/2
integer32
rw
no
0x3FFF**
High limit work area 2
6500
operating status
unsigned16
ro
no
0x0
This gives information on encoder
internal programmed parameters.
6501
measuring steps
unsigned32
ro
no
0x000003E8
Position measuring step in 0.001 µm
* for 1 position marker: default value 0x01
** for 1 position marker: not available
1.3.3 Manufacturer specific Area
Object description
Entry description
Index/
subindex
Name
Data Type
Access
PDO
Mapping
Default value
Comment
2000
node-ID
unsigned8
rw
no
0x7F
Node-ID of the sensor
Range 1...127
2001
CAN bit rate
unsigned16
rw
no
See
datasheet/
odering code
f.e. 250=0x03
CAN bit rate of the sensor in kbit/s
f.e. TP1-0100-101-614-105
250kBaud
2002
chip temperature
integer16
ro
yes
f.e. 37
Temperature from inside the µC in
Celsius f.e. at ambient temperature
2003
number of posi-
tion markers
unsigned8
rw
no
0x02
Number of position markers (1 or 2)
2004
custom
unsigned16
Manufacturer defined array

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1.4 Explanations to Object Library
1.4.1 Object 0x6300 Encoder Cams
Encoder cams are used to indicate if a position falls below or exceeds a defined value.
1.4.2 Cam state registers
Cam active: the current position value is between the higher and lower cam-limit
Cam inactive: the current position value is not between the higher and lower cam-limit.
The values for low limit (0x631x) and high limit (0x632x) regard the values for preset (0x6010) and measuring steps
(0x6005). The value of hysteresis (0x633x) is added in direction of motion.
Note: The cam high limit value can have a lower value than the cam low limit
Note: For operation with two position markers the cam function is only usable for the position marker
which is further away from the connector flange.
A change in cam state causes an EMCY message.
The cam state objects (0x6300) are able to be mapped to the TPDOs.
1.4.3 Object 0x6400 Work Area
It is possible for encoders to define a so-called user defined working area.
The main purpose for a work area is to get a high-priority information (via EMCY message) when the transducer’s po-
sition leaves its predefined working area.
The actual work area information with work area low limit and work area high limit may be stored in object 0x6401 and
0x6402. This way, the area state object (0x6400) may also be used as software limit switches.
1.4.3.1 Work Area Supervision
Each work area channel is fixedly linked to a position channel:
Position
Work Area
Index
Subindex
Channel
0x6020
1
1
0x6020
2
2
1.4.3.2 Work Area State
Condition
State register 0x6400
Position < Work Area Low Limit
Position >= Work Area Low Limit
Bit 2 = 1
Bit 2 = 0
Position > Work Area High Limit
Position <= Work Area High Limit
Bit 1 = 1
Bit 1 = 0
Position <= Preset Value or Position >= Sensor length
otherwise
Bit 0 = 1
Bit 0 = 0
The values for low limit (0x6401) and high limit (0x6402) regard the values for preset (0x6010) and scaling (0x6501,
0x6502).
A change in work area state causes an EMCY message.
The work area state objects (0x6400) are able to be mapped to the TPDOs.
1.5 LSS / Layer Setting Service
To configure the encoder via the LSS (according CiA DS 305) the encoder is handled as a slave, the
PLC must have a LSS master functionality.

