Siko WV58MR User manual

307/17
WV58MR
Redundant rotary encoder with CANopen
interface
User manual

WV58MR Date: 28.09.2017 Art. No. 88935 Mod. status 307/17 Page 2 of 61
Table of contents
1General Information .................................................................................................. 5
1.1 Documentation ........................................................................................................5
1.2 Definitions ..............................................................................................................5
2Intended use............................................................................................................. 5
2.1 Switching on the supply voltage.................................................................................6
3LED-signal................................................................................................................. 7
4Functional description ............................................................................................... 9
4.1 Measuring range.......................................................................................................9
4.2 Calibration ..............................................................................................................9
4.3 Reset to factory settings ...........................................................................................9
5Communication via CAN bus (CANopen) ...................................................................... 9
5.1 Telegram structure..................................................................................................10
5.2 Node control..........................................................................................................11
5.2.1 Network management (NMT) services .....................................................................11
5.2.1.1 NMT communication states ...............................................................................12
5.2.1.2 Toggling between the NMT communication states ................................................13
5.2.2 Boot-Up.............................................................................................................13
5.2.3 SYNC object........................................................................................................13
5.3 Process data exchange ............................................................................................13
5.3.1 Transfer of process data objects (PDO) ...................................................................13
5.3.1.1 Transmit PDO (from the WV58MR to the master)...................................................14
5.4 Parameter data exchange.........................................................................................15
5.4.1 Transmission of Service Data Objects (SDO).............................................................15
5.4.1.1 Expedited Request/Response .............................................................................15
5.4.1.2 Normal Request/Response.................................................................................16
5.4.1.3 Error Response in SDO exchange ........................................................................17
5.4.1.4 SDO examples .................................................................................................18
5.5 Node monitoring ....................................................................................................20
5.5.1 Emergency Service (EMCY) ....................................................................................20
5.5.2 Node Guarding....................................................................................................20
5.5.3 Heartbeat ..........................................................................................................21
5.6 Layer Setting Service (LSS) ......................................................................................22
5.6.1 State change ......................................................................................................23
5.6.1.1 Switch states of all LSS devices (Switch state global) ...........................................23
5.6.1.2 Switch states of individual LSS devices (Switch state selective)..............................23
5.6.2 Configuration .....................................................................................................24
5.6.2.1 Setting the node ID (Configure Node-ID) ............................................................24
5.6.2.2 Configuration of the baud rate (Configure bit timing parameters)...........................25
5.6.2.3 Activate baud rate (Activate bit timing parameters) .............................................26
5.6.2.4 Store configuration..........................................................................................26

