turck QR24 User manual

Contactless QR24Encoders
withCANOPENInterface
Manual
Your Global Automation Partner

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3
Contents
1Aboutthismanual...................................................................................................4
1.1 Target groups ............................................................................................................4
1.2 Supporting documentation...............................................................................................4
1.3 Feedback on this manual .................................................................................................4
2Notesontheproduct ................................................................................................5
2.1 Product identication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Scope of delivery .........................................................................................................6
2.3 Legal requirements .......................................................................................................6
2.4 Labelling .................................................................................................................6
2.5 Manufacturer and service.................................................................................................6
3Foryoursafety ......................................................................................................6
3.1 Intended use .............................................................................................................6
3.2 Notes on the project design/implementation, and operation of the product................................................6
3.3 Technical advancement...................................................................................................6
3.4 Explanation of symbols ...................................................................................................7
4Productdescription..................................................................................................7
4.1 Device overview..........................................................................................................7
4.2 Functional principle ......................................................................................................8
4.3 Delivery condition ........................................................................................................8
4.4 Display elements .........................................................................................................8
4.5 Connection assignments .................................................................................................9
4.6 Terminating resistor ......................................................................................................9
5Assembly ..........................................................................................................10
6Conguration ......................................................................................................11
6.1 Objects 1000h – 1FFFh (communication proles).........................................................................11
6.2 Variables PDO mapping..................................................................................................22
6.3 Objects 2000h – 2FFFh (manufacturer specications).....................................................................27
6.4 Objects 6000h – 6FFFh (default device parameters).......................................................................29
6.5 LSS services DS 305 V2.0 .................................................................................................38
6.6 Network management...................................................................................................39
7Accessories(assemblyaccessoriesand positionelements) ............................................................40
8Technical information...............................................................................................42
9Service.............................................................................................................43
10Repairs ...........................................................................................................43
11Devicereturns.....................................................................................................43
12Disposal ..........................................................................................................43

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1 About this manual
This manual describes the structure, functions, and the application of the product and will assist you in deploying the product
according to its intended use. Please read this manual carefully before using the product and store the manual as long as the
product is in use. Turck recommends this manual must be supplied to any future owner if sold.
1.1Targetgroups
This manual is intended for trained personnel and must be read carefully by every individual involved in the assembly,
commissioning, operation, maintenance, disassembly and disposal of the device.
1.2Supporting documentation
You will nd the following supporting documentation in addition to this document online at www.turck.com:
• Data sheet
• Catalog Pages
1.3Feedbackonthismanual
We aim to keep this manual as informative and clear as possible. Please send any suggestions to [email protected] if you
feel there is information missing or if you have ideas on how to improve the layout.

5
2. Notes on the product
2.1Productidentication(type key)
Note:
The sensor, the assembly elements, and the positioning element can be ordered as a set or individually.
Ri 360 P1 – QR24 M0 – CN X4 – 2 H1 1 5 0
2 H1 1 5 0 Electrical connection
Assignment
0Standard
Numberofcontacts
55-pole
Connectortype
1straight
Connectortype
H1 connector M12 x 1
Numberofconnectors
22 x connector
Ri 360 P1 Operating principle –
Positioningelement/
shaft diameter
P0 without positioning
element
P1 P1-Ri-QR24/20 mm
P2 P2-Ri-QR24/14 mm
P3 P3-Ri-QR24/12 mm
P4 P4-Ri-QR24/10 mm
P5 P5-Ri-QR24/6 mm
P6 P6-Ri-QR24 / /"
P7 P7-Ri-QR24 / /"
P8 P8-Ri-QR24 / -
P9 P9-Ri-QR241/ /“
P10 P10-Ri-QR241 / /“
P11 P11-Ri-QR241/ /“
Measuring range
360 360°
Operatingprinciple
Ri Rotatory inductive
QR24 M1 Housing style –
MountingAccessories
M0 without mount-
ing accessories
M1 with M1-QR24
M2 Set M2-QR24
(M1-QR24 +
SP1-QR24)
M3 Set M3-QR24
(M1-QR24 +
SP2-QR24)
M4 Set M4-QR24
(M1-QR24 +
SP3-QR24)
Housingstyle
QR24
CN X4 Electrical version –
NumberofLEDs
X4 4 x LED
CANopen interface
CN CANopen

