turck CANopen DW60 User manual

Manual
Draw wire encoder
DW60/DW120

Table of Contents
Table of Contents
Table of Contents!
List of Abbreviations!
Symbols used / Warnings and Safety instructions!
1.!General information – Features ........................................................................................... 6!
2.!CANopen connections ......................................................................................................... 7!
3.!Data transmission ................................................................................................................. 9!
4.!NMT – Network Management ............................................................................................. 10!
5.!The process data object – PDO ......................................................................................... 12!
6.!SDO communication ........................................................................................................... 13!
7.!Emergency Message .......................................................................................................... 20!
!

List of Abbreviations
List of Abbreviations
Abbreviation
Meaning
NMT
Network Management
SDO
Service Data Object
PDO
Process Data Object
TPDO
Transmit Process Data Object
RPDO
Receive Process Data Object
DLC
Data Length Code

Symbols used / Warnings and Safety instructions
Symbols used / Warnings and Safety instructions
The following elements are to be considered when using warnings and safety instructions
This symbol, together with the signal word "Danger", indicates immediately
imminent threat to life and health of persons.
Ignoring this warning will result in serious damage to health with the
possibility of life threatening injuries
This symbol, together with the signal word "Warning", indicates a potential
danger to life and health of persons.
Ignoring this warning may result in serious damage to health with the
possibility of life threatening injuries
This symbol, together with the signal word "Caution", indicates a potentially
dangerous situation.
Ignoring this warning may result in minor injuries or to damage to property.
Hints, recommendations and information for efficient and trouble-free
operation.
A safety instruction indicates concrete or potential hazards. It is intended to
protect you against accidents. Carefully read and adhere to safety
instructions.
Table 1

6
1. General information – Features
CANopen offers a uniform user interface and therefore allows a simplified system structure with very
different appliances. CANopen is optimized for fast data exchange in real-time systems and has
various device profiles that have been standardized. The CAN in Automation (CiA) manufacturers and
users association is in charge of establishing and standardizing the corresponding profiles. The
sensor supports the latest CANopen communication profile according to DS 301 V 4.2.0.
CANopen offers
• Comfortable access to all device parameters
• Configuration of the network and of the devices
• Device synchronization within the network
• Cyclic and event-driven process data traffic
• Simultaneous input or output of data
CANopen uses three communication objects (COB) with various characteristics
• Process Data Objects (PDO) for real-time data
• Service Data Objects (SDO) for parameters and program transmission
• Network Management (NMT, Life-Guarding, Heartbeat)
All device parameters are saved in an object dictionary. This object dictionary contains the
description, data type and structure of the parameters, as well as the address (index). The dictionary
is structured in a communication profile section, a device profile-related section and a manufacturer-
specific section

7
2. CANopen connections
CAN Specification
Full CAN 2.0B (ISO11898)
Communication profile
CANopen CiA 301 V 4.2.0, Slave
Device profile
Encoder, absolute linear; CiA 406 V 3.2.0
Error control
Producer Heartbeat, Emergency Message, Node Guarding
Node ID
Default: 7*,
Adjustable via SDO
PDO
1 x TPDO, static mapping
PDO Modes
Event-triggered, Time-triggered, Sync-cyclic, Sync-acyclic
Transmission rate
Default: 250 kbit/s,
1 Mbps, 800, 500, 250, 125, 50, 20 kbps, adjustable via SDO
Bus connection
5-pin M12 connector
Integrated bus
termination resistor
120 ohm, ready-to-activate via SDO
Bus, galvanic isolation
No, (Yes in preparation)
Voltage supply
8-30 VDC
Current consumption
Typically 10 mA for 24 V, typically 20 mA for 12 V
Measuring rate
1 kHz with 16-bit resolution
Repeatability
±0.5 %, ±0.25 % or ±0.1 % (depending on the selected linearity)
Resolution
0.002 % of the measuring range
Electrical protection
Reverse polarity protection
EMC
DIN EN61326-1:2013, conformity with directive 2014/30/EU
*In case of a redundant CANopen both units share the same bus, with different node IDs (7 and 8)
Draw Wire Encoder DW120

8
Standard Wiring (CANopen Output):
Signal Type
H1151 Pin
3
2
1
4
5
CANopen
Connection Type
Common (0V)
+V
CAN GND
CAN High
CAN Low
Standard Wiring (CANopen Output):
Signal Type
Cable Color:
WH
BN
GY
GN
YE
CANopen
Connection Type
Common (0V)
+V
CAN GND
CAN High
CAN Low
Wiring Diagram:
CANopen Output
Male Encoder View
Mating Cordset:
RKC 572-*M/S3117
*Length in meters

