AMG, HMG - CANopen

Manual
Absolute Encoder with
Firmware version from 1.00
Baumer Hübner GmbH
Max-Dohrn-Str. 2+4
D-10589 Berlin
Phone +49 (0)30 690 03 - 0
Fax +49 (0)30 690 03 -104
[email protected]
www.baumer.com
Contents
Page
1
1.1
1.2
Introduction..................................................................................................................................... 4
Scope of delivery .............................................................................................................................. 4
Product assignment .......................................................................................................................... 4
2
Safety and operating instructions ................................................................................................ 5
3
3.1
3.1.1
3.2
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.4
3.4.1
3.4.2
CAN bus and CANopen communication ...................................................................................... 7
CAN bus ........................................................................................................................................... 7
CAN bus characteristics ................................................................................................................... 7
CANopen .......................................................................................................................................... 8
CANopen communication................................................................................................................. 9
Communication profile ...................................................................................................................... 9
CANopen message structure ........................................................................................................... 9
Service data communication .......................................................................................................... 10
Process data communication ......................................................................................................... 12
Emergency service ......................................................................................................................... 14
Network management services ...................................................................................................... 15
Layer Setting Services ................................................................................................................... 19
Encoder/converter profile ............................................................................................................... 23
Overview of encoder/converter objects .......................................................................................... 23
Detailed object list (DS-301) ........................................................................................................... 27
4
4.1
4.2
4.3
Diagnosis and useful information .............................................................................................. 44
Error diagnosis field bus communication ....................................................................................... 44
Error diagnosis via field bus ........................................................................................................... 44
Useful information relating to the sensor ........................................................................................ 45
5
5.1
5.2
5.3
5.4
Applications .................................................................................................................................. 46
Setting and reading objects ............................................................................................................ 46
Configuration .................................................................................................................................. 47
Operation ........................................................................................................................................ 49
Use the encoder via CAN interface ................................................................................................ 51
6
6.1
6.1.1
6.1.2
6.1.3
6.1.4
6.1.5
6.2
Terminal assignment and commissioning ................................................................................. 53
Electrical connection ...................................................................................................................... 53
Setting the user address ................................................................................................................ 53
Setting the baud rate ...................................................................................................................... 53
Terminating resistor ........................................................................................................................ 53
Bus cover connection ..................................................................................................................... 54
Terminal assignment ...................................................................................................................... 55
Display elements (status display) ................................................................................................... 55
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Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer
Huebner GmbH rejects any liability for the information compiled in the present manual. Baumer Huebner
GmbH nor the author will accept any liability for direct or indirect damages resulting from the use of the
present information.
At any time we should be pleased receiving your comments and proposals for further improvement of the
present document.
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1
Introduction
1.1
Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number delivery is including:
• Basic encoder or HEAG162SC with CANopen bus cover
• CD with EDS file and manual (also available as download in the internet).
1.2
Product assignment
Shaft encoder
Product
Product code
eds file
Product family
AMG 11 C 13
0x0B
CO13.eds
AMG 11 – Singleturn 13 Bit
AMG 11 C 29
0x0A
CO29.eds
AMG 11 – Multiturn 29 bit
AMG 81 C 13
0x0B
CO13.eds
AMG 81 – Singleturn 13 bit
AMG 81 C 29
0x0A
CO29.eds
AMG 81 – Multiturn 29 bit
Hollow / Endshaft encoder
Product
Product code
eds file
Product family
HMG 11 C 13
0x0B
CO13.eds
HMG 11 – Singleturn 13 bit
HMG 11 C 29
0x0A
CO29.eds
HMG 11 – Multiturn 29 bit
HEAG 162 converter
Product
Product code
eds file
Product family
HEAG 162 SC 13
0x0B
CO13.eds
HEAG 162 converter 13 bit
HEAG 162 SC 18
0x0F
CO18.eds
HEAG 162 converter 18 bit
HEAG 162 SC 29
0x0A
CO29.eds
HEAG 162 converter 29 bit
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2
Safety and operating instructions
Supplementary information
• This manual is intended as a supplement to already existing documentation (catalogues, data sheets
and assembly instructions). They are placed on the delivered CD or can be downloaded at
www.baumer.com.
• The manual must be read without fail before initial commissioning of the equipment.
Intended purpose of the equipment
•
•
The AMG/HMG is a precision measurement device. It is used to determine angular positions and
revolutions, and to prepare and supply measured values in the form of electrical output signals for the
follow-on device systems. The AMG/HMG may only be used for this purpose.
The HEAG is a signal converter which reads cyclically data words as ssi master. It provides the data
words to transmit them via CANopen. The HEAG may only be used for this purpose.
Commissioning
•
•
The encoder/converter may only be installed and assembled by suitably qualified experts.
Observe the operating instructions of the machine manufacturer.
Safety remarks
•
•
•
•
Prior to commissioning the equipment, check all electrical connections.
If installation, electrical connection or any other work performed at the encoder or at the equipment is not
correctly executed, this can result in a malfunction or failure of the encoder.
Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating
equipment as a result of encoder failure or malfunction by providing suitable safety precautions.
Encoders must not be operated outside the specified limited values (see detailed product
documentation).
Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property.
Transport and storage
•
•
Only ever transport or store encoders in their original packaging.
Never drop encoders or expose them to major vibrations.
Assembly
•
•
•
Avoid impacts or shocks on the housing and shaft.
Avoid any twist or torsion on the housing.
Do not open the encoder or make any mechanical changes to it.
The shaft, ball bearings, glass pane or electronic components can be damaged. In this case, safe and
reliable operation cannot be guaranteed.
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Electrical commissioning
•
•
•
•
•
•
•
Do not make any electrical changes at the encoder/converter.
Do not carry out any wiring work when the encoder/converter is live.
Never plug or unplug the electrical connection when the encoder/converter is live.
Ensure that the entire plant is installed in line with EMC requirements. The installation environment and
wiring affect the electromagnetic compatibility of the encoder/converter. Install the encoder/converter and
supply cables separately or at a long distance from cables with high interference emissions (frequency
converters, contactors etc.)
Where working with consumers which have high interference emissions, make available a separate
power supply for the encoder/converter.
Completely shield the encoder/converter housing and connecting cable.
Connect the encoder to the protective earth (PE) conductor using shielded cable. The braided shield
must be connected to the cable gland or plug. Ideally, aim at bilateral connection to protective earth (PE),
the housing via the mechanical assembly, the cable shield via the downstream connected devices. In
case of earth loop problems, earth on one side only as a minimum requirement.
Failure to observe these instructions can result in malfunctions, material damage or personal injury.
Disposal
• Dispose of encoder/converter in accordance with locally applicable legislation.
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3
CAN bus and CANopen communication
3.1
CAN bus
The CAN bus (CAN: Controller Area Network) was originally developed by Bosch and Intel as a means of
fast, low-cost data transmission in automotive applications. The CAN bus is used today also in industrial
automation applications.
The CAN bus is a field bus (the standards are defined by the CAN in Automation (CiA) Association) through
which devices, actuators and sensors from different manufacturers can communicate with each other.
3.1.1 CAN bus characteristics
• Data rate of 1 MBaud with network expansion up to 40 m
• Network connected on both sides
• The bus medium is a twisted-pair cable
• Real time capability: Defined maximum waiting time for high-priority messages.
• Theoretically 127 users at one bus, but physically only 32 are possible (due to the driver).
• Ensures data consistency across the network. Damaged messages are notified as faulty for all network
nodes.
• Message-oriented communication
The message is identified by a message identifier. All network nodes use the identifier to test whether the
message is of relevance for them.
• Broadcasting, multicasting
All network nodes receive each message simultaneously. Synchronization is therefore possible.
• Multimaster capability
Each user in the field bus is able to independently transmit and receive data without being dependent upon
the priority of the master. Each user is able to start its message when the bus is not occupied. When
messages are sent simultaneously, the user with the highest priority prevails.
• Prioritization of messages
The identifier defines the priority of the message. This ensures that important messages are transmitted
quickly via the bus.
• Residual error probability
Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to
below 10 -11. In practical terms, it is possible to ensure a 100% reliable transmission.
• Function monitoring
Localization of faulty or failed stations. The CAN protocol encompasses a network node monitoring
function. The function of network nodes which are faulty is restricted, or they are completely uncoupled
from the network.
• Data transmission with short error recovery time
By using several error detection mechanisms, falsified messages are detected to a high degree of
probability. If an error is detected, the message transmission is automatically repeated.
In the CAN Bus, several network users are connected by means of a bus cable. Each network user is able to
transmit and receive messages. The data between network users is serially transmitted.