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2.2Scopeofdelivery
The following items are included in the scope of delivery:
• Contactless QR24 encoder
• Assembly aid (MT-QR24)
• Short instructions
• VZ 3 screw plug
2.3Legalrequirements
The device is subject to the following EU directives:
• 2006/95/EC (Low voltage),
• 2004/108/EC (Electromagnetic compatibility),
• 2011/65/EU (RoHS)
2.4Labelling
The device described in this manual complies with CE requirements in accordance with the EU directive 765/2008, and satises
the requirements laid out in the harmonisation legislation of the European Community with regards to its application.
2.5Manufacturer and service
TURCK oers support for your project from initial analysis to the commissioning of your application. The TURCK product database
contains software tools fore the programming, conguration, commissioning, data sheets, and CAD data in various export for-
mats. The following URL will take you directly to the product database: turck.com
Our sales and service team in Germany can be reached via the following numbers if you have any questions:
Sales: [phone]
Technology: [phone]
Please contact your regional Turck representative for international enquiries.
Hans Turck GmbH & Co. KG
45466 Mülheim an der Ruhr
Germany
3 For your safety
The product is designed in accordance with the state of technology. There are, however, residual risks. Please comply with the
safety and warning notices to prevent injuries and damage to property. TURCK does not accept liability for damages caused by
non-compliance with safety and warning notices.
3.1Intendeduse
The device is intended for use in mobile machinery in industrial applications. Any other use shall be deemed improper and can
result in injuries or damage to property. TURCK does not accept liability for damages caused by improper use of the the device.
3.2Notesontheprojectdesign/implementation,and operationoftheproduct
Compliance with the safety and accident prevention requirements applicable for the relevant use case scenario is mandatory. The
device may pose hazards when used improperly or not in accordance with its intended use.
3.3Technical advancement
Hans Turck GmbH & Co. KG reserves the right to implement technical changes or modications to details in line with technical
advancements without prior notication. This will apply to the electrical device and to the user information/operating manual, as
well as any other documentation provided by Hans Turck GmbH & Co. KG.

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3.4Explanationofsymbols
The following symbols are used in this manual:
WARNING:
Warning denotes a possibly hazardous situation with medium risk which could result in fatality or severe injury if not prevented.
Notes:
In connection with WARNING, you will nd tips, recommendations, and important information. These notes will simplify your
work, contain information about specic steps to be taken, and help prevent additional work due to incorrect procedures.
4 Product description
The encoder measures turning angles across a 360° angle range. All parameters are stored in the internal parameter memory.
Features:
• 360° angle sensor
• High resolution and accuracy
• CANopen interface in compliance with CiA DS-301, device prole CiA 406 3.1
• Baud rates between 10 kbps and 1 Mbps
• Sampling rate of typ. 1 kHz
• Functions:
– One TPDO (RTR, cyclic, event-controlled, synchronized)
– SYNC consumer (synchronized transmission of TPDO after receipt of SYNC message)
– Failure monitoring via heartbeat or node-guarding/life-guarding
– Freely congurable limit frequency (digital lter)
– Robust, easy to assemble plastic housing
– Suitable for industrial applications
– Temperature range: -25…+85°C
– Housing protection type: IP68/IP69K
4.1Deviceoverview
Fig.1: Device view
ø 78 ø 22 ø 4.3ø 65
24
81
10
42.3
LED
M12 x 1