9
3. Data transmission
With CANopen, data is transferred using two different communication types (COB=Communication
Object) with different characteristics:
• Process Data Objects (PDO - real-time capable)
• Service Data Objects (SDO)
The Process Data Objects (PDO) are used for highly-dynamic exchange of real-time data (e.g.
encoder position, speed, status of the compared positions) with a maximum length of 8 bytes. This
data is transferred with high priority (low COB identifier). PDOs are broadcast messages and make
their real-time data available simultaneously to all desired recipients.
The Service Data Objects (SDO) are the communication channel for the transmission of device
parameters (e.g. programming of the encoder resolution). As these parameters are transmitted
acyclically (e.g. only once when starting the network up), the SDO objects have a low priority (high
COB identifier).
For an easier identifier management, CANopen uses the "Predefined Master/Slave Connection Set".
All identifiers are defined with standard values in the objects dictionary. Some identifiers can however
be modified in a customer-specific way by means of SDO access.
The 11-bit identifier consists in a 4-bit function code and a 7-bit node number.
Figure 1
The higher the value of the COB identifier, the lower its priority!

10
4. NMT – Network Management
All NMT commands are transferred as an unconfirmed NMT Object. Because of the broadcast
communication model, the NMT commands are recognized by each station.
An NMT Object is structured as follows:
NMT COB ID
Byte 0
Byte 1
000h
Command byte
Node ID (module address)
Table 2
The COB ID of the NMT object is always 000h.
Byte 0 contains the command byte
The following table shows the possible commands:
Command byte (hex)
Description
01h
Start_Remote_Node: switch to Operational
02h
Stop_Remote_Node: switch to Prepared
80h
Enter_Pre-Operational_State: switch to Pre-Operational
81h
Reset_Node: reset the node
82h
Reset_Communication: reset the communication
Table 3
The module addressed in byte 1 reacts to the command of byte 0.
A maximum of 127 stations (from 1 to 127) can be linked together in CANopen.
If this byte 1 is set to 0, all stations are addressed simultaneously, so all modules perform the
command of byte 0.
Three different modes are available: Pre-Operational, Operational and Stopped mode. Commands
81h and 82h lead to a reset of the module(s). A reset corresponds to a re-starting of the module, i.e.
the module is briefly in Initialization mode and sends a boot-up sequence (701h to 7FFh). Then the
sensor switches to the mode defined as the start condition.

11
Not every mode allows an access to an object.
The following table shows when an access is possible.
Object
Operating Mode
Initialization
Pre-
Operational
Operational
Stopped
PDO
X
SDO
X
X
SYNC
X
X
Emergency
X
X
X
NMT
X
X
X
Node Guard
(Heartbeat)
X
X
X
Boot-Up
X
Table 4

12
5. The process data object – PDO
The process data exchange with CANopen is CAN bus-specific, therefore without protocol overhead.
The broadcast features of the CAN bus remain maintained. A message can thus be received and
processed by all nodes (Producer-Consumer model). So the rigid master/slave principle does not
apply for data exchange with PDOs.
Since the protocol structure is missing in the telegrams, the station(s) on the bus that are the
recipients of this data must know how the information is positioned in the data area of the PDO (which
bit/byte corresponds to which value). This is why this declaration takes place previously during
network initialization by means of the so-called PDO mapping, which allows placing the required
information at a specific location in the data area of a PDO.
The sensor CANopen interface (CC1) only supports the TPDO1 and has a data length of 2 bytes.
Depending on the selected node ID (node address), the COB ID lies between 181h (node 1) and
1FFh (node 127). The TPDO1 values range has 16 bits and can therefore theoretically take values
between zero and 65535. However, our sensor devices are set consistently with the start value 5000
and the end value 55000. This makes position assignment easier for the user. It must be noted that
the start value (5000) of a draw wire encoder is not located at the "rubber bumper stop" position, but
at a small pull-out length. Therefore, TPDO1 data values < 5000 are possible. The same applies to
the end position. Values > 55000 are possible. But an overflow or underflow of the 16-bit values range
is excluded.
TPO1
181h…1FFh
Data0
Low byte
Data1
High byte
Table 5

13
6. SDO communication
The Service Data Objects (SDO) are the communication channel for the transmission of device
parameters. As these parameters are transmitted acyclically (e.g. only once when starting the network
up), the SDO objects have a low priority (high COB identifier).
Structure of the SDO telegram:
COB-ID
DLC
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
SDO
identifier
Data
length
Command
Index L
Index H
Sub-
index
Data 0
Data
1
Data
2
Data
3
Table 6
The SDO identifier is defined as follows:
Client (control) → Server (Absolute encoder): 600h + Node ID
Server (Absolute encoder) → Client (control): 580h + Node ID
Data length (DLC) is always 8:
1 command byte + 2 index bytes (Object) + 1 subindex byte + 4 data bytes

