Siko WV36M/CAN User manual

User manual
Absolute ROTARY ENCODER
with interface
WV36M/CAN

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Table of Contents
1. General Security Advise.......................................................................................... 5
1.1 About this Manual........................................................................................................................5
2. Introduction.............................................................................................................. 6
2.1 General CANopen Information....................................................................................................6
3. Installation................................................................................................................ 7
4. Configuration........................................................................................................... 8
4.1 Operating Modes.........................................................................................................................8
4.1.1 General........................................................................................................................................8
4.1.2 Mode: Preoperational..................................................................................................................8
4.1.3 Mode: Start - Operational............................................................................................................8
4.1.4 Mode: Stopped ............................................................................................................................8
4.1.5 Reinitialization of the Encoder.....................................................................................................8
4.2 Normal Operating........................................................................................................................9
4.3 Storing Parameter .......................................................................................................................9
4.3.1 List of storable Parameter ...........................................................................................................9
4.3.2 Storing Procedure......................................................................................................................10
4.4 Restoring Parameters................................................................................................................10
4.5 Usage of Layer Setting Services (LSS).....................................................................................10
5. Programmable Parameters ....................................................................................10
5.1 Programming example: Preset Value........................................................................................11
5.1.1 Set Encoder Preset Value.........................................................................................................11
5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh .......................................12
5.3 Manufacturer specific objects 2000h –5FFFh..........................................................................13
5.4 Application specific objects 6000h –67FEh..............................................................................13
5.5 Object Descriptions ...................................................................................................................14
5.5.1 Object 1000h: Device Type.......................................................................................................14
5.5.2 Object 1001h: Error Register.....................................................................................................14
5.5.3 Object 1003h: Pre-Defined Error Field......................................................................................14
5.5.4 Object 1005h: COB-ID Sync .....................................................................................................15
5.5.5 Object 1008h: Manufacturer Device Name...............................................................................15
5.5.6 Object 1009h: Manufacturer Hardware Version........................................................................15
5.5.7 Object 100Ah: Manufacturer Software Version.........................................................................15
5.5.8 Object 100Ch: Guard Time .......................................................................................................15
5.5.9 Object 100Dh: Life Time Factor ................................................................................................16
5.5.10 Object 1010h: Store Parameters...............................................................................................16
5.5.11 Object 1011h: Restore Parameters...........................................................................................16
5.5.12 Object 1012h: COB-ID Time Stamp Object...............................................................................16
5.5.13 Object 1013h: High Resolution Time Stamp.............................................................................17
5.5.14 Object 1014h: COB-ID Emergency Object................................................................................17
5.5.15 Object 1016h: Consumer Heartbeat Time.................................................................................17
5.5.16 Object 1017h: Producer Heartbeat Time...................................................................................17
5.5.17 Object 1018h: Identity Object....................................................................................................17
5.5.18 Object 1020h: Verify configuration ............................................................................................18
5.5.19 Object 1029h: Error behavior ....................................................................................................18
5.5.20 Object 1800h: 1st Transmit PDO Communication Parameter ...................................................18
5.5.21 Object 1801h: 2nd Transmit PDO Communication Parameter...................................................18