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4.2.Functional principle
The principle of the encoder is based on the inductive RLC coupling which oers signicant advantages in comparison with
optical or magnetic principles. The sensor contains emitter and receiver systems in the form of PCB coils. The emitter coils are
energized in a high frequency alternating eld and create an inductive RLC coupling in conjunction with the positioning element
(resonator). As a result, the positioning element is also inductively coupled with the receiver coils to pinpoint its exact position.
4.3Delivery condition
At the time of delivery, the sensor comes with the following basic default settings:
• Node ID: 0x03
• Baud rate 125 kHz
• Internal terminating resistor deactivated
• TPDO1 event time: 100 ms
• TPDO1 activated
• TPDO asynchronous mode
4.4.Displayelements
Fig. 2: LED arrangement
The encoder comes with an LED status display for the following states:
PWRLED
Colour/Status Status Description
OFF No operating voltage The device is not ready
Green Operating voltage OK The device is ready
Note:
The PWR LED will respond at as little as 5 V and is therefore not an indicator for having reached the operating voltage
of 10...30 V.
RUNLED
Colour/Status Status Description
Green ashing LSS status The device is in LSS operation (intermittently ashing Error LED)
On short green ash Stopped Data transfer was stopped
Green ashing Pre-operational The data transfer is in preparation
Green Operational The device is ready
SIGLED
Colour/Status Status Description
OFF Data signal OK The device is functioning correctly.
Yellow Data signal is weak but valid. The device is working with reduced accuracy.
Green No data signal The device is not functioning
.
ErrorLED (ERR)
CAN-IN ERR/RUN PWR/SIG CAN-OUT

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Colour/Status Status Description
OFF No error The device is functioning correctly
Red ashing LSS status The device is in LSS operation (intermittently ashing RUN LED)
Two short red ashes Guard event occurrence A guard event (NMT slave or master) or heartbeat event has occurred
Three short ashes SYNC error The SYNC message was not received within the precongured cycle time
(see also object 0x1006)
Red Bus deactivated The CAN controller was deactivated by the bus
4.5.Connectionassignment
The sensor comes equipped with a CAN input connection and a CAN output connection in accordance with CiA DR-303-1.
WiringDiagram
CAN-IN Pin Signal Assignment
1 CAN_SHLD Shield
2 CAN_V+ Supply voltage (+24 VDC)
CAN-OUT 3 CAN_GND GND/0 V/V-
4 CAN_H CAN_H bus line
5 CAN-L CAN_L bus line
4.6Terminating resistor
An integrated terminating resistor can be activated as needed. (See object 0x2102).
4
31
2
5
4
13
2
5

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5 Assembly
An extensive range of assembly accessories (see chapter 6) allows the easy installation to many dierent shaft diameters. The
shield plates SP1-QR24, SP2-QR24 or SP3-QR24 can be used (depending on assembly type) to increase the permissible distance
between the positioning element and the sensor. The illustrations below show the simple design of the separate sensor and
resonator units, making them virtually resistant to errors. The assembly can be done as types A, B, and C.
Warning:
The positioning element is prone to detaching from its mounting position if assembled incorrectly. Danger possible if parts
disassemblewhileinuse!
• Assembly instructions must be complied with
• Ensure the correct attachment of the positioning element, tightening torque: M = 0.6…0.8 Nm
6
2
1
5
4
3
2.5
A
C
0.6...0.8 Nm
SP2-QR24
4
3
1
2
2.5
0.6...0.8 Nm
0.6...0.8 Nm
SP3-QR24
2
3
5
6
4
2.5
1
B
1.4...1.5 Nm
0.6...0.8 Nm
SP1-QR24
Default: 0°
0°
ø 42
M4
6
2
1
5
4
3
2.5
A
C
0.6...0.8 Nm
SP2-QR24
4
3
1
2
2.5
0.6...0.8 Nm
0.6...0.8 Nm
SP3-QR24
1 Optional shield plate SP2-QR24 can
be inserted.
2 Attach assembly aid for optimised
alignment of the positioning element.
3Slide the positioning element onto
the rotatable shaft; ensure correct
directionality of the active surface (see
inscription on the side of the positioning
element).
4Ax the clamping bracket using a hex
key.
5Remove the assembly aid.
6Place the encoder with the aluminium
ring over the positioning element, and
ax with three screws, to create a closed,
and protected unit.
1 Slide the encoder on the back of the
shaft and ax.
2 Attach assembly aid for optimised
alignment of the positioning element.
3Slide the positioning element onto
the rotatable shaft; ensure correct
directionality of the active surface (see
inscription on the side of the positioning
element).
4Ax the clamping bracket using a hex
key.
5Remove the assembly aid.
6The protective aluminium unit and the
shield plate SP1-QR24 can optionally be
added.
Proceed as follows if the positioning
element is screwed onto a rotating
machine part
and not onto a shaft:
1 Insert the blind plug RA8-QR24.
2Ax the clamping bracket using a hex
key.
3Insert the optional SP3-QR24 shield
plate.
4Ax the positioning element using
three sunken head screws, ensuring
the correct directionality of the active
surface (see inscription on the side of the
positioning element).
Mount the encoder depending on
application requirement.