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A LSS-message is composed as follows:
COB-ID
DLC
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
This applies to the COB-ID:
• LSS-Master ⇒LSS-Slave: 2021 (0x7E5)
• LSS-Slave ⇒LSS-Master: 2020 (0x7E4)
LSS can only be used when the encoder is in the stopped status or pre-operational status.
The NMT command for setting the encoder in stopped status is:
COB-ID
DLC
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x7E5
8
0x04
0x00
0x00
0x00
0x00
0x00
0x00
0x00
To program via LSS the sensor has to be switched to LSS configuration state.
There are two possible ways to do so:
• Switch Mode Selective:
only the addressed CANopen device is switched to the LSS configuration state
LSS requires data content in the following objects:
Example:
Vendor-ID (see index 1018/1) 0x0182 LSS-Command 0x40
Product code (see index 1018/2) 0x0BE0 LSS-Command 0x41
Rev.No. (see index 1018/3) 0x10003 LSS-Command 0x42
Serial-No. (see index 1018/4) 0x12345678 LSS-Command 0x43
After receiving the identification objects, the encoder answers with LSS-Command 0x44.
COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x7E5
8
Rx
0x40
0x82
0x01
0x00
0x00
0x00
0x00
0x00
0x7E5
8
Rx
0x41
0xE0
0x0B
0x00
0x00
0x00
0x00
0x00
0x7E5
8
Rx
0x42
0x03
0x00
0x01
0x00
0x00
0x00
0x00
0x75E
8
Rx
0x43
0x78
0x56
0x34
0x12
0x00
0x00
0x00
0x7E4
8
Tx
0x44
0x00
0x00
0x00
0x00
0x00
0x00
0x00
• Switch Mode Global: all CANopen devices supporting LSS are switched to the LSS configuration
state
COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x7E5
8
Rx
0x04
0x82
0x01
0x00
0x00
0x00
0x00
0x00
When the CAN devices are in configuration state the Node-ID and/or the baud rate can be changed.
1.5.1 Configuration of Node-ID
The Node-ID can be programmed with the LSS-Command 0x11
N ID: new Node-ID in the range of 1...127
Err Code: 0: protocol successfully completed / 1: Node-ID out of range
COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x7E5
8
Rx
0x11
N ID
0x00
0x00
0x00
0x00
0x00
0x00
0x7E4
8
Tx
0x11
Err Code
0x00
0x00
0x00
0x00
0x00
0x00
Change of Node-ID will cause:
Automatic alteration of COB-ID’s for SDO1, EMCY and Heartbeat and TPDOs.
Non-volatile Node-ID storage through „Store Configuration“ in the LSS mode configuration.
1.5.2 Configuration of Bit Rate
The Bit Rate can be programmed with LSS-Command 0x13
Table Index: 0x06: 50 kBaud
0x04: 125 kBaud
0x03: 250 kBaud
0x02: 500 kBaud
0x01: 800 kBaud
0x00: 1000 kBaud
Err Code: 0: protocol successfully completed 1: Bit timing not supported

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COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x75E
8
Rx
0x13
Table
Index
0x00
0x00
0x00
0x00
0x00
0x00
0x74E
8
Tx
0x13
Err Code
0x00
0x00
0x00
0x00
0x00
0x00
Change of Bit rate will cause:
The bit rate gets active
Non-volatile CAN bit rate storage through „Store Configuration“ in the LSS mode configuration
1.5.3 Store Configuration Data
The LSS configuration data (Node-ID and Bit Rate) are stored to the non-volatile memory of the sen-
sor using LSS-Command 0x17
Err Code: 0: protocol successfully completed 2: storage media access error
COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x75E
8
Rx
0x17
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x74E
8
Tx
0x17
Err Code
0x00
0x00
0x00
0x00
0x00
0x00
1.6 SDO Services
Service Data Objects SDO (according to CiA DS 301) manage the parameter data exchange, e.g. the
non-cyclical execution of the preset function.
Parameters of device object library (object index/subindex see chapter 1.3 Object Library) can be
read, written or stored by means of SDO.
1.6.1 SDO Download
The SDO download service is used to configure the parameters.
Command 0x2_: 0x22 write command, parameter to encoder
0x23 write command, 4 Byte parameter to encoder
0x27 write command, 3 Byte parameter to encoder
0x2B write command, 2 Byte parameter to encoder
0x2F write command, 1 Byte parameter to encoder
Command 0x60: confirmation: parameter received
COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x600+Node-ID
8
Rx
0x2_
Index
Sub-
index
Data
LSB
Data
Data
Data
MSB
0x580+Node-ID
8
Tx
0x60
Index
Sub-
index
0x00
0x00
0x00
0x00
Example: object index 0x1010 subindex 01 “store all parameters”
0x600+Node-ID
8
Rx
0x23
0x10
0x10
0x01
0x73
0x61
0x76
0x65
0x580+Node-ID
8
Tx
0x60
0x10
0x10
0x01
0x00
0x00
0x00
0x00
Example: object index 0x1011 subindex 01 “restore all parameters”
0x600+Node-ID
8
Rx
0x23
0x11
0x10
0x01
0x6C
0x6F
0x61
0x64
0x580+Node-ID
8
Tx
0x60
0x11
0x10
0x01
0x00
0x00
0x00
0x00
Example: object index 0x2000 subindex 01 “set new node-ID” with 64
0x600+Node-ID
8
Rx
0x23
0x00
0x20
0x80
0x00
0x00
0x00
0x00
0x580+Node-ID
8
Tx
0x60
0x00
0x20
0x01
0x00
0x00
0x00
0x00
NODE-ID
Using writing to object 0x2000, non-volatile storage has to be done by writing the“save”- signature (0x65766173) on
object 0x1010/1. These changes will become effective after a communication restart or a power up.
Changing the Node-ID will affect all COB-IDs according to the “predefined connection set”.
Example: COB-ID TPDO1 = 0x180 + (Node-ID)
BIT-RATE
Using writing to object 0x2001; non-volatile storage has to be done by writing the“save”- signature (0x65766173) on ob-
ject 0x1010/1. These changes will become effective after a communication restart or a power up.