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5.5.22 Event Timer...............................................................................................................................19
5.5.23 Object 1A00h: 1st Transmit PDO Mapping Parameter..............................................................19
5.5.24 Object 1A01h: 2nd Transmit PDO Mapping Parameter .............................................................20
5.5.25 Object 1F50h: Download Program Area ...................................................................................20
5.5.26 Object 1F51h: Program Control ................................................................................................20
5.5.27 Object 2000h: Position Value....................................................................................................20
5.5.28 Object 2100h: Operating Parameters........................................................................................21
5.5.29 Object 2101h: Resolution per Revolution..................................................................................21
5.5.30 Object 2102h: Total Resolution.................................................................................................21
5.5.31 Object 2103h: Preset Value ......................................................................................................22
5.5.32 Object 2104h: Limit Switch, min................................................................................................22
5.5.33 Object 2105h: Limit Switch, max...............................................................................................23
5.5.34 Object 2160h: Customer storage ..............................................................................................23
5.5.35 Object 2200h: Cyclic Timer PDO ..............................................................................................23
5.5.36 Object 2300h: Save Parameter with Reset...............................................................................23
5.5.37 Object 3000h: Node Number.....................................................................................................24
5.5.38 Object 3001h: Baud rate............................................................................................................24
5.5.39 Object 3002h: Termination Resistor..........................................................................................24
5.5.40 Object 3010h: Speed Control....................................................................................................24
5.5.41 Object 3011h: Speed Value ......................................................................................................25
5.5.42 Object 3020h: Acceleration Control...........................................................................................25
5.5.43 Object 3021h: Acceleration Value.............................................................................................25
5.5.44 Object 4000h: Bootloader Control.............................................................................................25
5.5.45 Object 6000h: Operating parameters........................................................................................25
5.5.46 Object 6001h: Measuring units per revolution...........................................................................26
5.5.47 Object 6002h: Total measuring range in measuring units.........................................................26
5.5.48 Object 6003h: Preset value.......................................................................................................26
5.5.49 Object 6004h: Position value.....................................................................................................26
5.5.50 Object 6030h: Speed Value ......................................................................................................27
5.5.51 Object 6040h: Acceleration Value.............................................................................................27
5.5.52 Object 6200h: Cyclic timer ........................................................................................................27
5.5.53 Object 6300h: Cam state register..............................................................................................27
5.5.54 Object 6301h: Cam enable register...........................................................................................27
5.5.55 Object 6302h: Cam polarity register..........................................................................................27
5.5.56 Object 6400h: Area state register..............................................................................................29
5.5.57 Object 6401h: Work area low limit.............................................................................................30
5.5.58 Object 6402h: Work area high limit...........................................................................................30
5.5.59 Object 6500h: Operating status.................................................................................................30
5.5.60 Object 6501h: Single-turn resolution.........................................................................................30
5.5.61 Object 6502h: Number of distinguishable revolutions...............................................................30
5.5.62 Object 6503h: Alarms................................................................................................................31
5.5.63 Object 6504h: Supported alarms...............................................................................................31
5.5.64 Object 6505h: Warnings............................................................................................................31
5.5.65 Object 6506h: Supported warnings...........................................................................................32
5.5.66 Object 6507h: Profile and software version...............................................................................32
5.5.67 Object 6508h: Operating time ...................................................................................................32
5.5.68 Object 6509h: Offset value........................................................................................................32
5.5.69 Object 650Ah: Module identification..........................................................................................33
5.5.70 Object 650Bh: Serial number ....................................................................................................33
6. Diagnosis ................................................................................................................33
6.1.1 Troubleshooting.........................................................................................................................33

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6.1.2 Power on –Encoder doesn't respond .......................................................................................33
6.1.3 Malfunction of the position value during transmission...............................................................33
6.1.4 Too much ERROR-Frames.......................................................................................................33
6.1.5 Limit switches without function..................................................................................................34
6.1.6 Baud rate and Node Number changes......................................................................................34
7. Appendix: Glossary................................................................................................35

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1. 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
SIKO for any consequences arising out of the use of this material. This document is not intended as
an instruction manual for untrained people.
1.1 About this Manual
Background
This user manual describes how to install and configure an WV36M/CAN absolute rotary encoder with
CANopen interface.
Imprint
SIKO GmbH
Weihermattenweg 2
D-79256 Buchenbach
Telephone [phone]
Telefax [phone]
Internethttp:// www.siko-global.com
e-mail [e-mail]
Copyright
The company SIKO 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 SIKO 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 SIKO GmbH welcomes all readers to send us feedback and commands about this document. You
can reach us by e-mail at in[email protected]

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2. Introduction
This manual explains how to install and configure WV36M/CAN 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
2.1 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)
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.