Examples of network users for CAN bus devices are:
• Automation devices such as PLCs
• PCs
• Input and output modules
• Drive control systems
• Analysis devices, such as a CAN monitor
• Control and input devices as Human Machine Interfaces (HMI)
• Sensors and actuators
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3.2
CANopen
Under the technical management of the Steinbeis Transfer Centre for Automation, the CANopen profile was
developed on the basis of the Layer 7 specification CAL (CAN Application Layer). In comparison with CAL,
CANopen only contains the functions suitable for this application. CANopen thus represents only a partial
function of CAL optimized for the application in hand, so permitting a simplified system structure and the use
of simplified devices. CANopen is optimized for fast data exchange in real time systems.
The organization CAN in Automation (CiA) is responsible for the applicable standards of the relevant profiles.
CANopen permits:
• Simplified access to all device and communication parameters
• Synchronization of several devices
• Automatic configuration of the network
• Cyclical and event-controlled process data communication
CANopen comprises four communication objects (COB) with different characteristics:
• Process data objects for real time data (PDO)
• Service data objects for parameter and program transmission (SDO)
• Network management (NMT, Heartbeat)
• Pre-defined objects (for synchronization, emergency message)
All device and communication parameters are subdivided into an object directory. An object directory
encompasses the name of the object, data type, number of subindexes, structure of the parameters and the
address. According to CiA, this object directory is subdivided into three different parts. Communication
profile, device profile and a manufacturer-specific profile (see object directory).
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3.3
CANopen communication
3.3.1 Communication profile
Communication between the network users and the Master (PC / Control) takes place by means of object
directories and objects. The objects are addressed via a 16 bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. They are accordingly divided into several groups:
• Process data objects PDO for real time transmission of process data
• Service data objects SDO for read/write access to the object directory
• Objects for synchronization and error display of CAN users:
SYNC object (synchronization object) for synchronization of network users
EMCY object (emergency object) for error display of a device or its peripherals
• Network management NMT for initialization and network control
• Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the
middle of an existing network
3.3.2
CANopen message structure
The first part of a message is the COB ID (Identifier).
Structure of the 11-bit COB ID :
Function code
Node ID
4-bit function code
7-bit node ID
The function code provides information on the type of message and priority
The lower the COB ID, the higher the priority of the message
Broadcast messages:
Function code
NMT
SYNC
COB ID
0h
80h
Peer to peer messages:
Function code
COB ID
Emergency
80h + Node ID
1)
PDO1 (tx)
180h + Node ID
PDO2 (tx)1)
280h + Node ID
1)
SDO (tx)
580h + Node ID
SDO (rx)1)
600h + Node ID
Heartbeat
700h + Node ID
1)
LSS (tx)
7E4h
LSS (rx) 1)
7E5h
1): (tx) and (rx) from the viewpoint of the encoder
The node ID can be freely selected by means of the CANopen bus between 1 and 127 (if rotary switches =
0). The encoders are supplied with the Node ID 1.
This can be changed with the service data object 2101h or using LSS.
A CAN telegram is made up of the COB ID and up to 8 bytes of data:
COB ID DLC
xxx
x
Byte 1
xx
Byte 2
xx
Byte 3
xx
Byte 4
xx
Byte 5
xx
Byte 6
xx
Byte 7
xx
Byte 8
xx
The precise telegram is outlined in more detail at a later point.
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3.3.3 Service data communication
The service data objects correspond to the standards of the CiA. It is possible to access an object via index
and subindex. The data can be requested or where applicable written into the object.
General information on the SDO
Structure of an SDO telegram:
COB ID
DLC
Command
Object L
Object H
Subindex Data 0
Data 1
Data 2
Data 3
An SDO-COB ID is composed as follows:
Master -> Encoder/Converter :
600h + Node ID
Encoder/Converter -> Master :
580h + Node ID
DLC (data length code) describes the length of the telegram. This is composed as follows:
1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0 - 4).
The command byte defines whether data is read or set, and how many data bytes are involved.
SDO command
Description
Data length
22h
Download request
Max. 4 Byte
Transmits parameter to encoder/converter
23h
Download request
4 byte
2Bh
Download request
2 byte
2Fh
Download request
1 byte
60h
40h
Download response
Upload request
-
Confirms receipt to master
Requests parameter from
encoder/converter
42h
43h
4Bh
4Fh
Upload response
Upload response
Upload response
Upload response
Max. 4 byte
4 byte
2 byte
1 byte
Parameter to master with max. 4 byte
80h
Abort message
-
Encoder/converter signals error code to
master
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An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The
object and subindex are those of the requested object. The error code is contained in bytes 5 – 8.
ID
DLC
Byte 1 Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
580h + Node ID 8
80h
Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3
Byte 8 - 5 results in the SDO abort message (byte 8 = MSB).
The following messages are supported:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
: Command byte is not supported
: Incorrect access to an object
: Read access to write only
: Write access to read only
: Object is not supported
: Subindex is not supported
: Value outside the limit
: Value too great
: General error
: Incorrect save signature
: Data cannot be stored
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SDO examples
Request of a value by the master from the slave
A frequent request will be a request for position.  Object 6004h
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
04h
60h
0h
40h
x
Data 1 Data 2 Data
3
x
x
x
Response by the slave to the request for a value
The position is 4 bytes long, the precise values can be found under object 6004h.
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
04h
60h
0h
43h
a
Data 1 Data 2 Data
3
b
c
d
Writing of a value by the master into the slave
Position setting can be performed with preset.  Object 6003h
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
03h
60h
0h
22h
a
Data 1 Data 2 Data
3
b
c
d
Slave's response to the writing of a value
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
03h
60h
0h
60h
0h
Data 1 Data 2 Data
3
0h
0h
0h
3.3.4 Process data communication
Process data objects are used for real time data exchange for process data, for example position or
operating status. PDOs can be transmitted synchronously or cyclically (asynchronously). The
encoder/converter supports the PDO1 and the PDO2. Both PDOs supply the current position of the
encoder/converter and are defined in the objects 1800h, 1801h, 1A00h, 1A01, 2800h, 2801h and 6200h.
Synchronous
In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into
the object 1800h / 1801h Subindex 2. If the value is 3, the PDO is transmitted on every third sync telegram (if
the value 1 is entered, transmission takes place on every sync telegram), as long as there is a 0 written into
the object 2800h / 2801h. If it contains for example a 5, the PDO will continue to be written as before on
every third Sync telegram, but only a total of 5 times. Accordingly, the last PDO is written on the 15th sync
telegram. The counter for the number of PDOs to be transmitted is reset in the event of a position change or
NMT reset, i.e. unless it is changed, the position is transmitted five times. If the position changes, it is
transmitted a further five times.
In synchronous operation, the PDO is requested by the master via the Sync telegram.
Byte 0
COB ID = 80
Byte 1
0h
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Cyclical (asynchronous)
If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h /
1801h Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object Subindex 5.
The entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The
function is switched off.
The object 2800h / 2801h offers another possibility: If the value is 0, cyclical transmission runs as described
above. If the value is 1, a cyclical test is performed as to whether a change of the value has occurred. If not,
no transmission takes place. If the value is 4, the PDO is transmitted four times with each cycle if there is a
change.
Overview
In the following table, the different transmission modes for PDOs are summarized:
1800h
Sub2
Sub5
FEh
3ms
FEh
5ms
FEh
0ms
FEh
0ms
3
xxx
3
xxx
2800h
0
2
0
xxx
0
2Bh
Summarized description
Cyclical transmission every 3 ms
Every 5 ms, the PDO is sent twice if there is a change
Transmit PDO switched off
Transmit PDO switched off
Transmit with every third sync telegram
On every third sync telegram, but only 43 times in total (=2Bh).