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6 Configuration
The wear-resistant encoder with CANopen interface is ideally suited for use in mobile machinery and industrial applications. Short
latencies and cyclic, event-controlled communication are only two of the many advantages of the CANopen protocol, which is
often used in this area of application. A particular highlight is the software-controlled, bus-activated terminating resistor.
6.1Objects 1000h – 1FFFh(communicationproles)
6.1.1Object 1000h: Devicetype
This object species the device type.
1000h VAR Device type Unsigned 32 RO M
Device prole number Encoder type
Byte 0 (LSB) Byte 1 Byte 2 Byte 3 (MSB)
96h* 01h* 01h (absolute encoder single-turn)
02h (absolute encoder multi-turn) 00h
*196h = 406 decimal (encoder prole)
Example: 0001 0196h = prole DS406, absolute encoder single-turn
6.1.2Object 1001h: Error Register
This register displays occurring device errors.
1001h VAR Error register Unsigned 8 RO M
Bit 0 = 0: no error
Bit 0 = 1: Error “No RLC coupling” (actuator not in range)
Bit 1...7: free
6.1.3Object 1002h: Manufacturerstatusregister
This register stores various error bits and the current status of the set limit values from object 6400h. The limit values are
additionally stored in object 6401h and object 6402h.
1002h VAR Manufacturer status register Unsigned 32 RO M
Data content object 1002h :
Bit 0 =1: EEPROM error
Bit 1 =1: No RLC coupling (no resonator in range, no angle calculation possible)
Bit 2 =1: Minor RLC coupling (poss. increased non-linearity)
Bit 3…7: free (0)
Bit 8 =1: Operating range 1 out of range
Bit 9 =1: Operating range 1 underrun
Bit 10 =1: Operating range 1 underrun
Bit 11 =1: Operating range 2 out of range
Bit 12 =1: Operating range 2 underrun
Bit 13 =1: Operating range 2 underrun

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6.1.4Object 1005h: COBID SYNC (COBIDforSYNCmessage)
The object denes the COB ID for the SYNC message. The object furthermore species, whether the device is a generator or
receiver of SYNC objects.
1005h VAR COB ID SYNC Unsigned 32 RW O
Data content:
Bit 0...10: 11 bit identier; default ID = 80h
Bit 11...29: 0 (reserved for 29-bit identier devices)
Bit 30: 0 (device does not generate SYNC messages)
Bit 31: 1 (device is receiver for SYNC messages)
6.1.5Object 1008h: Manufacturerdevicename
Contains the manufacturer’s device name.
1008h VAR Manufacturer device name Vis string RO O
Example:
RI360P0-QR24M0-CNX4-2H1150
6.1.6Object 1009h: Manufacturerhardware version
Contains the manufacturer’s version number.
1009h VAR Manufacturer hardware version Vis string RO O
Data content:
e.g. “HW-12718801 -”in ASCII code
Hardware version (127xxxxx) incl. change index (-, A, B…)
6.1.7Object 100Ah: Manufacturersoftwareversion
Contains the manufacturer’s software version number.
100Ah VAR Manufacturer software version Vis string RO O
Data content:
e.g. “SW-1.0.0.1”in ASCII code

