Wachendorff Wdga canopen User manual

Technical Manual

WDGA with CANopen-Interface

Rev.1.24

Imprint

Wachendorff Automation GmbH & Co. KG

Industriestrasse 7

D-65366 Geisenheim

Tel: +49 (0) 67 22 / 99 65 25

Fax: +49 (0) 67 22 / 99 65 70

E-Mail: [email protected]

Homepage: www.wachendorff-automation.de

Wiesbaden District Court HRA 8377, VAT ID: DE 814567094

Managing Director: Robert Wachendorff

Guarantee waiver, right of amendment, copyright protection:

The company Wachendorff Automation assumes no liability and provides no guarantee

for the correctness of this manual's contents or for any resulting direct or indirect

damages. In the interests of continuous innovation and cooperation with our

customers, we reserve the right to change technical data or content at any time.

The company Wachendorff Automation claims copyright protection for this manual. It

may not be modified, extended, reproduced, or forwarded to third parties without our

prior written consent.

Comments:

Should you have any suggested corrections, comments or requests for change, we

invite you to submit them to us. Please send your comments to: [email protected]

Technical Manual

WDGA with CANopen-Interface

Inhaltsverzeichnis

Rev.1.24

1Introduction .....................................................................................1

1.1 Encoder types................................................................................................ 1

1.2 About this manual.......................................................................................... 1

1.2.1 Symbols .................................................................................................. 2

1.3 Specifications ................................................................................................ 2

2Safety information ...........................................................................3

2.1 General safety information ............................................................................ 3

2.2 Intended use.................................................................................................. 3

2.3 Safe working.................................................................................................. 4

2.4 Disposal......................................................................................................... 4

3Device description...........................................................................5

3.1 Basic encoder design .................................................................................... 5

3.2 Predefined Connection Settings .................................................................... 5

3.3 LED status indicator and signal codes........................................................... 6

4Quick start........................................................................................8

4.1 CAN network integration................................................................................ 8

4.2 SDO command to set the node ID................................................................. 8

4.3 Setting-up the encoder .................................................................................. 9

5General information about CAN ...................................................11

5.1 CAN physical and transport layer ................................................................ 11

5.2 CANopen..................................................................................................... 13

5.3 Specifications and profiles........................................................................... 14

5.3.1 Overview............................................................................................... 14

5.3.2 Mechanisms of communication............................................................. 14

5.3.3 Object dictionary ................................................................................... 15

5.4 Network management (NMT) ...................................................................... 16

5.5 Heartbeat and Node-Guarding .................................................................... 17

5.6 Emergency messages ................................................................................. 18

6WDGA object dictionary................................................................19

6.1 Communication objects ............................................................................... 19

6.2 Device specific objects ................................................................................ 22

6.3 Manufacturer specific objects ...................................................................... 28

7Object description .........................................................................30

7.1 Network management (NMT) commands.................................................... 30

Technical Manual

WDGA with CANopen-Interface

Inhaltsverzeichnis

III

Rev.1.24

7.2 Heartbeat protocol ....................................................................................... 31

7.3 Emergency messages (EMCY) ................................................................... 32

7.4 Error Objects ............................................................................................... 33

7.4.1 Manufacturer status register ................................................................. 33

7.4.2 Alarms................................................................................................... 34

7.4.3 Warnings............................................................................................... 34

7.5 Electronic cam switch (CAM)....................................................................... 34

7.5.1 CAM-state-register................................................................................ 34

7.5.2 CAM-enable-register............................................................................. 35

7.5.3 CAM-polarity-register ............................................................................ 35

7.5.4 CAM-Low-Limit ..................................................................................... 35

7.5.5 CAM-High-Limit..................................................................................... 36

7.5.6 CAM-Hysteresis .................................................................................... 36

7.6 Device profile............................................................................................... 36

7.7 SYNC .......................................................................................................... 36

7.8 Encoder designation.................................................................................... 36

7.9 Error behaviour............................................................................................ 37

7.10 NMT start-up behaviour............................................................................ 37

7.11 Bus-Off Auto-Reset .................................................................................. 37

7.12 Customer Data ......................................................................................... 38

7.13 Temperature............................................................................................. 38

7.14 Verify Configuration.................................................................................. 38

8Setting-up the encoder.................................................................. 39