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5.6.3 Requesting parameters.........................................................................................27
5.6.3.1 Request Vendor ID ...........................................................................................27
5.6.3.2 Request Product Code.......................................................................................27
5.6.3.3 Request revision number...................................................................................27
5.6.3.4 Request serial number ......................................................................................28
5.6.3.5 Request Node ID..............................................................................................28
5.7 Directory of objects ................................................................................................29
5.7.1 Overview of objects .............................................................................................29
5.7.2 Object Description...............................................................................................31
5.7.2.1 1000h: Device Type..........................................................................................31
5.7.2.2 1001h: Error Register .......................................................................................31
5.7.2.3 1002h: Manufacturer Status Register ..................................................................32
5.7.2.4 1003h: Pre-defined Error Field...........................................................................32
5.7.2.5 1005h: COB-ID SYNC-message............................................................................33
5.7.2.6 1008h: Manufacturer Device Name .....................................................................33
5.7.2.7 1009h: Manufacturer Hardware Version ...............................................................34
5.7.2.8 100Ah: Manufacturer Software Version................................................................34
5.7.2.9 100Ch: Guard Time...........................................................................................34
5.7.2.10 100Dh: Life Time Factor....................................................................................35
5.7.2.11 1010h: Store Parameter....................................................................................35
5.7.2.12 1011h: Restore Parameter.................................................................................37
5.7.2.13 1014h: COB-ID Emergency message....................................................................38
5.7.2.14 1017h: Producer Heartbeat Time........................................................................39
5.7.2.15 1018h: Identity Object.....................................................................................39
5.7.2.16 1200h: Server SDO Parameter ............................................................................40
5.7.2.17 1800h: 1. 3rd Transmit PDO Parameter................................................................41
5.7.2.18 1801h: 2. 3rd Transmit PDO Parameter................................................................42
5.7.2.19 1A00h: 1. Transmit PDO Mapping Parameter ........................................................44
5.7.2.20 1A01h: 2. Transmit PDO Mapping Parameter ........................................................44
5.7.2.21 2001h: Application offset .................................................................................45
5.7.2.22 2002h: Calibrate encoder value..........................................................................45
5.7.2.23 2003h: Limit speed low ....................................................................................46
5.7.2.24 2004h: Limit speed High ..................................................................................46
5.7.2.25 5000h: Diagnosis CAN Bus error.........................................................................46
5.7.2.26 5F0Ah: Node-ID and baud rate Bus CAN ..............................................................47
5.7.2.27 6000h: Operating Parameters ............................................................................48
5.7.2.28 6001h: Measurement steps per revolution (Display per revolution = APU) ................48
5.7.2.29 6002h: Overall number of measurement steps ......................................................49
5.7.2.30 6003h: Preset value (calibration value)...............................................................49
5.7.2.31 6004h: Position value ......................................................................................49
5.7.2.32 600Ch: Absolute accuracy .................................................................................50
5.7.2.33 6030h: Velocity value.......................................................................................50
5.7.2.34 6031h: Speed parameters..................................................................................51
5.7.2.35 6200h: Cycle timer...........................................................................................52

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5.7.2.36 6400h: Operating range (Area state register).......................................................52
5.7.2.37 6401h: Work Area Low Limit..............................................................................53
5.7.2.38 6402h: Work Area High Limit ............................................................................54
5.7.2.39 6500h: Operating Status...................................................................................55
5.7.2.40 6501h: Single-turn resolution............................................................................55
5.7.2.41 6502h: Number of distinguishable revolutions .....................................................56
5.7.2.42 6503h: Alarms.................................................................................................56
5.7.2.43 6504h: Supported Alarms..................................................................................57
5.7.2.44 6505h: Warnings .............................................................................................57
5.7.2.45 6506h: Supported Warnings ..............................................................................57
5.7.2.46 6507h: Profile and Software Version...................................................................58
5.7.2.47 6508h: Operating Time.....................................................................................58
5.7.2.48 6509h: Offset value .........................................................................................58
5.7.2.49 650Ah: Module Identification............................................................................59
5.7.2.50 650Bh: Serial number.......................................................................................60
5.7.2.51 650Dh: Absolute accuracy.................................................................................60
5.7.2.52 650Eh: Device functionality ..............................................................................60

General Information
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1General Information
1.1 Documentation
The following documents are associated with this product:
Data sheet; it describes the technical data, the dimensions, the pin assignment, the
accessories and the order key.
Mounting instructions; they describe the mechanical and electrical installation with all
safety-relevant conditions and the associated technical specifications.
User manual; for commissioning the sensor and integrating it into a fieldbus system.
EDS file (electronic data sheet); this file enables integration and configuration in a
CANopen network by means of commercial CANopen configurators.
These documents can also be found at http://www.siko-global.com/p/wv58mr.
1.2 Definitions
Decimal values are given as numbers without addition (e.g. 1234), except when indicated in
direct connection with binary or hexadecimal values, In which case the extension d will be
used (e.g. 1234d). Binary values are identified by adding b (e.g. 1011B) to the figures
whereas hexadecimal values are extended by h (e.g. 280h).
2Intended use
The WV58MR consists of two encoders, which collect redundantly absolute travel information.
By means of the CANopen protocol, both encoders can be configured and read out via the CAN
interface.
Both encoders are equipped with 3 LEDs (yellow, red, green), which indicate error or status
information for diagnostic purposes.
The rotary encoder WV58MR is designed for redundant position and speed detection. It can be
used for applications up to Performance Level D (PLd) in the overall system. For this purpose
an overriding safe encoder evaluation device is required. Since the encoder is incapable with
its encoder-internal diagnostic function to initiate actions such as obtaining a safe state on
its own. Increased demands are placed on the electrical and mechanical connection of the
rotary encoder.