PDO (Position)
PDO1 telegram structure:
ID
181h
DLC
4
ID
Length
Byte1 - 4
Byte 1
xx
Byte 2
xx
Byte 3
xx
Byte 4
xx
: 180h + node ID
: 4 DataByte
: Current position in increments
PDO2 telegram structure:
ID
281h
ID
Length
Byte1 - 4
DLC
4
Byte 1
xx
Byte 2
xx
Byte 3
xx
Byte 4
xx
: 280h + node ID
: 4 DataByte
: Current position in increments
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3.3.5 Emergency service
Internal device error or bus problems initiate an emergency message:
COB ID
DLC Byte0 Byte 1
80h+node ID
8
Error code
00h
01h
Byte 2
Error register
1001h
Byte 3
Byte 4
Alarms 6503h
Byte 5
Byte 6
Warning 6505h
Byte 7
-
Byte 0 - 1: Error codes
Error Code (hex)
0000h
1000h
5530h
6010h
7320h
7510h
8130h
FF00h
Meaning
Error reset or no error
Generic error
EEPROM error (from V1.04)
Software reset (Watchdog) (from V1.04)
Position error (from V1.04)
Internal communication error (from V1.04)
Life Guard error or Heartbeat error (from V1.04)
Battery low (ab V1.04) (only AMG 81 C 29)
Byte 2: Error register
Bit
0h
4h
7h
Meaning
Generic error
Communication error (from V1.04)
Manufacturer specific (from V1.04)
Byte 3 - 4 Alarms
Bit
0
Meaning
Position error active
Value = 0
No
Value = 1
Yes
Meaning
CPU watchdog status
Battery charge
Value = 0
OK
OK
Value = 1
Reset executed
Charge too deep
(only AMG 81 C 29)
Byte 5 - 6 Warning
Bit
2
4
Byte 7: Not used
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3.3.6 Network management services
Network management can be divided into two groups.
Using the NMT services for device monitoring, bus users can be initialized, started and stopped.
In addition, NMT services exist for connection monitoring.
Description of the NMT command
The commands are transmitted as unconfirmed objects and are structured as follows:
Byte 0
Byte 1
Byte 2
COB ID = 0
Command byte
Node number
The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command.
Command byte
Command byte
01h
02h
80h
81h, 82h
Description
Start remote node
Stop remote node
Enter pre-operational mode
Reset remote node
In state event drawing
1
2
3
4, 5
The node number corresponds to the node ID of the required users. With node number = 0, all users are
addressed.
NMT state event
Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be
read and written. In order to request PDO parameters, the encoder must first be moved to the operational
mode status.
Power on oder Hardware Reset
Init
BootUp Message
4/5
4/5
Pre-Operational
3
2
1
3
Stopped/Prepared
4/5
1
Operational
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The various NMT statuses
Init
Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes
automatically to the pre-operational mode status.
The COB ID of the BootUp message is made up of 700h and the node ID.
COB ID
Byte 0
700h + node ID 00h
Pre-operational mode
In the pre-operational mode, SDOs can be read and written.
Operational mode
In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and
written.
Stopped or prepared mode
In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is
only possible in the stopped mode.
Status change
Start remote node (1)
With the start command, the encoder is switched to the operational mode status.
COB ID
Command byte
Node number
0h
1h
0..127
Stop remote node (2)
With the stop command, the encoder is switched to the stopped or prepared mode status.
COB ID
Command byte
Node number
0h
2h
0..127
Enter pre-operational mode (3)
Change to the pre-operational mode status.
COB ID
Command byte
Node number
0h
80h
0..127
Reset remote node (4) or reset communication (5)
With the reset command, the encoder is re-initialized.
Reset remote node (4):
COB ID
Command byte
Node number
0h
81h
0..127
Reset communication (5):
COB ID
Command byte
0h
82h
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Node and Life Guarding
The CAN in Automation association CiA
recommend to use the new heartbeat protocol
(see next chapter). To use the node guarding
instead of heartbeat protocol bit 5 of object
2110h has to be set.
To detect absent devices (e.g. because of busoff) that do not transmit PDOs regularly, the
NMT Master can manage a database, where
besides other information the expected states
of all connected devices are recorded, which is
known as Node Guarding.
With cyclic node guarding the NMT master
regularly polls its NMT slaves. To detect the
absence of the NMT master, the slaves test
internally, whether the Node Guarding is taking
place in the defined time interval (Life
Guarding).
The Node Guarding is initiated by the NMT
Master in Pre-Operational state of the slave by
transmitting a Remote Frame.
The NMT Master regularly retrieves the actual
states of all devices on the network by a
Remote Frame and compares them to the
states recorded in the network database.
Mismatches are indicated first locally on the NMT Master through the Network Event Service. Consequently
the application must take appropriate actions to ensure that all devices on the bus will got to a save state
"Communication error Object 1029h-1h".
Example for a nodeguarding protocol:
COB-ID
701h
701h
701h
701h
Data/Remote
r
d
r
d
Byte 0
00h (0d)
FFh (255d)
00h (0d)
7Fh (127d)
Possible NMT node states:
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-operational
In other words, the encoder is in the pre-operational mode (7Fh = 127).
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Heartbeat
The optional heartbeat protocol should
substitute the life/node guarding protocol.
heartbeat is activ, when Object 2110h bit 5
is '0'. It is highly recommend to implement
for new device designs the heartbeat
protocol. A heartbeat producer transmits the
heartbeat message cyclically with the
frequency defined in heartbeat producer
time object. One or more heartbeat
consumer may receive the indication. The
relationship between producer and
consumer is configurable via Object
Dictionary entries. The heartbeat consumer
guards the reception of the heartbeat within
the heartbeat consumer time. If the
Heartbeat is not received within this time a Heartbeat Event will be generated "Communication error object
1029h-1h".
Example for a heartbeat protocol
COB ID
701h
Data/Remote
d
Byte 0
7Fh (127d)
The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied.
0:
4:
5:
127:
BootUp event
Stopped
Operational
Pre-operational
In other words, the encoder is in the pre-operational mode (7Fh = 127).
Attention:
Only one each of the above node guarding mechanism can be set.
Default:
Optional:
Heartbeat
NodeGuarding (siehe Objekt 2110h)
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3.3.7
Layer Setting Services
In the spring of 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The
procedure is described under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The encoder is supplied by us as standard with the node ID 1 and a baud rate of 50 kBaud. Several
encoder/converter can be connected to the bus system with the same node ID. To allow individual
encoder/converter to be addressed, LSS is used.
Each encoder/converter is fitted with its own unique serial number and is addressed using this number. In
other words, an optional number of encoder/converter with the same node ID can be connected to one bus
system, and then initialized via LSS. Both the node ID and also the baud rate can be reset. LSS can only be
executed in the Stopped Mode.
Message structure
COB ID:
Master  Slave
: 2021 = 7E5h
Master  Slave
: 2020 = 7E4h
After the COB ID, an LSS command specifier is transmitted.
This is followed by up to seven attached data bytes.
COB ID cs
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Switch Mode Global
7E5h  04h
Mode
Mode
Reserved
: 0  Operation mode
1  Configuration mode
Selective switch mode
The following procedure can be used to address a certain encoder in the bus system.
7E5h  40h
Vendor ID
reserved
7E5h  41h
Product code
reserved
7E5h  42h
Revision number
reserved
7E5h  43h
Serial number
reserved
7E4h  44h
Mode
reserved
Vendor Id
Product code
Revision number
Serial number
Mode
: ECh
: Internal product code for the respective encoder
: Current revision number of the encoder
: Unique, consecutive serial number
: The encoder's response is the new mode (0=operating mode; 1=configuration mode)
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Setting the node ID
7E5h  17
Node ID
reserved
7E4h  11h
ErrCode
Spec error
Node ID
Error code
Specific error
reserved
: New node ID of encoder/converter
: 0=OK; 1=Node ID outside range; 2 - 254=reserved; 255Specific error
: If Error code=255  application-specific error code.
Setting the bit timing
7E5h  13h
tableSel tableInd
7E4h  13h
ErrCode
TableSel
reserved
SpecError
reserved
: Selects the bit timing table
TableInd
Error code
Specific error
0
: Standard CiA bit timing table
1 - 127
: Reserved for CiA
128 - 255 : Manufacturer-specific tables
: Bit timing entry in selected table (see table below).
: 0=OK; 1=Bit timing outside range; 2..254=reserved; 255Specific error
: If Error code=255  Application-specific error code.
Standard CiA table
Baud rate
1000 kBaud
800 kBaud
500 kBaud
250 kBaud
125 kBaud
100 kBaud
50 kBaud
20 kBaud
10 kBaud
Table Index
0
1
2
3
4
5
6
7
8
Saving the configuration protocol
This protocol saves the configuration parameters in the EEPROM.
7E5h  17h
reserved
7E4h  17h
ErrCode
Error code
Specific error
SpecError
Reserved
: 0=OK; 1=Saving not supported; 2=Access error; 3 - 254=reserved; 255Specific error
: If error code=255  Application-specific error code.
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Activate bit timing parameters
The new bit timing parameters are activated with the command specifier 15h.
7E5h  15h
Switch Delay
Switch delay
Reserved
: Reset delay in the slave in ms.
After the delay, the encoder/converter logs on with the new baud rate.
