ABSOLUTE ROTAR Y ENCODER WITH CANOPEN INTERFACE USER MANUAL THM4 – THK4 Main Features Programmable Parameters - Compact and heavy-duty industrial design - Direction of rotation (complement) - Interface: CANopen (DS406) - Resolution per revolution CANopen Lift (DSP417) - Total resolution 36 mm - Preset value - Housing: - Solid shaft: 6 or 10mm - Two limit switches and eight cams - Blind hollow shaft: 6mm - Baud rate and CAN-identifier Max.
Table of Contents Main Features..........................................................1 Mechanical Structure...............................................1 Programmable Parameters .....................................1 Electrical Features...................................................1 Table of Contents ..................................................2 General Security Advise.......................................4 About this Manual .................................................4 1.
Object 2300h: Save Parameter with Reset...........33 Object 3000h: Node Number ................................33 Object 3001h: Baudrate ........................................34 Object 3010h: Speed Control................................34 Object 3011h: Speed Value ..................................34 Object 3020h: Acceleration Control ......................35 Object 3021h: Acceleration Value.........................35 Object 4000h: Bootloader Control.........................
General Security Advise Important Information This is the safety alert symbol. It is Read these instructions carefully, and look at the used to alert you to potential equipment to become familiar with the device personal injury hazards. Obey all before trying to install, operate, or maintain it. safety messages that follow this symbol to avoid The following special messages may appear possible injury or death.
• Packing Machines 1. Introduction • Mobile Machines This manual explains how to install and • Wind Mills configure the MAGNETOCODE absolute rotary • Medical Equipment encoder with CANopen interface applicable for both military and industrial applications with 1.1 General CANopen Information CANopen interface. The products are fully The CANopen system is used in industrial compliant with standard DS406. applications.
Kontumazgarten 3 Polled mode: The position value is only DE-90429 Nurenberg sent on request. Cyclic mode: The position value is sent (*) Reference: cyclically (regular, adjustable interval) Industrial Applications SYNC mode: The position value is sent after a Application Layer for CiA Draft Standard 201 ... 207, Version on the bus. CAN synchronization 1.1 CAL-based message Communication Profile for Industrial Systems (SYNC) is received.
2. Installation 2.1 Electrical Connection Function Wire end Connector Pin RJ45 Connector Pin M12 Can High white 1 4 Can Low brown 2 5 Can-GND green 3 1 GND yellow 4 3 red 8 2 + Ub= 10-30 V Tab.1 Signal Assignment Connector / Cable 5 pin male M12 connector 4 RJ45 Connector 3 5 1 2 www.beisensors.
Setting Node Number via SDO Objects The node number has to be adjusted via SDO the node number, object 3000h has to be objects. The default node number is 32. To set written. For further information regard chapter 5.5 Object Dictionary. Setting Baud Rate via SDO Objects The baud rate has to be adjusted via SDO further information please regard chapter 5.5 objects. The default baud rate is 20 kBaud. To Object Dictionary. set baud rate object 3001h has to be written.
3. Technical Data In the following section you will find general technical data about absolute rotary encoders with CANopen interface. Electrical Data Interface Transceiver according ISO 11898, galvanically isolated by opto-couplers Transmission rate max. 1 MBaud Device addressing Adjustable by SDO telegrams or Layer Setting Services Supply voltage 10 – 30* V DC (absolute limits) Current consumption max. 100 mA with 10 V DC, max. 50 mA with 24 V DC Power consumption max.
Mechanical Data Housing Nickel-plated iron housing Flange Aluminium Shaft Stainless steel Lifetime Dependent on shaft version and shaft loading – refer to table Max. shaft loading Axial 40 N, radial 110 N Inertia of rotor 30 gcm Friction torque 3 Ncm RPM (continuous operation) max. 12.000 RPM Shock (EN 60068-2-27) 100 g (half sine, 6 ms) Permanent shock (EN 60028-2-29) 10 g (half sine, 16 ms) Vibration (EN 60068-2-6) 10 g (10 Hz ...
4. Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary encoder with CANopen interface. 4.1 Operating Modes 4.1.1 General The encoder accesses the CAN network after preoperational powerup in pre-operational mode: entails reduced activity on the network, which mode. Pre-operational mode BootUp Message: 700 hex + Node Number simplifies the checking of the accuracy of the sent/received SDOs.
NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode. 4.1.2 Reinitialization of the Encoder If a node is not operating correctly, it is advisable to carry out a reinitialization: NN Command Index Description 0h 82 h 00 Reset Communication 0h 81 h NN Reset Node NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) in reset mode. After reinitialization, the encoder accesses the bus in pre-operational mode. 4.