Intended use
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Fig. 1: Block diagram
2.1 Switching on the supply voltage
WV58MR initializes after being switched on. During initialization, the LEDs light up one after
the other and the configuration parameters are loaded from the non-volatile memory to the
random memory of the controller.
Each sensor will work with its default values as long as no changes have been made to it. With
parameters changed, the sensor will work with the changed data, which must be stored if they
are intended to be used after power off/on.
After completing the initialization procedure, each sensor sends a specific NMT command, the
boot-up message, which informs the system about their availability. The WV58MR is now in
the pre-operational mode. In this state, the encoder can be parameterized via SDO commands
in accordance with the requirements of the application. This applies to configuration
parameters of the sensor unit as well as to the way it makes available to the system its
position values (asynchronous or synchronous data transmission).

LED-signal
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3LED-signal
Each transmitter has 3 LEDs in the colors yellow, green and red for diagnosis and status
purposes.
A yellow LED for device-specific states
A green LED for indicating the NMT status or the LSS configuration status (CAN Run LED)
A red LED for CAN error states or for indicating the LSS configuration status (CAN Err LED)
The LSS waiting status is not indicated via the LEDs.
Fig. 2: LED-signal
Device-specific diagnosis
Error status
LED status
Maximum speed exceeded
On
encoder is in the valid speed range
Off
Table 1: Device-specific status LED
CAN diagnosis:
The CiA DS-303 Part 3 V1.4.0 indicator specification is the basis of the CAN diagnosis
LED status
Description
On
LED is permanently on
Off
LED is permanently off
LED-signal encoder 1
LED-signal encoder 2

LED-signal
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LED status
Description
Flickering
Both LEDs alternately with the frequency of 10 Hz
(50 ms on/off)
Flashing
LED flashes at a frequency of 2.5 Hz (200 ms on/off)
Single Flash
LED is 200 ms on, 1000 ms off
Double Flash
LED is 200 ms on, 200 ms off, 200 ms on, 1000 ms off
Table 2: CAN LED statuses acc. to CiA DS-303
CAN Run LED:
NMT state
LED status
Pre-Operational
Flashing
Operational
On
Stopped
Single Flash
Table 3: CAN Run LED
CAN Err LED:
Error states
LED status
No error
Off
Warning limit reached (at least one error counter (Transmit Error Counter
CANTEC or Receive Error Counter CANREC) of the CAN controller has reached
or exceeded the warning limit (too many error frames).
Single Flash
Error control event
=> A Guard Event (if no RTR Node guard received from master within the
lifetime set)
Double Flash
Bus off
On
Table 4: CAN Err LED
CAN Run LED and CAN Err LED alternately:
LSS state
LED status
configuration
Flickering
Table 5: LSS configuration

Functional description
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4Functional description
4.1 Measuring range
The measuring range depends on the chosen device design and the APU set.
Design
Default measuring range
With changed APU (Object 6001h)
Singleturn
0…16383
0…((APU*1) – 1)
4 Bit Multiturn
0…262143
0…((APU*16) – 1)
8 Bit Multiturn
0…4194303
0…((APU*256) – 1)
12 Bit Multiturn
0…67108863
0…((APU*4096) – 1)
Counting direction:
The encoder delivers ascending position values when the shaft is rotated clockwise (CW, view
on the shaft). This property can be changed via Object 6000h: Operating Parameters
4.2 Calibration
Owing to the absolute system, calibration is required only once when the system is taken into
operation and can be performed at any position. This enables alignment of the encoder zero
point with the system’s mechanical zero point. With calibration, the calibration value is
adopted for calculation of the position value. The resulting offset value is output in Object
6509h: Offset value. The following equation is applied in case of calibration:
Position value = 0 + calibration value + application offset
4.3 Reset to factory settings
To return to the original condition of the device as delivered, there exist the following
options:
Access
Coding
Settings are restored
CANopen (see Object
1011h: Restore
Parameter)
1011h
"load"
Sub-index 1
All parameters
Sub-index 2
Only bus parameters
Sub-index 3
Only CiA DS-406 parameters
Sub-index 4
Only manufacturer-specific parameters
Table 6: Access to factory settings
5Communication via CAN bus (CANopen)
The CANopen communication profile CiA DS-301 V4.2, the Device profile for Encoders CiA DS-
406 V3.2 as well as the indicator specification CiA DS-303 Part 3 V1.4.0 for CAN diagnosis
form the basis for the WV58MR. The WV58MR supports device class C2. The details required for
a better understanding of the operation are included in this documentation. If more in-depth
information is required, we recommend the applicable technical literature on CAN or Canopen.