Request vendor ID
Requesting the vendor ID of a selected encoder
7E5h  5Ah
reserved
7E4h  5Ah
32 bit vendor ID
Vendor ID
reserved
: = ECh
Request product code
Request product code of a selected encoder
7E5h  5Bh
reserved
7E4h  5Bh
Product code
Product code
reserved
: Manufacturer-dependent product code
Request revision number
Request revision number of a selected encoder
7E5h  5Ch
reserved
7E4h  5Ch
32 bit revision number
reserved
Revision number : Current revision
Request serial number
Request serial number of a selected encoder
7E5h  5Dh
reserved
7E4h  5Dh
32 bit serial number
Serial number
reserved
: Unique consecutive serial number of the encoder/converter
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Range request
Encoders can also be searched for within a certain range. For this purpose, the following objects are sent in
sequence:
7E5h  46h
Vendor ID
reserved
7E5h  47h
Product code
reserved
7E5h  48h
7E5h  49h
Revision number LOW
Revision number HIGH
reserved
reserved
7E5h  4Ah
7E5h  4Bh
Serial number LOW
Serial number HIGH
reserved
reserved
Each encoder with the relevant parameters logs on with the following message:
7E4h  4Fh
reserved
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3.4
Encoder/converter profile
3.4.1 Overview of encoder/converter objects
According to CiA (CAN in Automation), objects are subdivided into three groups:
• Standard objects:
1000h, 1001h, 1018h
• Manufacturer-specific objects:
2000h - 5FFFh
• Device-specific objects:
All other objects from 1000h - 1FFFh, 6000h - FFFFh
The following table provides a summary of all SDO objects supported by the encoder/converter.
Object Object number in Hex
Name
--Type
U/I = Unsigned/Integer , No. = no of bits, ARR = Array
Attr
ro = read only, wo = write only, rw = read write
Default Default value on first init
EE
yes  is stored in the EEPROM
Info
Additional info
Object
1000h
Name
Device type
Type
Attr
Default
U32
ro
00020196h
EE
00010196h
1001h
Error register
U8
1003h
Predefined error field
ARR
ro
0h
0h
00h Biggest subindex
U8
rw
01h Last entry
U32
ro
Info
Multiturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =2 (Multiturn, absolute)
Singleturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =1 (Singleturn, absolute)
Bit0 = Generic Error
Bit4 = Communication error (overrun, …)
Bit7 = manufacturer specific
Contains the last 8 errors or warnings
Number of stored messages (0..8)
Error or warning
1000h
5530h
6010h
7320h
7510h
8130h
.. ..
08h Oldest entry
..
..
U32
ro
rw
ro
..
Error or warning (see subindex 01h)
1005h
Sync COB ID
U32
1008h
Device name
U32
1009h
Hardware version
U32
ro
"CO13"
„CO18“
"CO29"
actual value
Software version
U32
ro
actual value
U16
rw
100Ah
100Ch Guard time
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Generic error
EEPROM error
Software reset (Watchdog)
Position error
Internal communication error
Life Guard error oder Heartbeat
error
FF00h Battery low (only AMG 81 C 29)
..
80h yes COB ID of the sync object
yes Device name =
"CO13" 13 bit encoder/converter
"CO18" 18 bit encoder/converter
"CO29" 29 bit encoder/converter
Hardware version in ASCII
Software version in ASCII
0h yes Node Guarding timer
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100Dh Life Time factor
U8
1010h
ARR
Store parameters
rw
0h yes Multiplicator of Guard Time
4h
00h Biggest subindex
U8
ro
01h Save all parameters
U32
rw
=“save“ (0x73617665) to save
02h Communication parameters
U32
rw
=“save“ (0x73617665) to save
03h Application parameters
U32
rw
=“save“ (0x73617665) to save
04h Manuf. specific parameters
U32
rw
=“save“ (0x73617665) to save
1011h
Restore default parameters
ARR
00h Biggest subindex
U8
ro
01h All parameters
U32
rw
=“load“ (0x6C6F6164) to load
02h Communication parameters
U32
rw
=“load“ (0x6C6F6164) to load
03h Application parameters
U32
rw
=“load“ (0x6C6F6164) to load
04h Manufacturer specific
parameters
U32
rw
=“load“ (0x6C6F6164) to load
Emergency COB ID
U32
rw
Consumer Heartbeat time
ARR
1014h
1016h
4h
80h +Node ID yes COB ID of the emergency object
00h Biggest subindex
U8
ro
01h Consumer Heartbeat time
U32
rw
Producer heartbeat time
U16
rw
Identity object
U32
ro
00h Biggest subindex
U8
ro
01h Vendor ID
U32
ro
02h Product code
U32
ro
03h Revision number
U32
ro
yes Product Code:
0Ah
0Ah = 29 bit encoder/converter
0Bh = 13 bit encoder/converter
0Bh
0Fh
0Fh = 18 bit encoder/converter
actual value yes Current revision number
04h Serial number
U32
ro
actual value yes Unique consecutive serial number
1017h
1018h
1029h
Error behavior
1h
10000h yes Bit0..15 Consumer Heartbeat Time in ms
Bit16..23 Node-ID
0h yes Producer Heartbeat time in ms
4h
ECh yes Vendor no. issued by CiA
ARR
(V1.04+)
00h Biggest subindex
U8
ro
1h
01h Communication error
U8
rw
1h yes 0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
1800h
Transmit PDO1 parameter
REC
00h Biggest subindex
U8
ro
01h COB ID
U32
rw
02h PDO type
U8
rw
05h Event timer
U16
rw
1801h
Transmit PDO2 parameter
U8
ro
01h COB ID
U32
rw
02h PDO type
U8
rw
05h Event timer
U16
rw
Transmit PDO1 mapping
FEh yes FEh=User defined, cyclical
203h yes Cycle time in ms
REC
00h Biggest subindex
1A00h
5h
180h+id yes PDO ID = 180h + node ID
5h
280h+id yes PDO ID = 280h + Node ID
2h yes 2h= synchronous operation
100h yes Cycle time in ms
ARR
00h Biggest subindex
U8
ro
1h
01h Content of PDO1
U32
ro
60040020h
1A01h
Transmit PDO2 mapping
ARR
00h Biggest subindex
U8
ro
1h
01h Content of PDO2
U32
ro
60040020h
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2100h
Baud rate
U8
rw
2101h
Node ID
U8
rw
2110h
Manufactures_Options
U32
rw
2201h
00h
01h
02h
03h
Statistics
Biggest subindex
No. of position errors
Time in seconds
Number timer reset
watchdog
Customer EEPROM range
Biggest subindex
Data0
Data1
Data2
Data3
Data4
Data5
Data6
REC
U8
U32
U32
U32
ro
ro
ro
ro
3h
No. of subindexes
0h yes Position control
0h yes Time since last reset
0h yes Timer watchdog
ARR
U8
U16
U16
U16
U16
U16
U16
U16
ro
rw
rw
rw
rw
rw
rw
rw
7h
0h
0h
0h
0h
0h
0h
0h
2300h
00h
01h
02h
03h
04h
05h
06h
07h
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2h yes After setting the baud rate, the EEPROM must
be saved and reinitialized
0 = 10 kBit/s
1 = 20 kBit/s
2 = 50 kBit/s
3 = 100 kBit/s
4 = 125 kBit/s
5 = 250 kBit/s
6 = 500 kBit/s
7 = 800 kBit/s
8 = 1000 kBit/s
1h yes Node number 1 - 127 possible
After setting the baud rate, the EEPROM must
be saved and reinitialized.