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6.1.8Object 1010h: Storeparameters
Writing the command“save” initiates the storing of the parameters to the non-volatile memory (EEPROM).
1010h ARRAY Store parameters Unsigned 32 RW O
The following commands are stored with this command: 1005h, 1014h, 1800h (sub-index 1 and 3), 1802h (sub-index 1), 2000h,
2001h, 2005h, 6000h, 6001h, 6002h, 6003h, 6200h.
The command will only be executed when the string “save”is entered as the codeword in this sub-index to prevent accidental
saves.
NOTE
The values stored in EEPROM (power ON values) will be irretrievably overwritten with this command!
A read access to the CANopen device provides information about its capability to store these values. (Data: 01h = storage possible)
Data content:
Write access:
Byte 0: 73h (ASCII code for “s”)
Byte 1: 61h (ASCII code for “a”)
Byte 2: 76h (ASCII code for “v”)
Byte 3: 65h (ASCII code for “e”)
s a v e = 0x65766173
6.1.9Object 1011h: Restoredefaultparameters
This command deletes the parameters in the working memory, and rep[laces them with default values (manufacturer values,
resetting of the encoder to values at time of delivery). A read access to the CANopen device provides information about its capa-
bility to restore these values. (Data: 01h = reset possible)
1011h ARRAY Restore default parameters Unsigned 32 RW O
Multiple parameter groups are distinguished:
Sub-index 00h: contains the highest supported sub-index.
Sub-index 01h: Restore all parameters refers to all parameters than can be reset.
Sub-index 02h: Restore communication parameters refers to communication-relevant parameters (index from 1000h to 1FFFh).
Sub-index 03h: Restore application parameters refers to application-relevant parameters (index from 6000h to 9FFFh).
Example: Restore all parameters
Writing the command 0x64616F6C (=load) under sub-index 01h will reset all parameters in the encoder RAM to their default
values.
A read access to the sub-index oers information of whether a reset to default values is possible.
Data content:
Write access: Read access:
Byte 0: 6Ch (ASCII code for “l”) Bit 0 = 1: Device supports the loading of default values
Byte 1: 6Fh (ASCII code for “o”)
Byte 2: 61h (ASCII code for “a”) Bit 1...31 = 0: reserved
Byte 3: 64h (ASCII code for “d”)
The default values become valid only after a“NMT reset“. After a“NMT reset” the command “Save parameter” (see object 1010h)
must also be executed if the default values are to be applied to EEPROM as well.
l o a d = 0x64616F6C

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6.1.10Object 1014h: COBD emergenc
The object defines the COB ID for emergency messages The behaviour in case of an error is described in Object 1029h “Error
behaviour”.
1005h VAR COB ID EMCY Unsigned 32 RW O
Data content:
Bit 0...10: 11 bit identier; default ID = 80h + node number
Bit 11...29: reserved for 29-bit identier devices
Bit 30, 31: reserved
Emergency objects occur in error situations within a CAN network, and will be triggered depending on the type of event, and are
then transmitted via the bus with high priority.
NOTE
An emergency object will only be triggered once per event. No new object will be generated while the error persists. Once the
error has been remedied, a new emergency object with content 0000h (“Error reset” or “No error”) will be generated and sent to
the bus.
Emergency messages for TURCK CANopen sensors:
Code 0000h = No error
An “Emergency clear” message (code 0000h) will be transmitted during startup and after the “Boot up” message.
Code 5000h = Internal software error (device return to manufacturer)
An emergency message with the code 0x5000 with the following code class will be generated if the encoder has an internal
hardware error:
0x5001: Hardware ROM check error: Device defective, please return to manufacturer!
Code 6100h = Internal software error
An emergency message with the code 0x6100 with the following code class will be generated if the encoder has an internal
software error:
0x4000: only warning message, no program abort
0x4810: Write buer overow, TPDO message lost
0x4820: Write buer overow, TPDO message lost
0x4830: Write buer overow, SDO message lost
0x4840: Write buer overow, heartbeat message lost
0x8000: Grave error, abort required/reset
0x8010: MCO initialisation failed
0x8021: Not in the CAN receipt lter, NMT
0x8022: Not in the CAN receipt lter, PDO
0x8023: Not in the CAN receipt lter, SDO
0x8031: Initialisation of PDO parameters out of range
0x8032: Access to process image out of range
0x8041: Outside of TPDOs
0x8042: Outside of RPDOs
0x8043: No RPDO mapping found
Code 8130h = Heartbeat error
An emergency message with code 8130h is generated if heartbeat monitoring is activated and a loss of heartbeat information is
detected. The error range shows the node ID of the aected node.
Code 8200h = Protocol error
An emergency message with code 8200h is generated if a faulty NMT command (CAN message ID = 0) is received.