14
The command defines whether data is to be written (download) or read (upload) and how many user
data bytes are included.
Command
Description
User data
Function
22h
SDO(rx), Download Request
(request)
undefined
Send parameters to the sensor
23h
4 bytes
2Bh
2 bytes
2Fh
1 byte
60h
SDO(tx), Download Response
(response)
-
Confirmation of parameters take-
over to the client
40h
SDO(rx), Upload Request
-
Request parameters from the
sensor
42h
SDO(tx), Upload Response
undefined
Send parameters to the client
43h
4 bytes
4Bh
2 bytes
4Fh
1 byte
80h
SDO(tx), Abort Domain Transfer
(abort because of an error)
4 bytes
Sensor sends error code to the
client
Table 7
In the event of an error, an error message with command 80h (SDO Abort Message) replaces the
normal confirmation (response). Index and subindex belong to the previously indicated object. The
error code (abort code) sent is written in bytes 5 to 8.

15
The sensor electronics include the following objects from the communication profile of CiA 301:
Object
Name
Attribute
1000h
Device Type
ro
1001h
Error Register
ro
1005h
COB-ID SYNC Message
rw
1010h
Store Parameters
rw
1011h
Restore default Parameters
rw
1014h
Emergency COB-ID Message
ro
1017h
Heartbeat Producer Time
rw
1018h
Identity Object
ro
1029h
Error behavior object
ro
1800h
1st Transmit PDO Parameters
rw
1A00h
1st Transmit PDO Mapping
ro
2100h
Manufacturer specific profile area (baud
rate)
rw
2101h
Manufacturer specific profile area (node
address)
rw
2102h
Manufacturer specific profile area
(termination)
rw
2104h
Manufacturer specific profile area (auto
start)
rw
2105h
Manufacturer specific profile area (save)
rw
6004h
Position Value
ro
Table 8
Object 1000h: Device Type
This object send the device type according to CiA. The data area of this object contains the CiA
guideline and the device profile.
Object 1001h: Error Register
This object indicates the error case according to CiA.

16
Object 1005h: COB ID SYNC Message
This object defines the COB ID for the SYNC message. It also defines whether the device generates
or receives SYNC objects. The sensor only receives messages. The standard COB ID value is 80h,
but it can be modified by the user between 001h and 7FFh.
The sensor only responds to SYNC commands when the transmission type
in Object 1800h has been set accordingly.
Object 1010h: Store Parameters
This object saves the current values of the COB ID SYNC, the heartbeat timer, the transmission type
and the event timer in the non-volatile memory of the sensor.
This object has 1 subindex. Subindex 0 indicates now many subindexes are supported (here 1).
Subindex 1 shows that only the option "store all parameters" is supported. In the case of a write
command, data area D0 to D3 of this subindex must contain the values 73h, 61h, 76h and 65h to
perform the storage.
(These values correspond to the ASCII codes of the letters s a v e.)
Object 1011h: Restore default Parameters
This object allows resetting parameters COB ID SYNC, heartbeat timer, transmission type and event
timer to their delivery condition. This condition is 0h for the heartbeat, 80h for the COB ID SYNC, 0h
for the event timer and 01h for the transmission type. This object has 1 subindex. Subindex 0
indicates now many subindexes are supported (here 1).
Subindex 1 shows that only the option "restore all parameters" is supported. In the case of a write
command, data area D0 to D3 of this subindex must contain the values 6Ch, 6Fh, 61h and 64h to
perform the storage.
(These values correspond to the ASCII codes of the letters l o a d.)
Object 1014h: COB ID Emergency (COB ID for emergency messages)
This object indicates on which COB ID the emergency messages are sent. The COB ID is determined
by the selected Node ID and cannot be modified (read only). The behavior in case of an error is
described in Object 1029h Error Behavior.
Object 1017h: Producer heartbeat time
The producer heartbeat defines the cycle time of the heartbeat. The value range has 2 bytes and
uses the unit ms. It allows selecting a cycle time from 1 ms to 65535 ms. If zero is input, no heartbeat
is sent, which means that this function is disabled.
Object 1018h: Identity object
This object contains manufacturer-specific information. It has 2 subindexes. Subindex 0 indicates now
many subindexes are supported (here 2). Subindex 1 contains the vendor ID (registered at the CiA
organization). Subindex 2 contains a product code.
Object 1029h: Error behavior
This object has 1 subindex. Subindex 0 indicates now many subindexes are supported (here 1).
Subindex 1 indicates that in the event of an error the sensor responds in accordance with the CiA
specification "01h = No change of the NMT state".