1h yes Bit1 = Code sequence (Object 6000h Bit0)
0 Not inverted
1 Inverted
Bit2 = scaling function (Object 6000h Bit2)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protokoll enabled
1 Nodeguarding-Protokoll enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7)
Bit7 = 0 all PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
1 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
Optional data can be stored in this object
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yes
yes
yes
yes
yes
yes
yes
Baumer Hübner GmbH
Berlin, Germany
2800h
2801h
6000h
PDO1 addition/event trigger
PDO2 addition/event trigger
Operating parameter
U8
U8
U16
rw
rw
rw
6001h
Resolution
U32
rw
6002h
Overall measuring range in
increments
U32
rw
6003h
6004h
6200h
6500h
Preset value in increments
Position in increments
Cyclic timer for PDO1
Operating status
U32
U32
U16
U16
rw
ro
rw
ro
6501h
Max. resolution
U32
ro
6502h
Overall measuring range in
increments
U32
ro
6503h
Alarms
U16
ro
6504h
Supported alarms
U16
ro
6505h
Warnings
U16
ro
6506h
Supported warnings
U16
ro
6507h
Profile & software version
U32
ro
6508h
6509h
650Bh
Operating time
Offset
Serial number
U32
U32
U32
ro
ro
ro
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0h yes Repeat counter for PDO1
0h yes Repeat counter for PDO2
4h 1 Bit0 = Sense of rotation
0 CW
1 CCW
Bit2 = Scaling function off
Scaling function on
yes Resolution in steps / revolution:
2000h
13 bit encoder/converter
40000h
18 bit encoder/converter
2000h
29 bit encoder/converter
yes Overall measuring range in increments
2000h
13 bit encoder/converter
18 bit encoder/converter
40000h
20000000h
29 bit encoder/converter
0h yes Preset in increments  Offset
Position value including offset in increments
203h yes In ms, identical object 1800h, subindex 5
4h
Bit0 = Sense of rotation
0 CW
1 CCW
Bit2 = Scaling function off
Scaling function on
Max. resolution in steps / revolution:
2000h
13 bit encoder/converter
18 bit encoder/converter
40000h
2000h
29 bit encoder/converter
Overall measuring range in increments:
2000h
13 bit encoder/converter
40000h
18 bit encoder/converter
20000000h
29 bit encoder/converter
0h
The following alarms are evaluated:
Bit0=Position error
1h
The following alarms are supported:
Bit0=Position error
0h
The following warnings are evaluated:
Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge (only AMG 81 C 29)
Singleturn encoder:
Bit2 = CPU watchdog status
The following warnings are supported:
14h
Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge (only AMG 81 C 29)
04h
Singleturn encoder:
Bit2 = CPU watchdog status
01000201h
Byte 0..1:
Profile version =2.01 = 0201h
Byte 2..3:
Software version = 1.05 = 0105h
0h
Time in 1/10 hours since last reset
0h yes Offset calculated from preset  6003h
actual value yes Linked with serial number object 1018h-4h
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3.4.2
Detailed object list (DS-301)
Object 1000
Device type
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
Multiturn (29 bit):
00020196h
Singleturn (13 bit and 18 bit):
00010196h
No
Information on device profile and device type
Multiturn:
Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type
Data3
96
01
02
00
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 02h 00h = multiturn, absolute
Singleturn:
Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type
Data3
96
01
02
00
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 01h 00h = singleturn, absolute
Object 1001
Error Register
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1003
0
Unsigned 8
Read only
0h
No
Current error code
Bit 0 = Generic error
Bit 4 = Communication error (overrun, …)
Bit 7 = Manufacturer specific
Predefined error field
CiA (CAN in Automation) defines around 200 different error codes here. In this document, only the
error codes of relevance for the sensor are described.
This object saves the last occurred errors or warnings.
Subindex
0
Data type
Unsigned 8
Access
Read write
Default
0
EEPROM
No
Description
Read: Number of errors or warnings
Write 0: Reset error
Values
0..8
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Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1005
COB ID SYNC message
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1008
0
Unsigned 32
Read write
80h
Yes
Defined COB ID of the synchronization object (SYNC)
Bit 31
not defined
Bit 30
1 = Sensor generates SYNC messages
0 = generates no SYNC message
Bit 29
1 = 29 bit SYNC COB ID (CAN 2.0B)
0 = 28 bit SYNC COB ID (CAN 2.0A)
Bit 28 - 11 Bit 28 - 11 of the 29 bit SYNC COB ID
Bit 10 - 0 Bit 10 - 0 of the SYNC COB ID
Manufacturer Device Name
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1009
1..8
Unsigned 32
Read only
0
No
Error or warning occurred, whereby subindex 1 is the ultimate, subindex
2 the penultimate entry etc.
Not yet defined
0
Unsigned 32
Read only
It depends on the basic encoder
No
Device name in ASCII
Data 0 - 3:
"CO13" = 43h 4Fh 31h 33h
"CO18" = 43h 4Fh 31h 38h
"CO29" = 43h 4Fh 32h 39h
 13 bit encoder/converter
 18 bit encoder/converter
 29 bit encoder/converter
Manufacturer hardware version
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
No
Hardware version in ASCII
Data 0..3
31h 2Eh 30h 30h
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Object 100A
Manufacturer software version
Subindex
Data type
Access
Default
EEPROM
Description
Values
Objekt 100C
No
Software version in ASCII
Data 0..3
31h 2Eh 30h 30h
= "1.00“
Guard Time
SubIndex
DatenTyp
Zugriff
Default
EEPROM
Beschreibung
Werte
Objekt 100D
0
Unsigned 32
Read only
0
Unsigned 16
ReadWrite
0h
Yes
Timer für Nodeguarding in ms
0 - 65535
Life Time Factor
SubIndex
DatenTyp
Zugriff
Default
EEPROM
Beschreibung
Werte
0
Unsigned 8
ReadWrite
0h
Yes
Life Time Factor x Guard Time = Life time
0 - 255
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Object 1010
Save parameters
Saving the objects below in the non-volatile memory (EEPROM) is initiated via object 1010h.
In order to prevent unintentional saving, the message "save" must be written in subindex 1.
COB ID
600h+node ID
DLC Command
8
23h
Object L
10h
Object H Subindex
10h
01
Data 0
73h 's'
Data 1 Data 2 Data 3
61h 'a' 76h 'v' 65h 'e'
Objects stored in the EEPROM:
Object
Subindex Description
1005h
1008h
0h
0h
Sync ID
Device name
100Ch
100Dh
1014h
1016h
1017h
1018h
1018h
0h
0h
0h
1h
0h
1h
2h
Guard time
Life Time factor
Emergency COB ID
Consumer heartbeat time
Producer heartbeat time
Vendor ID
Product code
1018h
1029h
1800h
1800h
1800h
1801h
1801h
1801h
2100h
2101h
2110h
2201h
2201h
2201h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2800h
2801h
6000h
6001h
4h
1h
1h
2h
5h
1h
2h
5h
0h
0h
0h
1h
2h
3h
1h
2h
3h
4h
5h
6h
7h
8h
0h
0h
0h
0h
Serial Number
Error Behavior
PDO1 ID
PDO1 type
PDO1 event timer asynchronous mode
PDO2 ID
PDO2 type
PDO2 refresh time for cyclical transmission
Baud rate
Node ID
Version
No. of position errors
Total operating time in seconds
No. of timer resets by the watchdog
Customer-specific EEProm range data0
Customer-specific EEProm range data1
Customer-specific EEProm range data2
Customer-specific EEProm range data3
Customer-specific EEProm range data4
Customer-specific EEProm range data5
Customer-specific EEProm range data6
Customer-specific EEProm range data7
PDO1 addition (event trigger)
PDO2 addition (event trigger)
Operating parameter
No. of steps per revolution
6002h
0h
Total measuring range in increments
6003h
6200h
6509h
650Bh
0h
0h
0h
0h
Preset value in increments
Cyclical timer for PDO1
Offset
Serial number
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Default Value (after object 1011)
80h
"CO13" 13 bit encoder/converter
"CO18" 18 bit encoder/converter
"CO29" 29 bit encoder/converter
0h
0h
80h+node ID
10000h
0h (disabled)
Ech
0Ah  multiturn
0Bh  singleturn
xyz
1h
180h+node ID
FEh -> asynchronous, cyclical
203h ms
280h+node ID
2h -> synchronous
100h ms
2h = 50 kBaud
1h
0x00000008
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0004h
2000h
13 bit encoder/converter
40000h
18 bit encoder/converter
2000h
29 bit encoder/converter
2000h
13 bit encoder/converter
40000h
18 bit encoder/converter
20000000h 29 bit encoder/converter
0h
203h (see Object 1800h-5h)
0h
xyz (see Object 1018h-4h)
Baumer Hübner GmbH
Berlin, Germany
Object 1011
Restore parameters
The values in the RAM are overwritten by the default values (see object 1010h) by the object 1011h. In
addition, the content of the EEPROM is marked as invalid. This means that until the next data save
routine in the EEPROM, the default values are loaded in each case.
In order to prevent unintentional overwriting, the message "load" must be written in subindex 1.