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The transmission speed can range from 20 kbaud up to 1Mbaud (30 m cable for a maximum speed of
1 Mbaud, 1000 m 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 Nuremberg
(*) 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.siko.de
We do not assume responsibility for technical inaccuracies or omissions. Specifications are
subject to change without notice.
3. Installation
Setting Node Number via SDO Objects
The node number has to be adjusted via SDO objects. The default node-ID is 32 (20H). 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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4. Configuration
The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder
with CANopen interface.
4.1 Operating Modes
4.1.1 General
The encoder accesses the CAN network after power up in pre-operational mode:
BootUp Message: 700 hex + Node Number
It is recommended that the parameters can be changed by the user when the encoder is in
preoperational mode. Pre-operational mode entails reduced activity on the network, which simplifies
the checking of the accuracy of the sent/received SDOs. It is not possible to send or receive PDOs in
pre-operational mode.
4.1.2 Mode: Preoperational
To set a node to pre-operational mode, the master must send the following message:
Identifier
Byte 0
Byte 1
Description
0 h
80 h
00
NMT-PreOp, all nodes
0 h
80 h
NN
NMT-PreOp, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to pre-operational mode.
4.1.3 Mode: Start - Operational
To put one or all nodes in the operational state, the master have to send the following message:
Identifier
Byte 0
Byte 1
Description
0 h
01 h
00
NMT-Start, all nodes
0 h
01 h
NN
NMT-Start, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to operational mode.
4.1.4 Mode: Stopped
To put one or all nodes in the stopped state, the master have to send the following message:
Identifier
Byte 0
Byte 1
Description
0 h
02 h
00
NMT-Stop, all nodes
0 h
02 h
NN
NMT-Stop, NN
NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode.
4.1.5 Reinitialization of the Encoder
If a node is not operating correctly, it is advisable to carry out a reinitialization:
NN
Command
Index
Description
0 h
82 h
00
Reset Communication
0 h
81 h
NN
Reset Node

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NN: node number
It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode.
After reinitialization, the encoder accesses the bus in pre-operational mode.
4.2 Normal Operating
Polled Mode
By a remote-transmission-request telegram the connected host calls for the
current process value. The encoder reads the current position value,
calculates eventually set-parameters and sends back the obtained process
value by the same identifier.
Cyclic Mode
The encoder transmits cyclically - without being called by the host - the
current process value. The cycle time can be programmed in milliseconds
for values between 1 ms and 65536 ms.
Sync Mode
After receiving a sync telegram by the host, the encoder answers with the
current process value. If more than one node number (encoder) shall
answer after receiving a sync telegram, the answer telegrams of the nodes
will be received by the host in order of their node numbers. The
programming of an offset-time is not necessary. If a node should not
answer after each sync telegram on the CAN network, the parameter sync
counter can be programmed to skip a certain number of sync telegrams
before answering again.
Tab. 1: CAN Transmission Mode Description
4.3 Storing Parameter
4.3.1 List of storable Parameter
Object Index
Object Description
1005h
COB-ID Sync
100Ch
Guard Time
100Dh
Life Time Factor
1016h
Consumer Heartbeat Time
1017h
Producer Heartbeat Time
1020h
Verify configuration
1800h
Communication parameter PDO 1
1801h
Communication parameter PDO 2
1A00h
Transmit PDO1 Mapping Parameter
1A01h
Transmit PDO2 Mapping Parameter
2100h
Operating Parameters
2101h
Resolution per Revolution
2102h
Total Resolution
2103h
Preset Value
2104h
Limit Switch, min.
2105h
Limit Switch, max.
2160h
Customer Storage
2200h
Cyclic Timer
3000h
Node Number
3001h
Baud rate
3002h
Termination Resistor
6000h
Operating Parameter
6001h
Steps per Revolution
6002h
Total Resolution
6003h
Preset Value
6200h
Cyclic Timer
Tab. 2: List of Storable Parameters

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4.3.2 Storing Procedure
The parameter settings can be stored in a non-volatile E2PROM. The parameter settings are
stored in RAM when being programmed. When all the parameters are set and proved, they
can be transferred in one burn cycle to the E2PROM by the parameter memory transfer. The
stored parameters are copied after a RESET (Power on, NMT-Reset) from the E2PROM to
the RAM (volatile memory).
Storing without Reset
By using the object 1010h from the communication profile related object dictionary you can store the
parameters into the non-volatile memory without a reset.
Storing with Reset
By using the object 2300h from the manufacturer specific object dictionary you can store the
parameters into the non-volatile memory. After storing the parameters a reset of the device is
performed.
4.4 Restoring Parameters
The default parameters can be restored by using the object 1011h from communication profile related
object dictionary. The already in the non-volatile memory programmed parameters are not overwritten.
Only after a new store command the default parameters are stored in the non-volatile memory. To
restore the default parameter the following telegram is used. The restored parameters are equal for
every type of CANopen encoder and might not fit with the status after delivery. Please check the
restored parameters before you store them to the non-volatile memory.
4.5 Usage of Layer Setting Services (LSS)
To configure the encoder via LSS the encoder will be the LSS slave device and the control has to
support LSS master device functionality.
The LSS master device requests services, that are performed by the LSS slave devices (encoder).
The LSS master device requests the LSS address (vendor-id, product-code, revision-number, serial-
number) from the LSS slave device. After receiving this information the control can unequivocally
identify the encoder and the node number and baud rate can be set.
5. Programmable Parameters
Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org).
Command
Function
Telegram
Description
22h
Domain Download
Request
Parameter to Encoder
23h, 27h, 2Bh, 2Fh (*)
Domain Download
Request
Parameter to Encoder (Bytes
indicated)
60h
Domain Download
Confirmation
Parameter received
40h
Domain Upload
Request
Parameter request
43h, 47h, 4Bh, 4Fh (*)
Domain Upload
Reply
Parameter to Master (Bytes
indicated)
80 h
Warning
Reply
Transmission error
Tab. 3: General Command Byte Description