Communication via CAN bus (CANopen)
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5.1 Telegram structure
The data telegram of a CAN message consists of the following fields:
SOF:
Identifier (COB-ID)
Control
field:
Data field (max. 8 byte)
CRC
ACK/EOF:
SOF:
Start of Frame start bit of the telegram
Identifier (COB-ID):
By means of the identifier, all bus subscribers check whether the message is relevant for
each of them.
The identifier determines the priority of the message. The lower the value of the identifier,
the higher is the priority of the message This enables preferential transmission of
important messages via the bus.
The Identifier field contains the identifier as well as bits for the recognition of the length of
the identifiers (11 or 29 bits). The device address, channel selection as well as data direction
are determined via the identifier as well..
Thus, the 11bits identifier (COB identifier) consists of a 4bit function code and a 7bit node
number.
Bit no.
10
9
8
7
6
5
4
3
2
1
0
Type
Functional code
Node number (Node ID)
Assignment
x
x
x
x
0
0
x
x
x
x
X
The following functional codes have been defined in the “Pre-defined Connection Set” (only
the functional codes used in the present device are shown):
Object
Functional code
Resulting COB-ID
Object
Page
Network management (NMT)
0000b
0
-
11
SYNC message
0001b
128d (80h)
1005h
33
Emergency message
0001b
128d (80h) + Node-ID
1014h
38
TPD01
0011b
384d (180h) + Node-ID
1800h
41
TPD02
0101b
640d (280h) + Node-ID
1801h
42
SDO (tx)
1011b
1408d (580h) + Node-ID
1200h
40
SDO (rx)
1100b
1536d (600h) + Node-ID
1200h
40
Heartbeat message
1110b
1792d (700h) + Node-ID
-
21
Node Guard message
1110b
1792d (700h) + Node-ID
-
20
LSS (tx)
-
2021d (7E4h)
-
22
LSS (rx)
-
2020d (7E5h)
-
22
Table 7: Overview of COB identifiers
Changes to COB IDs are only possible in the PRE-OPERATIONAL NMT status. First, the COB ID
must be switched invalid via bit 31 = 1b before it can be changed and reactivated.
The COB ID of the Sync object is an exception, where bit 30 must be = 0b to enable the COB
ID to be changed. As bit 30 cannot be set to 1b in the WV58MR, the COB ID could be changed
at any time.

Communication via CAN bus (CANopen)
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The node number (Node ID) (see also object 5F0Ah: Node-ID and baud rate Bus CAN) is
assigned once in every bus system with configuration of the master on WV58MR. The node
numbers range from 1 to 127. Node ID = 0 is reserved and must not be used.
The adoption of a node ID or baud rate which was reset occurs only after re-initialization (see
chapter 5.2.1: Network management (NMT) services).
With the WV58MR rotary encoder, an encoder with the node ID 1 (1h) and the redundant
encoder with the node ID 2 (2h) is delivered ex works.
Control field:
contains bit-by-bit information concerning the number of user data and determines whether a
data frame or RTR frame (Remote Transmission Request frame) is concerned.
Data field:
contains up to 8 bytes of user data. The user data has a different meaning depending on the
channel selection.
CRC:
contains bits for error detection.
ACK/EOF:
The ACK/EOF field contains telegram acknowledgment bits as well as bits for determining the
end of telegram.
For a detailed description of the telegram please refer to the applicable technical CAN
literature. For simplification, only identifier (COB ID) and data field will be dealt with in the
subsequent telegram descriptions.
5.2 Node control
5.2.1 Network management (NMT) services
The master configures, manages and monitors network nodes via the NMT service. The device
is always in one of the four communication states "INITIALIZATION", "PRE-OPERATIONAL",
"OPERATIONAL" or "STOPPED" (see Fig. 3)