8.1 Mechanical and electrical connection .......................................................... 39

8.2 Configuration via LSS.................................................................................. 41

8.2.1 General settings.................................................................................... 41

8.2.2 LSS configuration by "Switch Mode Global".......................................... 41

8.2.3 LSS configuration by "Switch Mode Selective" ..................................... 42

8.2.4 End LSS configuration mode ................................................................ 43

8.2.5 Baudrate setting.................................................................................... 43

8.2.6 Node-ID setting ..................................................................................... 44

8.3 Configuration via SDO................................................................................. 45

8.3.1 SDO access on objects......................................................................... 45

8.3.2 SDO access on objects larger than 4 bytes .......................................... 47

8.3.3 Baudrate selection ................................................................................ 54

Technical Manual

WDGA with CANopen-Interface

Inhaltsverzeichnis

Rev.1.24

8.3.4 Node-ID selection ................................................................................. 55

8.3.5 Basic NMT commands.......................................................................... 56

8.4 Heartbeat settings ....................................................................................... 57

8.5 PDO Configuration ...................................................................................... 57

8.5.1 PDO parameters ................................................................................... 57

8.5.2 Synchronous PDO ................................................................................ 59

8.5.3 Asynchronous PDO .............................................................................. 59

8.5.4 Variable PDO-mapping ......................................................................... 60

8.6 Changing resolution and direction ............................................................... 63

8.7 Position preset............................................................................................. 64

8.8 Position value filtering.................................................................................. 65

8.9 Change speed-integration and speed scaling ............................................. 65

8.10 Frequency limit ......................................................................................... 66

8.11 CAM-configuration.................................................................................... 66

8.12 Non-volatilely storage of parameters........................................................ 68

8.12.1 Saving parameters into EEPROM ..................................................... 68

8.12.2 Restoring default parameters from EEPROM.................................... 69

9Error diagnosis ..............................................................................70

9.1 Encoder configurations................................................................................ 70

10 Support........................................................................................ 71

Technical Manual

WDGA with CANopen-Interface

List of figures

Rev.1.24

List of figures

Figure 1.1: Encoder label............................................................................................ 1

Figure 3.1: Encoder versions, shaft and hollow bore shaft ......................................... 5

Figure 3.2: LED indications 1...................................................................................... 6

Figure 3.3: LED indications 2...................................................................................... 7

Figure 5.1: Example of the arbitration....................................................................... 12

Figure 5.2: Bitstuffing................................................................................................ 12

Figure 5.3: ISO-OSI-Modell ...................................................................................... 13

Figure 8.1: read object.............................................................................................. 45

Figure 8.2: write object ............................................................................................. 46

Figure 8.3: Segmented SDO read access ................................................................ 47

Figure 8.4: Initiate SDO read .................................................................................... 48

Figure 8.5: read SDO segment................................................................................. 49

Figure 8.6: Segmented-SDO write access................................................................ 50

Figure 8.7: Initiate SDO write.................................................................................... 51

Figure 8.8: write SDO segment ................................................................................ 53

Technical Manual

WDGA with CANopen-Interface

List of tables

Rev.1.24

List of tables

Table 3.1: CAN-Identifier ............................................................................................ 5

Table 4.1: SYNC-message ......................................................................................... 8

Table 4.2: SDO-write command to set Node-ID ......................................................... 9

Table 4.3: Node-ID in decimal and hexadecimal ........................................................ 9

Table 5.1: CAN baud rates und recommended cable length limits ........................... 13

Table 5.2: Draft Standards........................................................................................ 14

Table 5.3: Structure of the object dictionary ............................................................. 15

Table 5.4: Available communication –Pre-Operational............................................ 16

Table 5.5: Available communication –Operational................................................... 17

Table 5.6: Available communication –Stopped........................................................ 17

Table 6.1: Object dictionary 1000h –100Dh............................................................. 19

Table 6.2: Object dictionary 1010h –1020h ............................................................. 20

Table 6.3: Object dictionary 1029h –1A01h............................................................. 21

Table 6.4: Object dictionary 1A02h –1F80h............................................................. 22

Table 6.5: Device specific objects 6000h –6008h..................................................... 22

Table 6.6: Device specific objects 6009h –6310h..................................................... 23