15
6.1.11Object 1015h: Inhibit time emergency
The object denes the inhibit time for emergency messages. This object species the pre-congured inhibit time for the EMCY
message.
The value is given in multiples of 100 µs. Select the value “0” to deactivate the inhibit time. (max. 6553 ms)
1015h VAR InhibittimeEMCY Unsigned16 RW O
Default value: 0dec
Value range: 0, 10…65530bin (corresponds to 1 ms….6553 ms)
NOTE
Only full millisecond values are stored. In-between values are rounded up.
6.1.12Object 1017h: Producerheartbeat time
The producer heartbeat time defines the heartbeat cycle. The time must be set to “0” if this function is not needed. The function is
activated with a value of min. 1 ms. (1 ms ….32767 ms).
1017h VAR Producer heartbeat time Unsigned 16 RW O
Value range: 0…32767bin (corresponds to 0 ms….32767 ms)
Default value: 0dec
NOTE
A heartbeat producer transmits the heartbeat message at the specied cycle times.
The content of the data bytes corresponds to the status of the CAN node:
Pre-operational: Data 7Fh
Operational: Data 05h
Stopped: Data 04h
6.1.13Object 1018h: Identity object
This object reads the device ID.
1018h RECORD Device identication Identity (23h) RW O
Sub-index 0h : delivers the number of entries (4 entries)
Sub-index 1h: delivers the Turck vendor ID (0000009Ch)
Sub-Index 2h: delivers the product code (e.g. Turck QR24 CANopen)
Sub-Index 3h: delivers the SW revision number (e.g. 1.0.0.1), see table “3-Point notation”
Example: Version 1.0.0.1 = 10dec_01dec = 0Ah_01h = 0A01h
Sub-index 4h: delivers the 8-digit serial number of the encoders

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6.1.14Object 1029h: Error behavior
In case of a grave error, the device reacts with the behaviour parametrised here.
1029h ARRAY Error behavior Unsigned 8 RW O
Error classes:
0x1029, sub-index1 / communication error
(Default 1 = sensor does not change mode):
• Bus OFF status
• Heartbeat monitoring failed
0x1029, sub-index 2 / device prole-specic
(Default 1 = sensor does not change mode):
• Error positioning element: No RLC coupling
0x1029, sub-index 3 / manufacturer-specic
(Default 1 = sensor does not change mode):
• NV RAM / EEPROM error
• System monitoring error
Value range (8 bit unsigned):
0 = sensor changes to pre-operational mode
1 = sensor does not change mode
2 = sensor changes to stopped mode