Communication via CAN bus (CANopen)
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Power on oder Software Reset
Initialisation
CAN-Kommunikation
BootUp Message
1
2
2
3
3
4
4
4
1
Re-Initialisierung
CAN-Karte
5
55
Init
Fig. 3: NMT Status diagram
5.2.1.1 NMT communication states
NMT Status ‘INITIALIZATION‘
The device is not involved in the bus actions in this state. All hardware and software
components are initialized. This state is attained after switching on the device or after receipt
of the command code 81h (“Reset node”) of the own or global addresses. Following receipt of
the command code 82h (“Reset Communication”), the display will enter the initialization
stage as well. But only hardware and software associated with CAN communication will be
reinitialized. The device signals automatically the completion of initialization by sending a
boot-up message. As soon as the boot-up message was sent successfully, the device will enter
the “PRE-OPERATIONAL” status.
NMT Status PRE-OPERATIONAL
Parameterization data (SDO) can be exchanged in the pre-operational mode. However, no
process data (PDO’s) is transferred.
NMT Status OPERATIONAL
The exchange of process data is enabled as well. However, COB-ID and Transmit PDO Mapping
parameters can no longer be changed in this status .
NMT Status STOPPED
Communication is stopped except for heartbeat and node guarding Only NMT communication
is enabled.

Communication via CAN bus (CANopen)
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5.2.1.2 Toggling between the NMT communication states
For toggling between the communication states, telegrams with the following structures are
used
Change of state
Transition
in Fig. 3
COB-
ID
Com-
mand
Node
ID
from
to
PRE-OPERATIONAL /
STOPPED
OPERATIONAL
1d
0h
01h
x
OPERATIONAL/ PRE-
OPERATIONAL
STOPPED
2d
0h
02h
x
OPERATIONAL / STOPPED
PRE-OPERATIONAL
3d
0h
80h
x
OPERATIONAL / PRE-
OPERATIONAL / STOPPED
INITIALIZATION
(Reset Node)
5d
0h
81h
x
OPERATIONAL / PRE-
OPERATIONAL / STOPPED
INITIALIZATION
(Reset Communication)
4d
0h
82h
x
Table 8: Toggling between communication states
If x = 0h is transferred as node ID, then the message is intended for all bus subscribers
5.2.2 Boot-Up
The COB ID of the boot-up message is made up of 700h and the node ID. The “Initialization”
NMT status is output as data content.
COB-ID
Byte 0
700h + Node-ID
00h
Table 9: Boot-Up message
5.2.3 SYNC object
CANopen enables the simultaneous query of all inputs and the simultaneous setting of all
outputs. The synchronization message (SYNC), a CAN message with high priority serves this
purpose. The identifier of the Sync object can be set via object 1005h (see 1005h: COB-ID
SYNC-message).
5.3 Process data exchange
5.3.1 Transfer of process data objects (PDO)
Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of
user data can be transferred in a PDO. The WV58MR supports the Transmit PDO services TPDO1
and TPDO2 according to CiA DS-301 and CiA DS-406.