Table 6.7: Device specific objects 6311h –6322h..................................................... 24

Table 6.8: Device specific objects 6323h –6334h..................................................... 25

Table 6.9: Device specific objects 6335h –6504h..................................................... 26

Table 6.10: Device specific objects 6505h –6510h................................................... 27

Table 6.11: manufacturer specific objects 2100h –2500h ........................................ 28

Table 6.12: manufacturer specific objects 2502h –2504h ........................................ 29

Table 7.1: Structure of NMT-command..................................................................... 30

Table 7.2: Commands for NMT-command................................................................ 30

Table 7.3: Node-ID values for NMT-commands ....................................................... 30

Table 7.4: monitor external heartbeat....................................................................... 31

Table 7.5: Example configuration of a consumer heartbeat...................................... 31

Table 7.6: Basic structure of an EMCY..................................................................... 32

Table 7.7: Emergency error code list........................................................................ 32

Table 7.8: Error register............................................................................................ 32

Table 7.9: Info field list.............................................................................................. 33

Table 7.10: Manufacturer status register .................................................................. 33

Table 7.11: Alarms - Object 6503h ........................................................................... 34

Table 7.12: Warnings –Object 6505h ...................................................................... 34

Table 7.13: CAM-state-register –Value 89h............................................................. 34

Table 7.14: CAM-state-register –Value 81h............................................................. 34

Table 7.15: CAM-enable-register –Value 4Ah ......................................................... 35

Table 7.16: Example CAM-polarity-register .............................................................. 35

Table 7.17: Selection of encoder reaction on errors ................................................. 37

Table 7.18: Selection of start-up behaviour .............................................................. 37

Table 8.1: Pin and cable assignment........................................................................ 40

Table 8.2: LSS-message .......................................................................................... 41

Table 8.3: Command to set encoder “Stopped“-Mode.............................................. 41

Table 8.4: LSS-Selective-Identification-Commands ................................................. 42

Table 8.5: Answer of encoder to LSS-Selective-Identification-Commands............... 42

Technical Manual

WDGA with CANopen-Interface

List of tables

VII

Rev.1.24

Table 8.6: End LSS configuration mode –Step 1 - store parameters....................... 43

Table 8.7: End LSS configuration mode –Step 2 - Leave configuration mode......... 43

Table 8.8: set Baudrate ............................................................................................ 43

Table 8.9: Baudrate-Coding...................................................................................... 43

Table 8.10: Answer of LSS-slave ............................................................................. 44

Table 8.11: set Node-ID............................................................................................ 44

Table 8.12: Example SDO master to encoder .......................................................... 45

Table 8.13: Example SDO answer ........................................................................... 45

Table 8.14: Command definitions ............................................................................. 46

Table 8.15: Example SDO send by master............................................................... 46

Table 8.16: Example SDO answer ........................................................................... 46

Table 8.17: SDO read request on object 6008h ....................................................... 47

Table 8.18: Declaration of used abbreviations in Figure 8.4..................................... 48

Table 8.19: Confirm SDO read access of object 6008h............................................ 48

Table 8.20: Declaration of used abbreviations in Figure 8.5..................................... 49

Table 8.21: read of first segment .............................................................................. 49

Table 8.22: answer with first segment ...................................................................... 49

Table 8.23: Request next segment........................................................................... 50

Table 8.24: Answer with next segment..................................................................... 50

Table 8.25: SDO write access of object 6009h......................................................... 51

Table 8.26: Acknowledgement of write access of object 6009h ............................... 51

Table 8.27: Declaration of used abbreviations in Figure 8.7..................................... 52

Table 8.28: send first segment ................................................................................. 52

Table 8.29: Acknowledgement send by the encoder ................................................ 52

Table 8.30: Declaration of used abbreviations in Figure 8.8..................................... 53

Table 8.31: send next segment ................................................................................ 53

Table 8.32: Acknowledgement send by the encoder ................................................ 54

Table 8.33: SDO command –set baudrate .............................................................. 54

Table 8.34: Baudrate-coding .................................................................................... 54

Table 8.35: Node-ID selection .................................................................................. 55

Table 8.36: Valid Node-IDs....................................................................................... 55

Table 8.37: NMT command - Start remote node ...................................................... 56