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(*)The value of the command byte depends on the data length of the called parameter:
Command
Data length
Data type
23h
4 Byte
Unsigned 32
27h
3 Byte
Unsigned 24
2Bh
2 Byte
Unsigned 16
2Fh
1 Byte
Unsigned 8
43h
4 Byte
Unsigned 32
47h
3 Byte
Unsigned 24
4Bh
2 Byte
Unsigned 16
4Fh
1 Byte
Unsigned 8
Tab. 4: Detailed Command Byte Description
Object Dictionary
The data transmission according to CAL is realized exclusively by object oriented data messages. The
objects are classified in groups by an index record. Each index entry can be subdivided by sub-
indices. The overall layout of the standard object dictionary is shown beside:
Tab. 5: Overview Object Dictionary
5.1 Programming example: Preset Value
If a CANopen device is connected and configured with the right baud rate and also configured to a
unused node number, it will start up into the pre-operational mode and send a bootup massage to the
master.
5.1.1 Set Encoder Preset Value
Master to Encoder with Node Number 1.
Setting Preset Value (Value 1000)
Identifier
DLC
Command
Index
Subindex
Service/Process data
NN 1
Download
6003h
Byte 4
Byte 5
Byte 6
Byte 7
601
8
22
03
60
00
00
10
00
00
Answer of the Encoder
Identifier
DLC
Command
Index
Subindex
Service/Process data
NN 1
Download
6003h
Byte 4
Byte 5
Byte 6
Byte 7
581
8
43
03
60
00
00
00
00
00
Index (hex)
Object
0000
not used
0001-001F
Static Data Types
0020-003F
Complex Data Types
0040-005F
Manufacturer Specific Data Types
0060-0FFF
Reserved for further use
1000-1FFF
Communication Profile Area
2000-5FFF
Manufacturer Specific Profile Area
6000-9FFF
Standardized Device Profile Area
A000-FFFF
Reserved for further use

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Read Preset Value from the Encoder
Identifier
DLC
Command
Index
Subindex
Service/Process data
NN 1
Download
6003h
Byte 4
Byte 5
Byte 6
Byte 7
601
8
40
03
60
00
00
00
00
00
Answer of the Encoder
Identifier
DLC
Command
Index
Subindex
Service/Process data
NN 1
Download
6003h
Byte 4
Byte 5
Byte 6
Byte 7
581
8
43
03
60
00
00
10
00
00
Save Preset Values
Identifier
DLC
Command
Index
Subindex
Service/Process data
NN 1
Download
1010h
Byte 4
Byte 5
Byte 6
Byte 7
601
8
22
10
10
01
73
61
76
65
5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh
In this manual we refer to the communication profile DS301 V4.02.
Object
Description
Page
Hand-Book
Page
DS301
Page
DS406
1000h
Device type
14
95
8
1001h
Error register
14
96
8
1003h
Pre-defined error field
14
97
1005h
COB-ID SYNC-message
15
99
1008h
Device name
15
101
1009h
Hardware version
15
101
100Ah
Software version
15
102
100Ch
Guard Time
15
102
100Dh
Life Time Factor
16
103
1010h
Store parameters
16
103
1011h
Restore default parameters
16
105
1012h
COB-ID Time Stamp
16
108
1013h
High Resolution Time Stamp
17
109
1014h
COB-ID Emergency
17
109
1016h
Consumer Heartbeat Time
17
111
1017h
Producer Heartbeat Time
17
112
1018h
Identity Object
17
113
1020h
Verify Configuration
18
115
1029h
Error Behaviour
18
125
9
1800h
Communication parameter PDO 1
18
137
9
1801h
Communication parameter PDO 2
18
137
11
1A00h
Transmit PDO1 Mapping Parameter
19
142
11
1A01h
Transmit PDO2 Mapping Parameter
19
142
12
1F50h
Download Program Area
20
1F51h
Program Control
20
Tab. 6: Object Dictionary 1000h-1FFFh