Communication via CAN bus (CANopen)
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5.3.1.1 Transmit PDO (from the WV58MR to the master)
PDO transfer from the display to the bus master (TPDO) can be initiated as a result of various
events:
asynchronous, controlled by an internal device timer
synchronous as a response to a SYNC telegram
as a response to an RTR message
TPDO1 and TPDO2 are generated from the position value and the speed value. The transfer
behavior of TPDO1 is determined via the objects 1800h, 1A00h and 6200h and is assigned to
asynchronous transmission. TPDO2 is defined via the objects 1801h and 1A01h and serves
synchronous transmission. Assignment is static and cannot be changed.
Messages are structured as shown in Table 10.
COB-ID
Process data in binary code
Byte 0
(LSB)
Byte 1
Byte 2
Byte 3
(MSB)
Byte 4
(LSB)
Byte 5
(MSB)
TPDO1
180h + Node-ID
Position value
Speed value
TPDO2
280h + Node-ID
Table 10: TPDO message
Asynchronous data transmission (TPDO1)
If a TPDO1 is to be sent cyclically, then the cycle time must be entered in milliseconds into
object 1800h, sub-index 05h. The TPDO1 will not be sent if the value 0 ms is written. The
function is disabled. The minimum value to be set is 1 (= 1 ms). Alternately, the value can
also be written into the permanently internally linked object 6200h.
Synchronous data transfer (TPDO2)
As delivered, the device responds to every SYNC Message received with the output of the
TPDO2 message. 1h is entered for synchronous transmission in object 1801h, sub-index 02h.
If a value n is entered between 1d and 240d (= F0h), the device will respond to every nth
SYNC message.
RTR
Queries can be sent via RTR (see chapter 5.1: Telegram structure, control field) toTPDO1 and
TDPO2.

Communication via CAN bus (CANopen)
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5.4 Parameter data exchange
5.4.1 Transmission of Service Data Objects (SDO)
Service data objects serve mainly device configuration via the directory of objects. SDOs in
the expedited Request/Response and in the normal normal Request/Response are supported.
The identifier is set to 11 bits and cannot be changed.
Two SDO services are available:
SDO (rx) (Master WV58MR): 600h + Node-ID
SDO (tx) (WV58MR Master): 580h + Node-ID
These SDO identifiers cannot be changed!
5.4.1.1 Expedited Request/Response
Except for reading the object 1008h: Manufacturer Device Name, all SDOs are exchanged
between two subscribers in the expedited Request/Response method. The user data is
provided already with the initialization message.
SDO messages are set up as follows:
COB-ID
User data in binary code
Byte
0(read /
write)
Byte 1
LSB
Byte 2
(MSB)
Byte 3
Byte 4
LSB
Byte 5
Byte 6
Byte 7
(MSB)
SDO rx/tx
+ Node-ID
Command
byte
Index
Sub-index
User data (Parameter)
Command byte, byte 0:
The command byte determines the type of access and the number of valid data bytes. The
following command bytes are valid for the WV58MR:
Command byte
Type
Function
Write Request
23h
SDO (rx), Initiate Download
Request, expedited
Send parameter to slave
(All 4 data bytes valid)
Write Request
2Bh
SDO (rx), Initiate Download
Request, expedited
Send parameter to slave
(2Bytes of 4 data bytes valid)
Write Request
2Fh
SDO (rx), Initiate Download
Request, expedited
Send parameter to slave
(1Byte of 4 data bytes valid)
Write Response
60h
SDO (tx), Initiate Download
Response
Acknowledgment of data
acquisition to master
Read Request
40h
SDO (rx), Initiate Upload
Request
Request parameter from slave
Read Response
43h
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(All 4 data bytes valid)
Read Response
4Bh
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(2Bytes of 4 data bytes valid)

Communication via CAN bus (CANopen)
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Command byte
Type
Function
Read Response
4Fh
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(1Byte of 4 data bytes valid)
Error Response
80h
SDO (tx), Abort Domain
Transfer
Slave reports error code to master
Table 11: Command coding
Index, bytes 1 and 2:
The index (object number) is entered in the user data byte 2 (low byte) and user data byte 3
(high byte) in the Intel data format. Here, the index of the object to be parameterized is
entered.
Sub-index, Byte 3:
The sub-index indicates the number of the fields for objects realized as an array.
User data (parameters), byte 4-7:
In the user data, the value of the parameter is entered in left-aligned Intel notation. Byte 4 =
Low-Byte ... Byte 7 = High-Byte
5.4.1.2 Normal Request/Response
If more than 4 bytes of service data are to be transferred, the data is exchanged between two
subscribers via the normal Request/Response. This procedure is also initiated by an
initialization message, and the actual user data will be transferred in the subsequent segment
messages.
For the WV58MR this is only the case with reading of the object 1008h: Manufacturer Device
Name.
The initialization message has the following structure:
COB-ID
User data in binary code
Byte
0(read /
write)
Byte 1
LSB
Byte 2
(MSB)
Byte 3
Byte 4
LSB
Byte 5
Byte 6
Byte 7
(MSB)
SDO rx/tx
+ Node-ID
Command
byte
index
Sub-index
User data (number of user data)
The segment message has the following structure:
COB-ID
User data in binary code
Byte
0(read /
write)
Byte 1
LSB
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
(MSB)
SDO rx/tx
+ Node-ID
Command
byte
User data