Table 8.38: NMT command - Stop remote node....................................................... 56

Table 8.39: NMT command - Enter Pre-Operational-state ....................................... 56

Table 8.40: NMT command - Reset node communication........................................ 56

Table 8.41: NMT command - Reset remote node..................................................... 56

Table 8.42: Example of heartbeat setting ................................................................. 57

Table 8.43: Structure of heartbeat message............................................................. 57

Table 8.44: Heartbeat NMT-state-coding.................................................................. 57

Table 8.45: Default PDO configuration ..................................................................... 57

Table 8.46: Selectable PDO transmission types....................................................... 58

Table 8.47: PDO-Deactivation .................................................................................. 58

Table 8.48: Example - PDO1 deactivation................................................................ 58

Table 8.49: Parametrization of PDO1 Sub-Index 2................................................... 59

Table 8.50: Parametrization of PDO1 Sub-Index 2................................................... 59

Table 8.51: Parametrization of PDO1 Sub-Index 5 to 30ms..................................... 59

Table 8.52: Parametrization of PDO1 Sub-Index 2................................................... 60

Technical Manual

WDGA with CANopen-Interface

List of tables

VIII

Rev.1.24

Table 8.53: Parametrization of PDO1 Sub-Index 5................................................... 60

Table 8.54: Example of a mapping-table .................................................................. 60

Table 8.55: Structure of PDO1 (content -> Table 8.54) ............................................ 61

Table 8.56: Mapping parameter................................................................................ 61

Table 8.57: Mapping position value .......................................................................... 62

Table 8.58: Mapping speed value............................................................................. 62

Table 8.59: Mapping acceleration value ................................................................... 62

Table 8.60: Mapping parameter –activate new mapping ......................................... 62

Table 8.61: Counting direction and scaling parameters............................................ 63

Table 8.62: Example setting operating parameters .................................................. 63

Table 8.63: Change of singleturn-resolution by SDO ............................................... 64

Table 8.64: Change of total measuring range by SDO ............................................. 64

Table 8.65: Set position preset ................................................................................. 64

Table 8.66: Check current position ........................................................................... 65

Table 8.67: Example CAM-configuration .................................................................. 66

Table 8.68: Enable first three cams .......................................................................... 66

Table 8.69: CAM-High-Limit 1 .................................................................................. 67

Table 8.70: CAM-High-Limit 2 .................................................................................. 67

Table 8.71: CAM-High-Limit 3 .................................................................................. 67

Table 8.72: CAM-Low-Limit 1 ................................................................................... 67

Table 8.73: CAM-Low-Limit 2 ................................................................................... 67

Table 8.74: CAM-Low-Limit 3 ................................................................................... 67

Table 8.75: Saving parameters................................................................................. 68

Table 8.76: Example –Save all parameters ............................................................. 68

Table 8.77: Restoring parameters ............................................................................ 69

Table 9.1: Error diagnosis –Encoder configuration.................................................. 70

Technical Manual

WDGA with CANopen-Interface

Glossary

Rev.1.24

Glossary

autom.

automatic

approx.

approximately

CAN

Controller Area Network

CAN-ID

Main part of the arbitration of a CAN-frame

constant: parameter is read-only, doesn’t change

COB-ID

Communication Object identifier, specifying the CAN-ID and

additional parameters for the related communication object

comp.

Compare

DLC

Data Length Code

Draft Standard

DSP

Draft Standard Proposal

dyn

dynamic; information changes depending on encoder features

EDS file

Electronic data sheet, standardised file describing a CANopen

device

EMC

Electromagnetic Compatibility

Encoder

here synonym for absolute rotary encoder

e.g.

for example (exempli gratia)

etc.

et cetera, and so on

GND

Ground

Wildcard character for encoder specific information

i.e.

that is (id est)

Idx

Sub-Index

LED

Light Emitting Diode

LSB

Least Significant Bit/Byte

LSS

Layer Setting Services

MSB

Most Significant Bit/Byte

Multiturn

n.n.

not necessary

NMT

Network management

Node-ID

Part of CAN-ID; number of the encoder in the CAN network

OSI

Open Systems Interconnection Reference Model

Page reference

PDO

Process Data Object. Communication object for transmission

of process data

res.

reserved

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