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1.6.2 SDO Upload
The SDO upload service is used to read the parameters.
Command 0x40: read command, parameters from encoder
Command 0x4_: 0x42 read command, parameter to encoder
0x43 read command, 4 Byte parameter to encoder
0x47 read command, 3 Byte parameter to encoder
0x4B read command, 2 Byte parameter to encoder
0x4F read command, 1 Byte parameter to encoder
COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x600+Node-ID
8
Rx
0x40
Index
Sub-
index
0x00
0x00
0x00
0x00
0x580+Node-ID
8
Tx
0x4_
Index
Sub-
index
Data
LSB
Data
Data
Data
MSB
1.6.3 SDO Abort
If the SDO download or SDO upload service fails for any reason, the sensor responds with a SDO abort protocol.
Abort Code: 0x06090011 subindex does not exist
0x06090030 value exceeded
0x06020000 object does not exist
0x06010001 object is write only
0x06010002 object is read only
0x08000020 data transport error
0x08000000 general error
0x08000022 wrong state
COB-ID
DLC
Rx/
Tx
Command
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
0x580+Node-ID
8
Tx
0x80
Index
Sub-
index
Abort code
1.7 Process Data PDO
Process Data Objects (according CiA DS 301) manage the process data exchange, f.e the cyclical transmission of the
position value. The process data exchange with the CANopen PDOs is a very slim process without protocol overhead.
1.7.1 PDO Default Setting
2 Transmit PDOs (TPDO) with each max. 8 bytes are provided:
0x1800 TPDO1: default: asynchronous with event timer switched off (changeable to synchronous)
0x1801 TPDO2: default: synchronous
1.7.2 PDO Parameter Setting
The contents of the encoder-specific TPDOs can be configured by variable mapping according to cus-
tomer´s requirements. This mapping has to be performed for the encoder as well as for the receiver.
The PDO is limited to a maximum size of 8 bytes and 5 mappings per each PDO.
Mappable objects
Index/Subindex Entry
Byte
0x6020/1 Position value ch. 1
0x6020/2 Position value ch. 2
0x6030/1 Speed value ch. 1
0x6030/2 Speed value ch. 2
4
4
2
2
0x6300/1 Cam state ch. 1
0x6300/2 Cam state ch. 2
1
1
0x6400/1 Work area ch. 1
0x6400/2 Work area ch. 2
1
1
0x2002 Chip temperature
1

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Step 1: For mapping of further objects, the PDO must be completely disabled and the MSB of PDO
COB-ID have to be set to 1.
PDO
Object
COB-ID for active PDO
COB-ID for disabled PDO
(MSB set to 1)
1
0x1800
0x40000xxx
0xC0000xxx
2
0x1801
0x40000xxx
0xC0000xxx
Step 2: Clearing entries in mapping table of PDO1 => subindex 0x0 of object 1A00 has to be set to
0x00.
Step 3: Parameter setting of selected mappings
Example:
A PDO can be mapped in the way that the "current position", the "current speed" and the "current chip
temperature" are transmitted in one information without producing more than necessary bus load.
Mapping #1 “current position”:
object 0x1A00/1 size: 32 bit = 4 byte => 0x20 position value = object 0x6020/1
destination object
size
source object
COB-ID
DLC
Rx/
Tx
Command
Byte0
(object)
Byte1
(object)
Byte2
(subindex)
Byte3
Byte4
(subindex)
Byte5
(object)
Byte6
(object)
0x600+Node-ID
8
Rx
0x23
0x00
0x1A
0x01
0x20
0x01
0x20
0x60
Mapping #2 “current speed”:
object 0x1A00/2 size: 16 bit = 2 byte => 0x10 speed value = object 0x6030/1
destination object
size
source object
COB-ID
DLC
Rx/
Tx
Command
Byte0
(object)
Byte1
(object)
Byte2
(subindex)
Byte3
Byte4
(subindex)
Byte5
(object)
Byte6
(object)
0x600+Node-ID
8
Rx
0x23
0x00
0x1A
0x02
0x10
0x01
0x30
0x60
Mapping #3: “current chip temperature”.
object 0x1A00/3 size: 8 bit = 1 byte => 0x08 temperature value = object 0x2002
destination object
size
source object
COB-ID
DLC
Rx/
Tx
Command
Byte0
(object)
Byte1
(object)
Byte2
(subindex)
Byte3
Byte4
(subindex)
Byte5
(object)
Byte6
(object)
0x600+Node-ID
8
Rx
0x23
0x00
0x1A
0x03
0x08
0x00
0x02
0x20
Step 4: Setting entries in mapping table => subindex 0x0 of object 1A00 has to be set to the numbers of mapping en-
tries
(f.e. 0x03)
Step 5: For activating the PDO the MSB of PDO COB-ID have to be set to 0.
PDO
Object
COB-ID for disabled PDO
COB-ID for enabled PDO
(MSB cleared)
1
0x1800
0xC0000xxx
0x40000xxx
2
0x1801
0xC0000xxx
0x40000xxx
Note:
TPDO1 value for Event Timer must always be higher than the value for Inhibit Time (except for value 0).
Failed sending of TPDOs can occur if:
more TPDOs shall be sent than the CANbus may accept due to insufficient CAN bit rate compared to TPDO/Event Timer
excessive bus load or unfavourable setting of COB-ID in the CANopen network prevents TPDO
sending
Object 0x1800/5- event timer- is set to 0.