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5.3 Manufacturer specific objects 2000h –5FFFh
Object
Description
Page
Hand-Book
2000h
Position Value
20
2100h
Operating Parameters
20
2101h
Resolution per Revolution
21
2102h
Total Resolution
21
2103h
Preset Value
22
2104h
Limit Switch, min.
22
2105h
Limit Switch, max.
22
2160h
Customer Storage
23
2200h
Cyclic Timer
23
2300h
Save Parameter with reset
23
3000h
Node Number
23
3001h
Baud rate
23
3002h
Termination Resistor
24
3010h
Speed Control
24
3011h
Speed Value
24
3020h
Acceleration Control
24
3021h
Acceleration Value
25
4000h
Bootloader Control
25
Tab. 7: Object Dictionary 2000-5FFF
5.4 Application specific objects 6000h –67FEh
In this manual we refer to the communication profile DS406 V3.2.
Object
Description
Page
Hand-Book
Page
DS406
6000h
Operating Parameters
25
17
6001h
Measuring units per revolution
26
18
6002h
Total measuring range in measuring units
26
19
6003h
Preset value
26
19
6004h
Position Value
26
20
6030h
Speed Value
26
25
6040h
Acceleration Value
26
26
6200h
Cyclic Timer
27
28
6300h
Cam state register
27
30
6301h
Cam enable register
27
32
6302h
Cam polarity register
27
33
6400h
Area state register
29
59
6401h
Work area low limit
29
61
6402h
Work area high limit
30
62
6500h
Operating status
30
63
6501h
Single-turn resolution
30
64
6502h
Number of distinguishable revolutions
30
65
6503h
Alarms
30
65
6504h
Supported alarms
31
66

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Object
Description
Page
Hand-Book
Page
DS406
6505h
Warnings
31
67
6506h
Supported warnings
31
68
6507h
Profile and software version
32
69
6508h
Operating time
32
70
6509h
Offset value
32
70
650Ah
Module identification
32
71
650Bh
Serial number
33
72
Tab. 8: Object Dictionary 6000h-6FFFh
5.5 Object Descriptions
In the following chapter you will find detailed information of the object dictionary related to the encoder
device.
5.5.1 Object 1000h: Device Type
The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit
field which describes the device profile that is used and a second 16-bit field which gives additional
information about optional functionality of the device. The additional information parameter is device
profile specific.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
N/A
ro
no
WV36M/CAN single turn: 10196h
WV36M/CAN multi turn: 20196h
5.5.2 Object 1001h: Error Register
This object is used by the device to display internal faults. When a fault is detected, the corresponding
bit is therefore activated.
The following errors are supported:
Bit
Description
Comments
0
Generic Error
The generic error is signaled at any error situation.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 8
N/A
ro
no
5.5.3 Object 1003h: Pre-Defined Error Field
The object holds the errors that have occurred on the device and have been signaled via the
Emergency Object.
The error code is located in the least significant word
Additional Information is located in the most significant word
Subindex 0 contains the number of recorded errors

WV36M/CAN Date: 03.02.2015 Page 15 of 36 Art.No. 85655 Mod. status 45/15
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of recorded
errors
Unsigned 8
0
rw
no
1
Most recent errors
Unsigned 32
-
ro
no
2
Second to last error
Unsigned 32
-
ro
no
…
10
Clearing Error Log
The error log can be cleared by writing 0 to subindex 0 of object 1003.
5.5.4 Object 1005h: COB-ID Sync
This object contains the synchronization message identifier.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
80000080h
rw
no
5.5.5 Object 1008h: Manufacturer Device Name
This object contains the device name.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
String
-
ro
no
5.5.6 Object 1009h: Manufacturer Hardware Version
This object contains the article name of the circuit board.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
String
-
ro
no
There is one actual version of circuit boards for WV36M/CAN.
5.5.7 Object 100Ah: Manufacturer Software Version
This object contains the manufacturer software version. The new encoder line 2008 starts with version
4.00.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
String
4.00
ro
no
5.5.8 Object 100Ch: Guard Time
This object contains the guard time in milliseconds.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 16
0
rw
yes