17
6.1.15Object 1800h: PDO1- Parameter(asynchronous)
PDO1:Meteringvalueoutput“Position”in set time cycles
The object contains the parameter for the process data object PDO1. Via this service, the process data of the encoder is output
asynchronously, triggered by the internal cycle timer (prerequisite: the cycle timer was set via object 6200h).
1800h RECORD PDO1parameter PDOCOMMPAR (20h) RW M/O
Data content:
Sub-index 0h: Number of supported sub-indices.
Read only
Value range: 2...5
Sub-index 1h: COB ID and release
Bit 0…10: 11 bit identier; default ID = 180h + node number
Bit 11...29: 0 (reserved for 29-bit identier devices)
Bit 30: 0 = RTR permitted (cannot be modied)
Bit 31: 0 (PDO enabled), 1 (PDO disabled);
Default value = 0
Sub-index 2h: Transmission type = 255 dec. (see overview of transmission types)
(Transmission type = asynchronous)
(Overview see object1800h)
Sub-index 3h: Inhibit time, min. waiting time until PDO can be sent again. Default value = 0h (no inhibit time)
Value range: 10…65530bin (corresponds to 1 ms….6553 ms)
NOTE
Only full millisecond values are stored. In-between values are rounded up. Application of the values to the non-volatile memory
(EEPROM) via object 1010h. Default value: 0
Sub-index 4h: Assigned
Sub-index 5h: Event timer (Setting in object 6200h)
The value range for the timer is between 1…65535 x 1 ms = 1 ms ... 65535 ms.
Event timer = 0 -> no data output
Default value:100dec
NOTE
The number of possible messages is limited by the bus speed. Minimum times for event timer are valid for the operation with
one PDO.
Baud rate Messages/ms Event timer (min)
1000 kBit/s 7,8 1 ms
500 kBit/s 3,9 1 ms
250 kBit/s 1,9 1 ms
125 kBit/s 0,97 2 ms
50 kBit/s 0,39 3 ms
20 kBit/s 0,15 7 ms
10 kBit/s 0,07 15 ms

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6.1.16Object 1801h: PDO2 parameters(synchronous,cyclic)
PDO2:Meteringvalueoutput“Position”at SYNCrequest(80h)
The object contains the parameters for the process data object PDO 2. Via this service, the process data of the encoder are output
synchronously in the default setting, initiated by SYNC objects.
NOTE
The number of possible SYNC messages is limited by the bus speed.
1801h RECORD PDO2parameters PDO COMMPAR (20h) RW M/O
Data content:
Sub-index 0h: Number of supported sub-indices.
Read only
Value range: 2...5
Sub-index 1h: COB ID and release
Bit 0…10: 11 bit identier; default ID = 280h + node number
Bit 11...29: 0 (reserved for 29-bit identier devices)
Bit 30: 0 = RTR permitted (cannot be modied)
Bit 31: 0 (PDO enabled), 1 (PDO disabled);
Default value = 0
Sub-index 2h: Transmission type = 1 dec (see overview of transmission types)
(Transmission type = synchronous, cyclic)
(Overview see object 1800h)
Sub-index 3h: Inhibit time, min. waiting time until PDO can be sent again. Default value = 0h (no inhibit time)
Value range: 10…65530bin (corresponds to 1 ms….6553 ms)
NOTE
Only full millisecond values are stored. In-between values are rounded up. Application of the values to the non-volatile memory
(EEPROM) via object 1010h. Default value: 0
Sub-index 4h: Assigned
Sub-index 5h: Event timer (Setting in object 6200h)
The value range for the timer is between 1…65535 x 1ms = 1ms...65535 ms.
The event timer is without function when transmission type 1h = synchronous, cyclic
Default value: 0
Operational: Data 05h
Stopped: Data 04h
NOTE
The number of possible messages is limited by the bus speed. Minimum times for event timer are valid for the operation with
one PDO. This is also valid for SNC times.
Baud rate Messages/ms Event timer (min)
1000 kBit/s 7,8 1 ms
500 kBit/s 3,9 1 ms
250 kBit/s 1,9 1 ms
125 kBit/s 0,97 2 ms
50 kBit/s 0,39 3 ms
20 kBit/s 0,15 7 ms
10 kBit/s 0,07 15 ms