4.3 Storing Parameter 4.3.
they can be transferred in one burn cycle to the 2 E PROM by the parameter memory transfer. RESET (Power on, NMT-Reset) from the 2 E PROM to the RAM (volatile memory). The stored parameters are copied after a Storing without Reset By using the object 1010h from the communication profile related object dictionary you can store the parameters into the nonvolatile memory without a reset.
5. Programmable Parameters Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.
5.1 Programming example: Preset Value If a CANopen device is connected and configured with the right baudrate and also configured to a unused node number, it will start up into the pre-operational mode and send a bootup massage to the master. 5.1.
5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh In this manual we refer to the communication profile DS301 V4.
5.3 Manufacturer specific objects 2000h – 5FFFh Object Description Page Hand-Book 2000h Position Value 31 2100h Operating Parameters 31 2101h Resolution per Revolution 31 2102h Total Resolution 33 2103h Preset Value 34 2104h Limit Switch, min. 34 2105h Limit Switch, max.
6301h Cam enable register 41 32 6302h Cam polarity register 41 33 6400h Area state register 44 6401h Work area low limit 44 6402h Work area high limit 44 6500h Operating status 45 6501h Single-turn resolution 45 64 6502h Number of distinguishable revolutions 45 65 6503h Alarms 46 65 6504h Supported alarms 46 66 6505h Warnings 47 67 6506h Supported warnings 47 68 6507h Profile and software version 48 69 6508h Operating time 48 70 6509h Offset value 49 70
Object 1001h: Error Register This object is used by the device to display internal faults. When a fault is detected, the corresponding bit is therefore activated. The following errors are supported: Bit Description Comments 0 Generic Error The generic error is signaled at any error situation.
Object 1005h: COB-ID Sync This object contains the synchronization message identifier. Subindex Description Data Type Default Value Access Restore after 0 - Unsigned 32 80000080h rw no BootUp Object 1008h: Manufacturer Device Name This object contains the device name.
Object 100Ch: Guard Time This object contains the guard time in milliseconds. Subindex Description Data Type Default Value Access Restore after 0 - Unsigned 16 0 rw yes BootUp Object 100Dh: Life Time Factor This object contains the life time factor parameters. The life time factor multiplied with the guard time gives the life time for the node guarding protocol.
Object 1011h: Restore Parameters This object is used to restore device and CANopen related parameters to factory settings. Subindex Description Data Type Default Value Access Restore after 0 Number of sub indices Unsigned 8 2 ro no 1 Restore all parameters Unsigned 32 “load” rw no BootUp Storing procedure To save the parameters to non volatile memory the access signature “load” has to be sent to the corresponding subindex of the device.
Object 1014h: COB-ID Emergency Object This object contains the EMCY emergency message identifier. Subindex Description Data Type Default Value Access 0 - Unsigned 32 80h + Node ID rw Restore after BootUp no Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms. The device can only monitor one corresponding device. If the time is set to 0 the monitoring is not active.
Object 1018h: Identity Object This object contains the device information. Subindex Description Data Type Default Value Access Restore after 0 Number of entries Unsigned 8 4 ro no 1 Vendor ID Unsigned 32 42h ro no 2 Product Code Unsigned 32 ro no 3 Revision Number Unsigned 32 ro no 4 Serial Number Unsigned 32 ro no Access Restore after BootUp 10000h Object 1020h: Verify configuration This object indicates the downloaded configuration date and time.
st Object 1800h: 1 Transmit PDO Communication Parameter st This object contains the communication parameter of the 1 transmit PDO.
252 X X 253 X Receive SYNC message and send PDO on Remote Request Update data and send PDO on Remote Request 254 X Send PDO on event 255 X Send PDO on event Inhibit Time For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If data is changed, the PDO sender checks whether an "inhibit time" has expired since the last transmission. A new PDO transmission can only take place if the "inhibit time" has expired.
Object 1A01h: 2 nd Transmit PDO Mapping Parameter nd This object contains the mapping parameter of the 2 transmit PDO. Subindex Description Data Type Default Value Access Restore after 0 Number of sub indices Unsigned 8 2 ro yes 1 2 Unsigned 32 60040020h rw yes BootUp nd mapped object Object 1F50h: Download Program Area This is a special object that has functionality for the bootloader feature.
Object 2000h: Position Value This object contains the position value. Subindex Description Data Type Default Value Access Restore after 0 Position Value Unsigned 32 - ro n.a. BootUp Object 2100h: Operating Parameters As operating parameters the code sequence (Complement) can be selected and the limit switches can be turned on or off.