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Initialization and segment message: Command byte, byte 0:
The command byte determines the type of access and the number of valid data bytes. The
following command bytes are valid for the WV58MR:
Command byte
Type
Function
Read Request
40h
SDO (rx), Normal Initiate
Upload Request
Request parameter from slave
(number of bytes to be
transferred).
Read Request
60h
SDO (rx), Normal Segment
Upload Request
Request parameter from slave (user
data)
Read Response
41h
SDO (tx), Normal Initiate
Upload Response
Report parameter to master
(number of bytes to be
transferred).
Read Response
03h
SDO (tx), Normal Segment
Upload Response
Report parameter to master (user
data)
Error Response
80h
SDO (tx), Abort Domain
Transfer
Slave reports error code to master
Table 12: Command coding
Initialization message : Index, bytes 1 and 2:
The index (object number) is entered in the user data byte 2 (low byte) and in the user data
byte 3 (high byte) in the Intel data format. Here, the index of the object to be parameterized
is entered.
Initialization message : Sub-index, Byte 3:
The subindex indicates the number of the fields for objects realized as an array.
Initialization message : User data (parameters), byte 4-7:
In the service data range, the value of the parameter is entered in left-aligned Intel notation.
Byte 4 = Low-Byte ... Byte 7 = High-Byte
Segment message : User data (parameters), byte 1-7:
In the user data range, the value of the parameter is entered in left-aligned Intel notation.
Byte 1 = Low-Byte ... Byte 7 = High-Byte
5.4.1.3 Error Response in SDO exchange
With invalid access, an error message (Abort) is returned to the master.
The error codes are described in the CANopen profile (CiA DS-301) or in the encoder profile
(CiA DS- 406), respectively. The table below shows the error codes used:
Error code
Description
05030000h
Toggle bit in Normal Transfer of Request/Response unequal.
06010000h
Wrong access to an object.
06010001h
Read access to Write-Only

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Error code
Description
06010002h
Write access to Read-Only.
06020000h
Object doesn’t exist in the object directory.
06090011h
Sub-index does not exist
06090030h
Wrong value range of selected parameter.
08000020h
Parameters cannot be transferred to application or stored.
08000022h
Parameters cannot be transferred to application or stored due to the current
device status.
08000024h
No data available
Table 13: Error codes
5.4.1.4 SDO examples
Example of reading SDO parameters with the expedited Request/Response:
The calibration value stored in object 6003 of the directory of objects is to be read from the
slave with device address 1h.
Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h
Command: 40h
index: 6003h
sub-index: 00h
The current value is 510d = 01FEh
Request of master from slave with node ID 1h:
COB-ID
User data
Command
Index L
Index H
Sub-index
Data 0
Data 1
Data 2
Data 3
601h
40h
03h
60h
00h
x
x
x
x
Response to the request by the slave
Calculation of the identifier: 580h + Node-ID = 581h
COB-ID
User data
Command
Index LB
Index HB
Sub-index
Data 0
Data 1
Data 2
Data 3
581h
43h
(4 bytes
valid)
03h
60h
00h
FEh
01h
00h
00h
Example of writing SDO parameters with the expedited Request/Response:
The calibration value stored with 2 bytes in object 6002 of the directory of objects is to be
changed in the slave with device address 1h.
Calculation of the identifier: 600h + Node-ID = 600h + 1h = 601h
Command: 2 bytes are to be written 2Bh
Index: 6200h
Sub-index: 00h
The new value shall be 4500d = 1194h