19
6.1.17Object 1802h: PDO3 parameters(asynchronous)
PDO3:Meteringvalueoutput“Position”at value change
The object contains the parameters for the process data object PDO3. Via this service, the process data of the encoder is output in
transmission type “Manufacturer, asynchronous”when triggered by a change in the process value.
1802h RECORD PDO3 parameters PDO COMMPAR (20h) RW M/O
Data content:
Sub-index 0h: Number of supported sub-indices.
Read only
Value range: 2...5
Sub-index 1h: COB ID and release
Bit 0…10: 11 bit identier; default ID = 380h + node number
Bit 11...29: 0 (reserved for 29-bit identier devices)
Bit 30: 0 = RTR permitted (cannot be modied)
Bit 31: 0 (PDO enabled), 1 (PDO disabled);
Default value = 0
Sub-index 2h: Transmission type = 254 dec (see overview of transmission types)
(Transmission type = manufacturer, asynchronous)
(Overview see object 1800h)
Sub-index 3h: Inhibit time, min. waiting time until PDO can be sent again. Default value = 0h (no inhibit time)
Value range: 10…65530bin (corresponds to 1 ms….65535 ms)
NOTE
Only full millisecond values are stored. In-between values are rounded up. Application of the values to the non-volatile memory
(EEPROM) via object 1010h. Default value: 0
Sub-index 4h: Assigned
Sub-index 5h: Event timer (Setting in object 6200h)
The value range for the timer is between 1…65535 × 1 ms = 1 ms...65535 ms.
In transmission type 254 dec = manufacturer, asynchronous and event timer ≠0, the metering values will also
be output cyclically and not only in case of a value change.
Default value: 0
Baud rate Messages/ms Event timer (min)
1000 kBit/s 7,8 1 ms
500 kBit/s 3,9 1 ms
250 kBit/s 1,9 1 ms
125 kBit/s 0,97 2 ms
50 kBit/s 0,39 3 ms
20 kBit/s 0,15 7 ms
10 kBit/s 0,07 15 ms

20 Turck Inc. |3000 Campus Drive, Minneapolis, MN 55441 |T [phone] |F [phone] |www.turck.com
6.1.18Object 1803h: PDO4 parameters(asynchronous)
PDO4:Meteringvalueoutput“Speed”insettimecycles
The object contains the parameters for the process data object PDO 4. Via this service, the process data of the encoder is output
asynchronously, triggered by the internal cycle timer (prerequisite: the cycle timer was set via object 6200h).
1803h RECORD PDO4parameters PDOCOMMPAR(20h) RW M/O
Sub-index 0h: Number of supported sub-indices.
Read only
Value range: 2...5
Sub-index 1h: COB ID and release
Bit 0…10: 11 bit identier; default ID = 480h + node number
Bit 11...29: 0 (reserved for 29-bit identier devices)
Bit 30: 0 = RTR permitted (cannot be modied)
Bit 31: 0 (PDO enabled), 1 (PDO disabled);
Default value = 0
Sub-index 2h: Transmission type = 255dec (see overview of transmission types)
(Transmission type = asynchronous)
(Overview see object 1800h)
Sub-index 3h: Inhibit time, min. waiting time until PDO can be sent again. Default value = 0h (no inhibit time)
Value range: 10…65530bin (corresponds to 1 ms….6553 ms)
NOTE
Only full millisecond values are stored. In-between values are rounded up. Application of the values to the non-volatile memory
(EEPROM) via object 1010h. Default value: 0
Sub-index 4h: Assigned
Sub-index 5h: Event timer (Setting in object 6200h)
The value range for the timer is between 1…65535 × 1 ms = 1 ms...65535 ms.
Event timer = 0 -> no data output
Default value: 100dec
NOTE
The number of possible messages is limited by the bus speed. Minimum times for event timer are valid for the operation with
one PDO.
Baud rate Messages/ms Event timer (min)
1000 kBit/s 7,8 1 ms
500 kBit/s 3,9 1 ms
250 kBit/s 1,9 1 ms
125 kBit/s 0,97 2 ms
50 kBit/s 0,39 3 ms
20 kBit/s 0,15 7 ms
10 kBit/s 0,07 15 ms