Object 2101h: Resolution per Revolution This object contains the desired steps per revolution of the encoder. Subindex Description Data Type Default Value Access Restore after 0 Resolution per Revolution Unsigned 32 see type sign rw yes BootUp n If the desired value exceeds the hardware resolution of the encoder or is not a value of 2 , it will be out of range. Only values in the power of two are valid, otherwise the error code “06090030h: Value range of parameter exceeded” will appear.
If the desired resolution per revolution is less than the really physical resolution per revolution of the encoder, then the total resolution must be entered as follows: Total resolution: Calculation example: Customer handicap: AU = 2048 Encoder type sign: GA 16777216 2048 4096 GA 8388608 PGA=24 bit, PAU=12bit If the total resolution of the encoder is less than the physical total resolution, the parameter total resolution must be a multiple of the physical total resolution: Object 2103h: Prese
The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value reaches or passes under the value of the limit switch: Status Function bits Bit Process value 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X Object 2105h: Limit Switch, max. Two position values can be programmed as limit switches. By reaching this value, one bit of the 32 bit process value is set to high.
2h Customer Storage2 Unsigned 32 rw 3h Customer Storage3 Unsigned 32 rw 4h Customer Storage4 Unsigned 32 rw Object 2200h: Cyclic Timer PDO This object contains cyclic time of the event timer in ms (of PDO 1). Subindex Description Data Type Default Value Access Restore after 0h Event Time in ms Unsigned 16 0h ro yes BootUp The object 2200h is hard-wired to the objects 1800h subindex 5h and 6200h and provide the cycle time for the cyclic mode.
Object 3001h: Baudrate This object contains the baudrate of the device. Subindex Description Data Type Default Value Access Restore after 0 Baudrate Unsigned 8 - rw yes BootUp Eight different baud rates are provided. To adjust the baud rate only one byte is used. Baudrate in kBit/s Byte 20 00h 50 01h 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h Object 3010h: Speed Control This object contains the speed control. The speed measurement is disabled by default.
Object 3020h: Acceleration Control This object contains the acceleration control. The acceleration measurement is disabled by default. Subindex Description Data Type Default Value Access Restore after 0h Number of sub indices Unsigned 8 2h Ro 1h Enable Acceleration Unsigned 8 0h rw Yes 2h Acceleration modus Unsigned 8 0h rw yes Default Value Access Restore after BootUp Object 3021h: Acceleration Value This object contains acceleration value.
Object 6000h: Operating parameters This object shall indicate the functions for code sequence, commissioning diagnostic control and scaling function control. Subindex Description Data Type Default Value Access Restore after 0h Operating Parameter Unsigned 16 1h rw yes BootUp Code sequence: The code sequence defines, whether increasing or decreasing position values are output, in case the encoder shaft rotates clockwise or counter clockwise as seen from the point of view of the shaft.
Object 6001h: Measuring units per revolution This object shall indicate the number of distinguishable steps per revolution. Subindex Description Data Type Default Value Access Restore after BootUp 0h Measuring units per revolution Unsigned 32 see type sign rw yes Hardwired with 2101h. Object 6002h: Total measuring range in measuring units This object shall indicate the number of distinguishable steps over the total measuring range.
Object 6030h: Speed Value This object contains the speed value of the encoder. Subindex Description Data Type Default Value Access 0h Number of sub indices Unsigned 8 1h ro 1h Speed value channel1 Integer 16 - romap Restore after BootUp yes If the velocity exceeds the data type, the speed value is frozen to the maximal possible value. The customer can use the 3010h (32 bit) object. Object 6040h: Acceleration Value This object contains the acceleration value of the encoder.
Object 6300h: Cam state register This object contains the cam state register. The subindices 1h to FEh contain the cam state of channel 1 to 254.
6312h Cam3 low limit 0h VAR Highest sub-index supported 1h VAR Cam3 low limit channel1 6313h rw U8 ro rw Cam4 low limit rw 0h VAR Highest sub-index supported 1h VAR Cam4 low limit channel1 rw Cam5 low limit rw 6314h 0h VAR Highest sub-index supported 1h VAR Cam5 low limit channel1 0h VAR Highest sub-index supported 1h VAR Cam6 low limit channel1 0h VAR Highest sub-index supported 1h VAR Cam7 low limit channel1 6315h U8 U8 ro ro ro rw Highest sub-index supported
6326h Cam7 high limit 0h VAR Highest sub-index supported 1h VAR Cam7 high limit channel1 6327h rw U8 ro rw Cam8 high limit rw 0h VAR Highest sub-index supported 1h VAR Cam8 high limit channel1 rw Cam1 hyteresis rw 6330h 0h VAR Highest sub-index supported 1h VAR Cam1 hyteresis channel1 0h VAR Highest sub-index supported 1h VAR Cam2 hyteresis channel1 0h VAR Highest sub-index supported 1h VAR 6331h U8 U8 VAR 1h VAR 6334h Highest sub-index supported Cam5 hyteresis c
Object 6400h: Area state register This object contains the area state register The object provides the actual area status of the encoder position. Figure 9 specifies the object structure and Table 106 specifies the value definition.