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5.5.9 Object 100Dh: Life Time Factor
This object contains the life time factor parameters. The life time factor multiplied with the guard time
gives the life time for the node guarding protocol.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 8
0
rw
yes
5.5.10 Object 1010h: Store Parameters
This object is used to store device and CANopen related parameters to non-volatile memory.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
no
1
Store all parameters
Unsigned 32
"save"
rw
no
Storing procedure
To save the parameters to non-volatile memory the access signature "save" has to be sent to the
corresponding subindex of the device.
Most significant word
Least significant word
ASCII
E
v
a
s
Hex value
65h
76h
61h
73h
5.5.11 Object 1011h: Restore Parameters
This object is used to restore device and CANopen related parameters to factory settings.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
2
ro
no
1
Restore all parameters
Unsigned 32
"load"
rw
no
Storing procedure
To save the parameters to non-volatile memory the access signature "load" has to be sent to the
corresponding subindex of the device.
Most significant word
Least significant word
ASCII
D
a
o
l
Hex value
64h
61h
6Fh
6Ch
Note: The restoration of parameters will only be taken into account after a power up or reset
command. Please check all parameters before you store them to the non-volatile memory.
5.5.12 Object 1012h: COB-ID Time Stamp Object
This object contains the COB-ID of the Time Stamp object.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
100h
rw
no

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5.5.13 Object 1013h: High Resolution Time Stamp
This object contains a time stamp with a resolution of 1µs.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
0
rw
no
5.5.14 Object 1014h: COB-ID Emergency Object
This object contains the EMCY emergency message identifier.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 32
80h + Node ID
rw
no
5.5.15 Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only
monitor one corresponding device. If the time is set to 0 the monitoring is not active. The value of this
object must be higher than the corresponding time (object 1017) of the monitored device.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of indices
Unsigned 8
1
ro
no
1
Consumer heartbeat
time
Unsigned 32
0
rw
yes
The context of subindex 1 is as follows:
Bit
31 to 24
23 to 16
15 to 0
Value
0h (reserved)
Address of monitored device
Monitoring time (ms)
5.5.16 Object 1017h: Producer Heartbeat Time
The object contains the time interval in milliseconds in which the device has to produce the a
heartbeat message.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
-
Unsigned 16
0
rw
yes
5.5.17 Object 1018h: Identity Object
This object contains the device information.
Subindex
Description
Data Type
Default Value
Access
Restore
after BootUp
0
Number of entries
Unsigned 8
4
ro
no
1
Vendor ID
Unsigned 32
195h
ro
no
2
Product Code
Unsigned 32
ro
no
3
Revision Number
Unsigned 32
100h
ro
no
4
Serial Number
Unsigned 32
ro
no

WV36M/CAN Date: 03.02.2015 Page 18 of 36 Art.No. 85655 Mod. status 45/15
5.5.18 Object 1020h: Verify configuration
This object indicates the downloaded configuration date and time.
Subindex
Description
Data Type
Default Value
Access
Restore
after BootUp
0h
Number of entries
Unsigned 8
2h
ro
no
1h
Configuration date
Unsigned 32
rw
no
2h
Configuration time
Unsigned 32
rw
no
5.5.19 Object 1029h: Error behavior
This object indicates the error behavior.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of entries
Unsigned 8
1h
ro
no
1h
Communication error
Unsigned 8
rw
no
5.5.20 Object 1800h: 1st Transmit PDO Communication Parameter
This object contains the communication parameter of the 1st transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
5
ro
yes
1
COB-ID
Unsigned 32
180h + Node
ID
rw
yes
2
Transmission Mode
Unsigned 8
FE
rw
yes
3
Inhibit Time
Unsigned 32
0
rw
yes
4
Not available
5
Event Timer
Unsigned 32
64h or 0
rw
yes
5.5.21 Object 1801h: 2nd Transmit PDO Communication Parameter
This object contains the communication parameter of the 2nd transmit PDO.
Note: In the OCD versions C2 and C5 the second PDO was configured via object 1802!
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
5
ro
yes
1
COB-ID
Unsigned 32
280h + Node
ID
rw
yes
2
Transmission Mode
Unsigned 8
1
rw
yes
3
Inhibit Time
Unsigned 32
0
rw
yes
4
Not available
5
Event Timer
Unsigned 32
0
rw
yes