COB ID
600h+node ID
Object 1014
Object L
11h
Object H
10h
Subindex
01
0
Unsigned 32
Read write
80h+node ID
Yes
Defines COB ID of the emergency object
80h + Node ID
Consumer heartbeat time
SubIndex
DatenTyp
Zugriff
Default
EEPROM
Beschreibung
Werte
0
Unsigned 16
Read only
1h
No
Biggest supported subindex
1
SubIndex
DatenTyp
Zugriff
Default
EEPROM
Beschreibung
Werte
1
Unsigned 32
Read write
10000h
Yes
Consumer heartbeat time
Bit 0..15 Consumer heartbeat time in ms
Bit 16..23 Node ID
Object 1017
Data 0 Data 1 Data 2 Data 3
6Ch 'l' 6Fh 'o' 61h 'a' 64h 'd'
COB ID emergency message
Subindex
Data type
Access
Default
EEPROM
Description
Values
Objekt 1016
DLC Command
8
23h
Producer heartbeat time
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read write
0h
Yes
Defines repeat time of the heartbeat watchdog service
0 = Disabled
1 - 65535 = Repeat time in ms
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Object 1018
Identity Object
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
4
No
Biggest supported subindex
4
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only
ECh
Yes
Vendor ID issued by CiA
ECh (in the Internet under www.can-cia.de)
Subindex
Data type
Access
Default
EEPROM
Description
Values
2
Unsigned 32
Read only
Subindex
Data type
Access
Default
EEPROM
Description
Values
Yes
Product code
0Bh
13 bit encoder/converter
0Fh
18 bit encoder/converter
0Ah
29 bit encoder/converter
3
Unsigned 32
Read only
No
Revision number of the sensor
Version of the current = xxyy (xx=Version, yy=Sequence number)
Data 0 = Sequ. Data 1 = Sequ. Data 2 =
Data 3 =
number LOW
number HIGH
Version LOW
Version HIGH
00
00
01
00
Data 0,1 = 00h 00h = 0000h = Sequence number
Data 2,3 = 01h 00h = 0001h = Version
Subindex
Data type
Access
Default
EEPROM
Description
Values
4
Unsigned 32
Read only
0
Yes
Consecutive unique serial number of the sensor
Is defined in the factory during final testing
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Objekt 1029
Error Behavior (from Firmware version V1.04)
SubIndex
DatenTyp
Zugriff
Default
EEPROM
Beschreibung
Werte
0
Unsigned 8
ReadOnly
1
No
Biggest supported subindex
1
SubIndex
DatenTyp
Zugriff
Default
EEPROM
Beschreibung
Werte
1
Unsigned 8
ReadWrite
1
Yes
Behavior after Communication error
0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
Object 1800
PDO1 parameters
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
5
No
Biggest supported subindex
5
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read write
180h + Node ID
Yes
COB ID of the PDO
180h + Node ID
Subindex
Data type
Access
Default
EEPROM
Description
Values
2
Unsigned 8
Read write
FEh
Yes
PDO type
1..n..F0h = PDO has synchronous characteristics (the PDO is
transmitted to each nth SYNC telegram)
FEh =
PDO has asynchronous characteristics (PDOs are
transmitted cyclically depending on the event timer and
event trigger)
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Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1801
5
Unsigned 16
Read write
203h
Yes
Event timer for process data object
0=
Cyclical transmission switched off
1..n..65535 = Repeat time cyclical transmission equals n ms.
PDO2 parameters
See object 1800h, with the exception of subindex1, here COB ID is 280h + node ID
Object 1A00
PDO1 mapping
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
0
No
Biggest supported subindex
1
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only (defined by CiA as read write)
6004h
No
Describes the content of the PDO1 message
6004h = Position
Object 1A01
PDO2 mapping
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
0
No
Biggest supported subindex
1
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only (defined by CiA as read write)
6004h
No
Describes the content of the PDO2 message
6004h = Position
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Object 2100
Baud rate
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 2101
Node ID
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
2 = 50kBaud
Yes
Read or reset the sensor baud rate.
 After setting, parameters must be stored in the EEPROM with the
object 1010h and then the sensor re-initialized.
0
10 kBaud
1
20 kBaud
2
50 kBaud
3
100 kBaud
4
125 kBaud
5
250 kBaud
6
500 kBaud
7
800 kBaud
8
1000 kBaud
0
Unsigned 8
Read write
1
Yes
Read or reset the node ID of the sensor.
 After setting, parameters must be stored in the EEPROM with the
object 1010h and then the sensor re-initialized
1 - 127
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Object 2110
Manufacturer_Options
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read write
8h
Yes
To guarantee compatibility with older sensors some options could be
defined here.
This object is not supported by EDS File.
Modification should be done only by vendor.
Modification by customers very carefully according following table
Bit1 = Code sequence (Object 6000h Bit0) (V1.04+)
0 Not inverted
1 Inverted
Bit2 = scaling function (Object 6000h Bit2) (V1.04+)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protocol enabled
1 Nodeguarding-Protocol enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7) (V1.04+)
Bit7 = 0 all PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter (V1.04+)
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
1 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(V1.08+)
Bit10 = Response by Reset Node (V 1.09+)
0 HW Reset
1 Init NMT state
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Object 2201
Statistics
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
3h
No
Biggest supported subindex
3
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only
0h
Yes
No. of position errors overall
0...4294967295
Subindex
Data type
Access
Default
EEPROM
Description
Values
2
Unsigned 32
Read only
0h
Yes
Total operating time in seconds (Object 6508h time since last reset)
0 - 4294967295
Subindex
Data type
Access
Default
EEPROM
Description
Values
3
Unsigned 32
Read only
0h
Yes
Watchdog timer reset counter
0 - 4294967295
Object 2300
Customer EEPROM range
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
8h
No
Any optional data can be stored in this object
8
Subindex
Data type
Access
Default
EEPROM
Description
1...8
Unsigned 16
Read write
0h
Yes
For each subindex, a 16 bit value can be stored
(Save in the EEPROM via object 1010h)
0
Values
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Object 2800
PDO1 addition (event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 2801
PDO2 addition (event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6000
0
Unsigned 8
Read write
0h
Yes
The event trigger value determines how often the same PDO value is
transmitted
0=
PDO counter is switched off  Continuous transmission
(time basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis
from event timer)
0
Unsigned 8
Read write
0h
Yes
The event trigger value determines how often the same PDO value is
transmitted
0=
PDO counter is switched off  continuous transmission
(time basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis
from event timer)
Operating parameter
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read write
4
Yes
Operating parameter
Bit 0 sense of rotation = 0  clockwise
1  counterclockwise
Bit 2 scaling function = 0  max. resolution
1  saved resolution
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Object 6001
Resolution
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6002
Overall measurement range
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6003
0
Unsigned 32
Read write
2000h = 8192
13 bit encoder/converter
40000h = 262144
18 bit encoder/converter
20000000h = 536870912 29 bit encoder/converter
Yes
Overall measurement range freely selectable in increments.
1..n.. overall measurement range in increments (see object 6502)
Preset value
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read write
2000h = 8192
13 bit encoder/converter
40000h = 262144
18 bit encoder/converter
2000h = 8192
29 bit encoder/converter
Yes
No. of steps per revolution freely selectable.
! Offset value is reset when changing the resolution!
1..n.. Max. no. of steps per revolution (see object 6501h)
0
Unsigned 32
Read write
0h
Yes
Freely selectable position value. Preset and internal position result in
offset ( Object 6509h)
0..current overall measurement range -1 (Object 6002h)
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Object 6004
Position in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6200
0
Unsigned 16
Read write
203h
Yes
Event timer for process data object (see object 1800h-5h)
0=
Cyclical transmission switched off
1..n..65535 = Repeat time cyclical transmission amounts to n ms.