17
Object 1800h: TPDO1 communication parameters
This object contains the parameters for process data object PDO1 and supports 5 subindexes.
Subindex 0 indicates now many subindexes are supported (here 5).
Subindex 1 contains the COB ID (Data0 and Data1) of TPDO1. (Example: if Node ID = 7, the TPDO1
has COB ID 187h). Write access to the COB ID is not possible, so TPDO1 is always Node-ID + 180h.
Data3 of this subindex contains value 40h. This indicates that RTR frames (remote transmission
frames) are not possible with this PDO.
Subindex 2 defines the transmission type Possible values are 1 to 240 and 255 (decimal). For values
1 to 240, a TPDO1 is sent when a Sync telegram is received (see Object 1005h COB ID SYNC
Message). For value 1 a TPDO1 is sent with every Sync, for value 2 only with every second Sync and
so on, up to 240. For value 255, Sync operation is disabled. In this case, TPDO1 process data is sent
cyclically in Operational mode, without having been initiated by a Sync telegram. The cycle time
(repetition rate) is defined in subindex 5.
Subindexes 3 & 4 have no function and are not used.
Subindex 5 defines the cycle time of the TPDO1 telegrams when the 255 function has been selected
previously in subindex 2. The value range has 2 bytes and uses the unit ms.
It allows selecting a repetition rate from 1 ms to 65535 ms. No TPDO1 are sent if the input value is
zero.
(In this condition, the TPDO1 is disabled, as there will be no response to Sync telegrams even after
subindex 2 has been set to 255).
Object 1A00h: TPDO1 mapping parameters
This object contains the mapping parameters for process data object TPDO1 and has 1 subindex.
Subindex 0 indicates now many subindexes are supported (here 1).
Subindex 1 refers to Object 6004h and indicates that the process data has a values range of 16 bits.

18
Objects 21xxh: Manufacturer specific profile area
Object 2100h: Baud Rate (baud rate setting)
This object allows setting the baud rate of the sensor. Values range is from 1 to 7.
These values correspond to the following baud rates:
Value
Baud rate
1
1Mbps
2
800kbps
3
500kbps
4
250kbps
5
125kbps
6
50kbps
7
20kbps
Table 9
Changes are only taken over after a new start or reset of the sensor. Prerequisite is that storage using
Object 2105h has been performed.
Object 2101h: Node Number
This object allows modifying the node address. As a standard, this value is set to 0x07h. Values
range is from 1 to 127. Therefore CANopen allows operating up to 127 stations on a bus. (Node
number 0 is reserved by the NMT and shall not be used!)
Changes are only taken over after a new start or reset of the sensor. Prerequisite is that storage using
Object 2105h has been performed.
Object 2102h: CANbus termination (enable/disable the termination resistor)
This object allows switching the bus termination on or off. Accordingly, an internal 120 ohm
terminating resistor is interposed between the CAN-High and CAN-Low lines.
Changes are only taken over after a new start or reset of the sensor. Prerequisite is that storage using
Object 2105h has been performed.
Object 2104h: NMT Auto start
This object allows defining the start mode of the sensor when powering it. Values range is from 0 to 1.
With zero, the sensor is in Pre-Operational mode after power-on or a reset, with 1 the sensor starts
immediately in Operational mode, without having received the corresponding command from the
NMT. Changes are only taken over after a new start or reset of the sensor. Prerequisite is that
storage using Object 2105h has been performed.
Object 2105h: Store parameters of manufacturer specific profile area
This object allows storing the current parameters of Objects 2100h, 2101h, 2102h, 2104h in the
sensor. In the case of a write command, data area D0 to D3 of this subindex must contain the values
73h, 61h, 76h and 65h to perform the storage. (These values correspond to the ASCII codes of the
letters s a v e.)

19
Object 6004h: Position value (current position value)
The current sensor position value is stored here. Values range is 16 bits. The low byte of this16-bit
value is Data 0, the high byte is Data 1.
Error messages (SDO abort codes)
In case of a faulty communication, an error message is sent on the SDO.
In this case, the command byte has always the value 80h.
The following table shows the possible error messages:
Code
Meaning
0504 0001h
Client/server command specifier not valid or unknown
0601 0002h
Attempt to write a read only object
0602 0000h
Object does not exist in the object dictionary
0607 0012h
Data type does not match, length of service parameter too high
0607 0013h
Data type does not match, length of service parameter too low
0609 0011h
Sub-index does not exist
0609 0030h
Invalid value for parameter
0800 0021h
Data cannot be transferred or stored to the application because of local control
Table 10

20
7. Emergency Message
Emergency telegrams are sent autonomously by the sensor in the event of an error. The difference
must be made between the SDO error messages in case of a faulty access to a SDO object and the
"actual" error messages from emergency messages. An error message is sent at the first occurrence
of an error. If the cause of the error is corrected and is no longer present, another error message is
sent with error code 0000h.
The COB ID of the emergency-message is calculated using the Node-ID (module address) + 80h.
The following error codes are possible with the sensor:
Byte_1
Byte_0
00h
00h
No error
81h
20h
CAN in error passive mode
81h
50h
CAN-ID collision
Table 11