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1.8 Error Handling
Depending on the type of error occured, the sensor will react accordingly:
Error Class
Error
Error Message from Sensor
Protocol error
SDO protocol error, corrupted data received via SDO
Abort SDO Transfer*
PDO protocol error, corrupted data received via PDO
Not relevant, sensor does support
TPDOs only
Communication error
CAN bus off
CAN error passive
CAN overrun
CAN buffer overflow
EMCY message**
Process error
Position or sensor error
EMCY message**
Data error
Abort SDO Transfer* or
EMCY message**
Change of state
According to Cams and Work Areas
EMCY Message**
* according to DS-301, see chapter 1.6 SDO Services
** details see chapter 1.8.1 Emergency Messages
1.8.1 Emergency Messages
COB-ID EMCY
DLC
Rx/
Tx
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x80+Node-ID
8
Tx
See next table
COB-ID EMCY in object 0x1014.
Error-Register in object 0x1001.
0x50xx Device Hardware 0x60xx Device Software
0x80xx Monitoring 0x90xx External Error
Error-Code
Error-
Register
Additional Byte
Description
Byte 0,1
Byte 2
Byte
3,4
Byte
5,6
Byte
7
0x0000
0
0
0
0
Sensor Error resetted, no Error
0x5000
1
1
1
0
Sensor Error
Cause: An internal error bit is set. The current process values stay in
the object directory; the cam and work area states stay unchanged. If
the internal error bit is reset to 0, an EMCY with 0x0000 is sent.
0x5000
1
1
5
0
Unexpected System Data
Cause: application received sensor-internal system data instead of
process data during normal operation mode.
Reaction: sensor changes into PRE-OPERATIONAL mode. System
data is being computed as if power-up had occurred (system data are
being checked and and serial number and product code, if correct, is
being stored in EEPROM). If system data are correct, normal opera-
tion can continue afterwards.
0x5000
1
1
6
0
No System Data
Cause: Sensor configuration is not detected internally.
Reaction: sensor changes into PRE-OPERATIONAL mode. NMT
Master cannot set the sensor into OPERATIONAL mode, until error
has been eliminated and sensor has been reset through power off/on.
Attempted setting into OPERATIONAL will result in repeated EMCY
message sending.
0x5000
1
2
1
0
Invalid Serial Number in EEPROM
Cause: the serial number and product code stored in the FLASH is
invalid.
Reaction: sensor changes into PRE-OPERATIONAL mode. NMT
Master cannot set the sensor into OPERATIONAL mode, until error
has been eliminated and sensor has been reset through power off/on.