Object 6401h: Work area low limit This object indicates the position value, at which bit 2 of the according work area state channel in object 6400h shall flag the underflow of the related work area. Subindex Description Data Type Default Value Access Restore after BootUp 0h Number of sub indices Integer 32 1h ro 1h Work area low limit channel 1 Integer 32 0h rw yes This object is hardwired with 2104h (Limit Switch Min).
Object 6501h: Single-turn resolution The object contains the physical measuring steps per revolution of the absolute rotary encoder. Subindex Description Data Type Default Value Access Restore after 0h Single Turn Resolution Unsigned 32 see type sign ro no Restore after BootUp Object 6502h: Number of distinguishable revolutions This object contains number of revolutions of the absolute rotary encoder.
Object 6504h: Supported alarms The object shall provide the supported alarms of the device. Please refer to the bit structure table to find more details about the supported alarms. Subindex Description Data Type Default Value Access Restore after BootUp 0h Supported Alarms Unsigned 16 1000h ro no The CA-encoder supports the position error alarm. Object 6505h: Warnings This object shall provide the warnings.
Object 6506h: Supported warnings The object provides the supported warnings of the device. Please refer to the bit structure table to find more details about the supported warnings. Subindex Description Data Type Default Value Access Restore after BootUp 0h Supported Warnings Unsigned 16 1000h ro Deleted: - no Currently there are not supported warnings available for an Optocode absolute rotary encoder. The CA-encoder supports the manufacture specific warning (Bit 12).
Object 6509h: Offset value This object contains the offset value. It is been calculated by the preset function and shifts the physical position value with the desired value. Subindex Description Data Type Default Value Access 0h Offset value Integer 32 - ro Restore after BootUp no Object 650Ah: Module identification This object shall provide the manufacturer-specific offset value, the manufacturer-specific minimum and maximum position value.
6. Diagnosis 6.2.3 Too much ERROR-Frames 6.2 Troubleshooting Problem: The bus load is too high in case of too much error 6.2.1 Power on – Encoder doesn’t respond frames. Problem: Possible solution: The bus is active but the installed encoder Check if all bus node has the same baud rate. If transmitted no boot up message. one node has another baud rate error frames are produced automatically. Possible solution: - The encoders have the default baud rate 20kbaud.
7. Mechanical Drawings Synchro Flange (S) Cable exit or 5 pin male M12 Connector Clamp flange (C) Cable exit or 5 pin male M12 Connector www.beisensors.
Hollow hollow shaft (B) Cable exit or 5 pin male M12 Connector Mounting instructions The clamp ring may only be tightened if the shaft Allowed shaft movements of the drive element are of the driving element is in the hollow shaft. listed in the table. axial radial static ± 0.3 mm ± 0.5 mm dynamic ± 0.1 mm ± 0.2 mm www.beisensors.
5 pin male M12 Connector Flange and housing dimensions from Synchro Flange
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Appendix A: History www.beisensors.
Appendix B: Glossary A Address Number, assigned to each node, irrespective of whether it is a master or slave. The encoder address (non-volatile) is configured in the base with rotary switches or SDO objects. APV Absolute Position Value. B Baud rate Transmission speed formulated in number of bits per second. Bus node Device that can send and/or receive or amplify data by means of the bus. Byte 8-bit unit of data = 1 byte. C CAL CAN application layer.
F FAQ Frequently Asked Questions FC Function code. Determines the type of message sent via the CAN network. L Line terminator Resistor terminating the main segments of the bus. LMT Network management object. This is used to configure the parameters of each layer in the CAN. Master "Active" device within the network, that can send data without having received a request. It controls data exchange and communication management. N NMT Network management object.
SDO Communication object, with a low priority for messaging (configuration, error handling, diagnostics). Slave Bus node that sends data at the request of the master. The encoders are always slaves. W WO Write Only: Parameter that is only accessible in write mode. www.beisensors.
Appendix C: List of tables Tab.1 Signal Assignment Connector / Cable...................................................................................................7 Tab. 2 Electrical Data .......................................................................................................................................9 Tab. 3 Sensor data ..............................................................................................................................................9 Tab.