Operating Status
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6501
No
Current position including offset
0..Current overall measurement range -1 (Object 6002h)
Cyclic timer for PDO1
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6500
0
Unsigned 32
Read only
0
Unsigned 16
Read only
4h
No
Operating data which is written with object 6000h
Bit 0 sense of rotation = 0  Clockwise
1  Counterclockwise
Bit 2 scaling function = 0  max. resolution
1  saved resolution
Max. resolution in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
2000h = 8192
13 bit encoder/converter
40000h = 262144
18 bit encoder/converter
2000h = 8192
29 bit encoder/converter
No
Maximum singleturn resolution in increments
2000h = 8192
13 bit encoder/converter
40000h = 262144
18 bit encoder/converter
2000h = 8192
29 bit encoder/converter
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Object 6502
Overall measurement range in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6503
Alarms
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6504
0
Unsigned 16
Read only
0h
No
Alarm messages as per object 6504h
Bit 0 = 1  Position error active
Supported alarms
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6505
0
Unsigned 32
Read only
2000h = 8192
13 bit encoder/converter
40000h = 262144
18 bit encoder/converter
20000000h = 536870912
29 bit encoder/converter
No
Maximum measurement range (the data type U32 in this object does
not correspond to the CiA profile)
2000h = 8192
13 bit encoder/converter
40000h = 262144
18 bit encoder/converter
20000000h = 536870912
29 bit encoder/converter
0
Unsigned 16
Read only
1h
No
Alarm messages supported by object 6503h
Bit 0 = Position error
Warnings
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read only
0h
No
Warnings as per object 6506h
Multiturn:
Bit 2 = 1  CPU watchdog reset
Bit 4 = 1  Battery charge (only AMG 81 C 29)
Singleturn:
Bit 2 = 1  CPU Watchdog reset
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Object 6506
Supported warnings
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6507
0
Unsigned 16
Read only
Multiturn:
14h
Singleturn:
04h
No
Warnings supported by object 6505h
Multiturn:
Bit 2 = CPU watchdog status
Bit 4 = Battery charge (only AMG 81 C 29)
Singleturn:
Bit 2 = CPU watchdog status
Profiles and software versions
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read Only
No
Version of the profile and the current software
Version of the current software = xxyy
(xx = Software version, yy = Profile version)
Data0 = Profile
version LOW
Data2 =
Software
version LOW
01
02
00
Data 0,1 = 01h 02h = 0201h = Profile version
Data 2,3 = Software version
Object 6508
Data1 = Profile
version HIGH
Data3 =
Software
version HIGH
01
Operating time
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
0h
No
Operating time in 1/10 hours, since the last sensor reset
0..n..4294967295 = n * 6 minutes operating time without reset
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Object 6509
Offset
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 650B
0
Unsigned 32
Read only
0h
Yes
Calculated from preset ( Object 6003h)
0..current overall measurement range -1
Serial number
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
xyz
Yes
Progressive serial number
0..4294967295 = Is directly linked with the serial number of the end
test (see object 1018h-4h)
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4
Diagnosis and useful information
4.1
Error diagnosis field bus communication
• If the encoder/converter cannot be addressed via the CANopen bus, first of all check the terminals.
If the terminals are not in order, field bus operation should be tested next. For this purpose, a CAN
monitor is required which records CANopen communication and shows the telegrams.
• The encoder/converter should now place a BootUp message when switching the power supply off and on
again.
Should no BootUp message appear, check whether the baud rates of the encoder, the CAN monitor and
the bus system are in agreement.
• If you have difficulty in establishing the connection to the user, check the node number and baud rate.
The baud rate must be set the same throughout. The node number (node ID, node address) must be
between 1 and 127. Each bus user must be unambiguously assigned a node ID, i.e. it is strictly prohibited
to assign the same node ID more than once.
The node ID and baud rate can also be set conveniently using the LSS service.
4.2
Error diagnosis via field bus
The encoder/converter has at its disposal several objects and messages which transcribe the status or error
status of the encoder/converter.
• Object 1001h: This object is an error register for the device error status.
• Object 1003h: In this object, the last eight error codes and warnings are stored.
• Object Emergency (80h + Node ID): High-priority error message of a user with error code and error
register.
• SDO abort message: If SDO communication does not run correctly, the SDO response contains an abort
code.
Object 1001h error register
The existence of a device error and its type are indicated in this register.
See separate Object descriptions
Object 1003h predefined error field
In this object, the eight last occurring error codes from objects 6503h and 6505h are saved, whereby the
latest error is stored in subindex 1 and the oldest error in subindex 8.
Object emergency
Error message of a user.
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SDO abort message
If SDO communication is not running smoothly, an abort code is transmitted as the SDO response:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
4.3
: Command byte is not supported
: Incorrect access to an object
: Read access to write only
: Write access to read only
: Object is not supported
: Subindex is not supported
: Value outside limits
: Value too great
: General error
: Incorrect save signature ("save")
: Data cannot be saved
Useful information relating to the sensor
Resetting the node ID
1. The node ID is reset using the Baumer specific object 2100h.
2. After setting the node ID, this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new node ID.
Resetting the baud rate
1. The baud rate is reset with the Baumer specific object 2101h.
2. After setting the baud rate this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new baud rate.
4. ! DO NOT FORGET TO SET THE MASTER TO THE NEW BAUD RATE !
Shielding
As the encoder is not always connected to a defined earth potential depending on its mounting position, the
encoder flange should always be additionally linked to earth potential. The encoder/converter should always
on principle be connected to a shielded conductor.
If possible the cable shield should be in place at both ends. Ensure that no equalizing currents are
discharged via the encoder/converter.
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5
Applications
5.1
Setting and reading objects
In order to overwrite an object (SDO) or to read it, two telegrams always have to be transmitted.
Object setting
First, the master transmits the value to be set. The encoder/converter then transmits the confirmation.
Value (ba) is transmitted:
COB ID
600h+node ID
DLC Command
8
2Bh
Object L
00h
Object H
23h
Subindex Data 0
3h
a
Data 1 Data 2 Data 3
b
x
x
DLC Command
8
60h
Object L
00h
Object H
23h
Subindex Data 0
3h
0h
Data 1
0h
Confirmation:
COB ID
580h+node ID
Data 2 Data 3
0h
0h
Read object
First the master transmits a request for the required object. Then the encoder/converter transmits the
requested value.
Request from master:
COB ID
600h+node ID
DLC Command
8
40h
Object L
04h
Object H
60h
Subindex Data 0
0h
x
Data 1 Data 2 Data 3
x
x
x
Subindex Data 0
0h
a
Data 1 Data 2 Data 3
b
c
d
Response (dcba) of the encoder/converter to the request:
COB ID
580h+node ID
DLC Command
8
43h
Object L
04h
Object H
60h
Commissioning
When the encoder/converter is connected to the bus, it logs on with a BootUp message. The
encoder/converter must now be adjusted to its environment and configured.
Changing the node ID and baud rate with LSS
The node ID and baud rate can be changed without having to use these to address the encoder/converter.
With the LSS service, the sensors are addressed and configured via the product code, revision no., vendor
ID and serial number.
Changing the node ID (node no.)
The node ID can be changed in object 2101h between 1 and 127. A save routine should then be executed
using object 1010h. On the next initialization, the encoder/converter logs on with the new node ID.
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Changing the baud rate
The baud rate can be changed in the object 2100h. An index is written into the object, not the effective baud
rate.
Baud rate
0
10 kBaud
1
20 kBaud
2
50 kBaud
3
100 kBaud
4
125 kBaud
5
250 kBaud
6
500 kBaud
7
800 kBaud
8
1000 kBaud
The baud rate now still has to be saved using object 1010h-1h. On next initialization, the encoder/converter
logs on to the new baud rate. However, before this the baud rate of the master should be changed.
5.2
Configuration
Position setting
The value is transmitted:
COB ID
600h+node ID
DLC Command
8
23h
Object L
03h
Object H
60h
Subindex Data 0
0h
a
Data 1 Data 2 Data 3
b
c
d
DLC Command
8
60h
Object L
03h
Object H
60h
Subindex Data 0
0h
0h
Data 1 Data 2 Data 3
0h
0h
0h
Conformation:
COB ID
580h+node ID
Changing the sense of rotation and scaling
The sense of rotation can be set to CW (clockwise) or CCW (counterclockwise). In addition, the scaling can
be switched on or off in the same object (6000h). With the scaling switched on, the set resolutions are used.
However, if the scaling is switched off, the encoder/converter works with the maximum resolution settings
(6501h and 6502h).
Bit 0:
Bit 2:
0 -> CW (clockwise)
1 -> CCW (counterclockwise)
0 -> Scaling off
1 -> Scaling on
Counterclockwise rotation and scaling on:
COB ID
600h+node ID
DLC Command
8
23h
Object L
00h
DLC Command
8
60h
Object L
00h
Object H Subindex Data 0 Data 1
60h
0h
5h
x
Data 2 Data 3
x
x
Confirmation:
COB ID
580h+node ID
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60h
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Subindex Data 0
0h
0h
Data 1
0h
Data 2 Data 3
0h
0h
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Changing singleturn resolution
In object 6001h, the singleturn resolution can be configured. For example 1024 (10bit) steps per revolution
(1024 = 400h):
COB ID
600h+node ID
DLC Command
8
23h
Object L
01h
Object H
60h
Subindex Data 0
0h
00h
DLC Command
8
60h
Object L
01h
Object H
60h
Subindex Data 0
0h
0h
Data 1
04h
Data 2 Data 3
00h
00h
Confirmation:
COB ID
580h+node ID
Data 1 Data 2 Data 3
0h
0h
0h
Changing the overall resolution
In object 6002h, the overall resolution can be set. The overall resolution and the singleturn resolution result
in the number of revolutions. Example: The singleturn resolution is set at 10 bit (1024 steps) and the overall
resolution at 22 bit (4194304), resulting in 4096 (12bit) revolutions of 1024 (10bit) steps each.