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Error-Code
Error-
Register
Additional Byte
Description
Byte 0,1
Byte 2
Byte
3,4
Byte
5,6
Byte
7
Attempted setting into OPERATIONAL will result in repeated EMCY
message sending.
0x6000
1
1
0
0
Insufficient Event Timer Value
Cause: CAN bit rate has been set to a low value and an insufficient
Event Timer value has been set for TPDO1 accordingly.
Reaction: TPDO1 sending will occur partially.
0x8110
1
1
0
0
CAN Controller Overflow , CAN Overrun
Cause: data buffers of CAN controller are still holding data and cannot
accept new entries. Data is being lost.
Reaction: none
0x8110
1
2
0
0
CAN Buffer Overflow
Cause: data buffers of CANopen library are still holding data and
cannot accept new entries. Data is being lost.
Reaction: none
0x8120
1
0
0
0
CAN Error Passive
Cause: CAN controller has detected communication errors and is
reporting error passive.
Reaction: none
0x8140
1
0
0
0
CAN Recovered From Bus-Off
Cause: CAN controller registered too many sending errors. CAN
communication could be restored afterwards.
Reaction: none
0x9080
1
ch.
cam
state
Encoder CAM
Cause: the state of cam / channel has changed. State is coded ac-
cording to 0x6300.
Reaction: none
0x9090
1
ch.
0
state
Work Areas
Cause: the state of Work Area / chan. has changed. State is coded
according to 0x6400.
Reaction: none
1.9 Error Objects
1.9.1 Manufacturer-specific Status
The object 0x1002 shows the sensor status bit code and is used for internal process control purposes.
For servicing this information can be requested via SDO (see chapter 1.6 SDO Services).
Bit
Definition (if bit value = 1)
17
Lifeguarding Error
16
sensor receiving process data
15
TPDO1 Event Timer Value insufficient for set CAN bit rate
6
CAN Controller Overflow
5
CAN Buffer Overflow
4
CAN Error Passive
3
CAN Bus-Off
2
CAN Bus-Off Timer started
0-1
NMT Condition of Sensor
%11 stopped
%10 operational
%01 pro-operational
%00 initialisation

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1.10 Non-Volatile Storage and Data Restoration
Default values for all data objects are stored in the non-volatile program memory.
Data encryption to the non-volatile memory is only admitted in the pre-operational status.
Storage via LSS:
Data must be stored through the LSS Service Configuration/Store while in LSS Configuration Mode (see chapter 1.5
LSS / Layer Setting Service)
Storage via SDO:
Object 0x1010:
Data is stored in the non-volatile memory during encryption of object 0x1010 with „save“ signature (0x65766173).
Object 0x1011:
Encryption of object 0x1011 with the signature „load“ (0x64616F6C) will upload data from the non-volatile memory.
Default settings are being restored (see chapter 1.6 SDO Services).
Object 0x1010
Object 0x1011
Subindex /1
All
Subindex /2
Communication
Subindex /3
Application
Subindex /4
Manufacturer
COB-ID Sync
Guard Time
X
X
Life Time Factor
X
X
Heartbeat Timer
X
X
TPDO COB-ID
D
X
TPDO Trans Typ
X
X
TPDA Inhibit Time
X
X
TPDO Event Timer
X
X
TPDO Mapping
X
X
NMT Startup
X
X
Node-ID
X
BitRate
X
Number of position markers
X
Custom
X
Operating Parameters
X
X
Linear Encoder Measuring Step Settings
X
X
Preset Value
X
X
CAM Enable
X
X
CAM Polarity
X
X
CAM Low Limit
X
X
CAM High Limit
X
X
CAM Hysterese
X
Work Area Low Limit
X
Work Area High Limit
X
X: data saved or restored
D: data set to default value
Delete via SDO:
Object 0x1010:
Additionally to the functionality defined in CiA standard DS-301, CANopen library offers the possibility to delete data in
the non-volatile memory. Delete process is initiated by sending the signature “kill” (0x6B696C6C) to object 0x1010.

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1.11 Abbreviations
CAN Controller Area Network
ch channel
COB-ID Communication Object Identifier
const constant parameter, only readable
DLC Data Length Code
DS Draft Standard
EMCY Emergency Service
NMT Network-Management
PDO Process Data Object
Pos Position (value)
ro read only, parameter can change
rw read/write
Rx Novotechnik sensor is consumer of the CAN data frame
RTR Remote Transmission Request
SDO Service Data Object
SYNC Synchronisation message
TPDO Transmit Process Data Object
Tx Novotechnik sensor is producer of the CAN data frame
1.12 Document Changes
Revision
Changes
Date
Who
V_00
First edition
16.07.14
VM/mm
V_01
1.4.3.1 work area supervision added, 1.4.2 0x6001 replaced by 0x6005
measuring steps
17.06.16
VM/mm
V_02

V_03

V_04

V_05