WV36M/CAN Date: 03.02.2015 Page 19 of 36 Art.No. 85655 Mod. status 45/15
Transmission Mode
The transmission mode can be configured as described below:
Transfer
Value
(decimal)
Transmission Mode
Notes
Cyclic
Acyclic
Synchr
onous
Asynch
ronous
RTR
only
0
X
X
Send PDO on first Sync message
following an event
1-240
X
X
Send PDO every x Sync messages
241-251
reserved
252
X
X
Receive SYNC message and send
PDO on Remote Request
253
X
Update data and send PDO on
Remote Request
254
X
Send PDO on event
255
X
Send PDO on event
Inhibit Time
For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If data
is changed, the PDO sender checks whether an "inhibit time" has expired since the last transmission.
A new PDO transmission can only take place if the "inhibit time" has expired. The "inhibit time" is
useful for asynchronous transmission (transmission mode 254 and 255), to avoid overloads on the
CAN bus.
5.5.22 Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and 255). If
the data changes before the "event timer" expires, a temporary telegram is sent. If a value > 0 is
written in this 16-bit field, the transmit PDO is always sent after the "event timer" expires. The value is
written in subindex 5 of a transmit PDO. The data transfer also takes place with no change to data.
The range is between 1-65536 ms.
5.5.23 Object 1A00h: 1st Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 1st transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
1
rw
yes
1
1st mapped object
Unsigned 32
60040020h
rw
yes
The following procedure shall be used for re-mapping TPDO1 or TPDO2:
1. Set NMT state to Pre-operational.
2. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 1 => PDO does not exist / is
not valid.
3. Set TPDO mapping parameter Object 1A00h or 1A01h sub-index 00h to 00h.
4. Modify mapping by changing the values of the corresponding sub-indices. Only Objects with Access
romap are mappable.
5. Enable mapping by setting sub-index 00h to the number mapped objects.
6. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 0 => PDO exist / is valid.

WV36M/CAN Date: 03.02.2015 Page 20 of 36 Art.No. 85655 Mod. status 45/15
5.5.24 Object 1A01h: 2nd Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 2nd transmit PDO.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Number of sub indices
Unsigned 8
1
rw
yes
1
2nd mapped object
Unsigned 32
60040020h
rw
yes
The following procedure shall be used for re-mapping TPDO1 or TPDO2:
1. Set NMT state to Pre-operational.
2. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 1 => PDO does not exist / is
not valid.
3. Set TPDO mapping parameter Object 1A00h or 1A01h sub-index 00h to 00h.
4. Modify mapping by changing the values of the corresponding sub-indices. Only Objects with Access
romap are mappable.
5. Enable mapping by setting sub-index 00h to the number mapped objects.
6. Set TPDO Object 1800h or 1801h sub-index 01h COB-ID Bit 31 valid to 0 => PDO exist / is valid.
5.5.25 Object 1F50h: Download Program Area
This is a special object that has functionality for the bootloader feature. (see Bootloader chapter)
Use this entry to download your Intel hex file with the programming data. Detailed information about
Domain download and Block transfer in CiA Draft Standard 301 Application Layer and communication
Profile.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of sub indices
Unsigned 8
2h
ro
yes
1h
DOMAIN
wo
yes
5.5.26 Object 1F51h: Program Control
This is a special bootloader object, to update the firmware (see Bootloader chapter).
This array controls the programs residing at index 0x1F50.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0h
Number of program
control entries
Unsigned 8
2h
ro
yes
1h
Unsigned 32
rw
yes
Sub-index 1h and higher control the memory block functionality. They can have the following values:
for writing:
1 - start downloaded program
4 - erase flash
5.5.27 Object 2000h: Position Value
This object contains the position value.
Subindex
Description
Data Type
Default Value
Access
Restore after
BootUp
0
Position Value
Unsigned 32
-
ro
n.a.