Setting the overall resolution to 4194304 (4194304 = 400000h)
COB ID
600h+node ID
DLC Command
8
23h
Object L
02h
Object H
60h
Subindex Data 0
0h
00h
Data 1 Data 2 Data 3
00h
40h
00h
DLC Command
8
60h
Object L
02h
Object H
60h
Subindex Data 0
0h
0h
Data 1 Data 2 Data 3
0h
0h
0h
Confirmation:
COB ID
580h+node ID
Saving the setting in the EEPROM
Object 1010h initiates the save routine for the objects below in the non-volatile memory (EEPROM). In order
to prevent unintentional saving, the message "Save" must be written in Subindex 1.
COB ID
600h+node ID
DLC Command
8
23h
Object L
10h
Object H
10h
Subindex Data 0
01h
73 's’
Data 1 Data 2 Data 3
61 'a’ 76 'v’ 65 'e’
COB ID
580h+node ID
DLC Command
8
60h
Object L
10h
Object H
10h
Subindex Data 0
01h
0h
Data 1 Data 2 Data 3
0h
0h
0h
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5.3
Operation
NMT statuses
Once the encoder has been initialized, it is then in the Pre-operational mode. In this mode, SDO can be
read and written.
In order to start PDO communication, you must transmit an NMT start. The encoder is then in the
Operational mode. Any required PDOs are then transmitted. SDOs can also be read and written.
If the encoder/converter is stopped with an NMT stop, the encoder/converter is then in the stopped mode.
In this mode, only NMT communication is the possible, i.e. also heartbeat.
By means of an NMT reset the encoder/converter is re-initialized and is then once again in the preoperational mode.
Reading the position
Request from the master:
COB ID
600h+node ID
DLC Command
8
40h
Object L
04h
Object H
60h
Subindex Data 0
0h
0h
Data 1 Data 2 Data 3
0h
0h
0h
Subindex Data 0
0h
a
Data 1 Data 2 Data 3
b
c
d
Response (dcba) of the encoder/converter to the request:
COB ID
580h+node ID
DLC Command
8
43h
Object L
04h
Object H
60h
Configuring PDOs
The PDOs can be configured in accordance with the following table:
1800h
Sub2
Sub5
FEh
3ms
FEh
5ms
FEh
0ms
FEh
0ms
3
xxx
3
xxx
2800h
0
2
0
xxx
0
2Bh
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Summarized description
Cyclical transmission every 3 ms
Every 5ms the PDO is sent double if a change has occurred.
Transmit PDO switched off
Transmit PDO switched off
Transmit with each third sync telegram
With each sync telegram but in total only 43 times (=2Bh).
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Defining heartbeat time
In order to monitor communication capability, the heartbeat time must be defined in object 1017h with
"Producer heartbeat time". As soon as the value has been confirmed, the service begins transmission.
Example:
Every 100 ms, the encoder/converter should transmit a heartbeat (100 = 64h):
COB ID
600h+node ID
DLC Command
8
2Bh
Object L
17h
Object H
10h
Subindex Data 0 Data 1
0h
64h
0h
DLC Command
8
60h
Object L
17h
Object H
10h
Subindex Data 0 Data 1
0h
0
0
Confirmation:
COB ID
580h+node ID
COB ID
701h
Data/ Remote Byte 0
d
7Fh
The heartbeat messages are made up of the COB ID and one byte. IN this byte, the NMT status is supplied.
0:
4:
5:
127:
BootUp-Event
Stopped
Operational
Pre-operational
i.e. the encoder/converter is in the pre-operational modus (7Fh = 127).
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5.4
Use the encoder via CAN interface
Easy use of the CANopen encoder/converter as CAN device via CAN (Layer 2)
Example: Encoder Node ID 1
Used Tool: CANAnalyser32 by Fa. IXXAT
= 0x100000
= 0x1000
works after next
Power Off/On
Load DefaultParameter values
see chapter
Network
management
services
COB ID = 0x600 + Node ID
SDO Command
Object Index 6002
Object Subindex 00
Data 0x10000000
For more detailed description see chapter ‚service data communication’
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Trace view of CAN-telegrams to and from encoder/converter
(commands see page before)
Boot up after Power on
SDO request to encoder/converter
COB ID = 0x600+Node ID
SDO response from encoder/converter
COB ID = 0x580+Node ID
Encoder(converter in state Operational
Run, transmitting cyclic Position-Data
COB ID = 0x180 + Node ID
Encoder/converter in state Pre-operational
Encoder/converter in state Stopped
Encoder/converter Reset
Boot up Message
COB ID = 0x700+Node iD
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6
Terminal assignment and commissioning
6.1
Electrical connection
The bus cover must rest fully against the housing and be firmly screwed in place.
For electrical connection, pull off the bus cover using the following method:
• Release the fastening screws of the bus cover
• Carefully loosen the bus cover and lift off in the axial direction
6.1.1 Setting the user address
The user address is set via the EEPROM. The node ID (user address) is defined in object 2101h. In addition,
it is possible to set the user address decimally using two rotary switches in the bus cover. If the switches are
at 0, the node ID from the EEPROM is used. As soon as the switch is set to a value, this set value is used as
the user address. The maximum number of users is 99.
•
Set the user address decimally using the two rotary switches 1 and 2 (default setting 00).
Example: 23
6.1.2 Setting the baud rate
The baud rate is defined in the object 2100h. In addition, it is possible here to set the baud rate using a
switch. The baud rate setting is performed on a binary basis via switches 1 to 3 of the 3-pin DIP switch in the
bus cover. The baud rate used from the EEPROM is ignored as soon as the switch for the user address is
not set to 0.
Baud rate
10 kBit/s
20 kBit/s
50 kBit/s *
125 kBit/s
250 kBit/s
500 kBit/s
800 kBit/s
1 MBit/s
1
OFF
OFF
OFF
OFF
ON
ON
ON
ON
Setting DIP switches
2
OFF
OFF
ON
ON
OFF
OFF
ON
ON
3
OFF
ON
OFF
ON
OFF
ON
OFF
ON
* Factory setting:
6.1.3 Terminating resistor
If the connected encoder/converter is the last device in the bus line, the bus must be terminated with a
resistor. The resistor is in the bus cover and is connected using a one-pole DIP switch. The terminating
resistor must be switched to "ON" at the last user with a 1-pole DIP switch (default setting OFF).
ON = Final user
OFF = User X
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6.1.4
Bus cover connection
•
•
•
•
•
Release the cap nut of the cable gland.
Push the cap nut and seal insert with contact sleeve onto the cable sheath.
Strip the cable sheath and cores, shorten the shield film where this exists (see Fig.)
Bend over the braided screen by appr. 90°.
Push the sealing insert with contact sleeve along as far as the braided shield. Insert the sealing insert
with contact sleeve and cable flush into the cable gland and tighten the cap nut.
•
•
Terminals with the same designation are internally interconnected.
For the power supply, use only cable gland 3. For the bus lines, cable gland 1 or 2 can be optionally
selected. For the bus lines, cable glands 1 or 2 can be freely selected. Observe the admissible cable
cross sections.
Insert the cores using the shortest route from the cable gland to the terminal strip. Observe the
admissible core cross-section, in the case of flexible cores use ferrules.
Avoid crossing over data lines with the supply voltage line.
Close unused cable glands with sealing bolts (supplied).
•
•
•
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6.1.5
Terminal assignment
Terminal
CAN_L
CAN_H
UB
GND
Explanation
CAN bus signal (dominant low)
CAN bus signal (dominant high)
Supply voltage 10 - 30 VDC
Ground terminal for UB
Terminals with the same designation are internally interconnected.
•
•
Carefully plug the bus cover onto the D-SUB plug of the basic encoder/converter, then press only via the
sealing rubber, taking care not to tilt it. The bus cover must rest fully against the basic encoder/converter.
Tighten both the fastening screws firmly in the same direction.
The encoder housing/converter and braided shield of the connecting cable are only ideally connected if the
bus cover is resting fully on the basic encoder/converter (positive locking).
6.2
Display elements (status display)
A dual LED is integrated at the back of the bus cover.
LED green
Off
Flashing
On
On
Off
Off
LED red
Off
Off
Off
Off
Flashing
On
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MB703.E – 12A1 – Firmware version 1.0
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Status
Power supply not connected
Pre-operational mode
Operational mode
Stopped/Prepared mode
Warning
Error
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P.O. Box 12 69 43 · D-10609 Berlin, Germany
Phone: +49 (0)30/69003-0 · Fax: +49 (0)30/69003-104
[email protected] · www.baumer.com
Technical modification reserved
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