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Writing of a value from master to slave with node ID 1h:
COB-ID
User data
Command
Index L
Index H
Sub-index
Data 0
Data 1
Data 2
Data 3
601h
2Bh
(2 bytes
valid)
00h
62h
00h
94h
11h
00h
00h
Response to the command by the slave:
Calculation of the identifier: 580h + Node-ID = 580h + 1h = 581h
COB-ID
User data
Command
Index L
Index H
Sub-index
Data 0
Data 1
Data 2
Data 3
581h
60h
00h
62h
00h
00h
00h
00h
00h
Example of reading SDO parameters with normal Request/Response:
The manufacturer device name stored in object 1008h of the directory of objects is to be read
from the WV58MR with device address 1h.
Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h
Command: 40h
Index: 1008h
Sub-index: 00h
First request (= initialization) of master from slave with node ID 1h:
COB-ID
User data
Command
Index L
Index H
Sub-index
Data 0
Data 1
Data 2
Data 3
601h
40h
08h
10h
00h
x
x
x
x
Response to the request by the slave
Calculation of the identifier: 580h + Node-ID = 581h
COB-ID
User data
Command
Index LB
Index HB
Sub-index
Data 0
Data 1
Data 2
Data 3
581h
41h
08h
10h
00h
06h
00h
00h
00h
Number of expected user data bytes: 6
Second request of master from slave with node ID 1h:
COB-ID
User data
Command
Index L
Index H
Sub-index
Data 0
Data 1
Data 2
Data 3
601h
60h
08h
10h
00h
x
x
x
x
Response to the request by the slave
COB-ID
User data
Command
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
581h
03h
57h
("W")
56h
("V")
35h
("5")
38h
("8")
4Dh
("M")
52h
("R")
00h
-

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5.5 Node monitoring
5.5.1 Emergency Service (EMCY)
In the case of an error, the status of the bus subscriber is transferred via high-priority
emergency messages (emergency telegrams). These messages have a data length of 8 bytes
and contain error information.
The emergency message is transferred as soon as a sensor or communication error has
occurred or when such errors have been corrected. The cause of the error is deposited in the
error buffer (see object 1003h: Pre-defined Error Field). An emergency object is sent only once
per error event. Removal of the cause of the error is signaled by sending an emergency
message with the error code 0000h (no error). If multiple errors have occurred and one cause
of error is removed, the error code 0000h is output as well; the persisting error status is
indicated in the error register, however.
Identifier
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
11/ 29 Bit
Emergency Error
Code
Error Register
(Object 1001h)
Manufacturer-specific error field
(not used)
Emergency Error Code
Error Description
Error Code
Cause of the error removed
0000h
Bus status changed over to the error passive mode
8120h
recovered from Bus Off
8140h
Manufacturer-specific Position value error
FF05h
Manufacturer-specific Velocity error
FF12h
Manufacturer-specific Error limit speed low
FF13h
Manufacturer-specific Error limit speed high
FF14h
Manufacturer-specific Position error work area 1
FF15h
Manufacturer-specific Position error work area 2
FF16h
Table 14: Emergency Error Code
The identifier of the emergency object is set to 80h + node ID by default; however, it can be
changed via object 1014h (see 1014h: COB-ID Emergency message). Transmission of an
emergency message is enabled in the NMT statuses “OPERATIONAL” or “PRE-OPERATIONAL”
only! Transmission of the emergency messages can be disabled by setting the COB-ID Valid bit
to 1.
5.5.2 Node Guarding
Node guarding is available for failure monitoring of the CANopen network. During node
guarding, the master transmits remote frames (RTR, remote transmit request, message request
telegrams) on the guarding identifiers of the nodes to be monitored. The latter respond with
the guarding message. This message contains the current NMT status of the node as well as a
toggle bit whose value must change after each message. The master assumes that a node error
has occurred if status or toggle bits do not correspond with those expected by the master or if
there is no response.