POSIWIRE® ADCANOP CANopen Output Description Interface ADCANOP Cable extension position sensor with CANopen interface according to CiA 406. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO CAM Transmission rates Bus connection Integrated termination resistor Bus, galvanic isolated Specifications Excitation voltage Excitation current Resolution Linearity Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation CANopen CiA 301 V 4.02, Slave Encoder CiA 406 V 3.2 Layer Setting Service (LSS), CiA Draft Standard 305 (transmission rate, node id) Node Guarding, Heartbeat, Emergency Message Default: 127; programmable via LSS or SDO 3 TxPDO, 0 RxPDO, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 server, 0 client 8 cams 50 kBaud to 1 MBaud, default: 125 kBaud; programmable via LSS or SDO M12 connector, 5 pins RT = 120 Ω, user programmable No 8 ... 36 V DC Typ. 15/30 mA for 24/12 V, max. 100 mA 0.05 mm ±0.05 % f.s. 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +85 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326-1:2006 MAN-WS-E-11 www.asm-sensor.com ASM GmbH POSIWIRE® ADCANOP CANopen Output Setup efore connecting to the CAN bus make sure that all nodes have a different B node ID and the same bit rate. If necessary set node ID and bit rate by the Layer-Setting-Service (LSS) as defined in Standard CiA DSP-305. If LSS is not available node ID and bit rate can be changed by writing the new values to objects 2000 and 2010 via Service Data Object (SDO). New node ID and bit rate become effective not before ”SAVE” and resetting the device. After power up the slave will send a boot-up message and will be ready for configuration and start of data exchange. On first power-up the default parameters are effective. Change parameters and operating mode of process data objects after importing the EDS file by the master software. Changed parameters become effective immediately. Parameters will become non-volatile on writing ”SAVE” to object 1010-1. Note: Setting of some parameters may have influence on the function of other parameters, e.g. changing the resolution may also influence the cam function. Warning notice • Changing the parameters can cause a sudden step of the instantaneous value and can result in unexpected machine (re)actions! • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! ASM GmbH www.asm-sensor.com MAN-WS-E-11 POSIWIRE® ADCANOP CANopen Output Device profile SAVE LOAD Manufacturer-specific Node ID Bitrate Termination resistor Hysteresis (change of state) User Offset Filter Linear encoder CiA406 Operating Parameters Total Measuring Range Preset Value Position Value Measuring step Cyclic Timer Profile and SW Version Serial Number Cam function CiA406 Cam state register Cam enable register Cam polarity register Cam 1-8 low limit Cam 1-8 high limit Cam 1-8 hysteresis Index 1010-1 1011-1 Default „save“ „load“ *) Value range MSB...LSB 73h, 61h, 76h, 65h MSB...LSB 6Ch, 6Fh, 61h, 64h 2000 2010 2020 2040 2100 2102 127 4 0 10 0 1 1...127 0...6 (s. table below) 0 (off) / 1 (on) 0 ... 1000 -231 …231-1 1...255 6000-0 6002-0 6003-0 6004-0 6005-1 6200-0 6507-0 650B-0 0 f.s. in mm 0 0...7 Model specific 10 µm 100 10 x 103 ... 10 x 106 nm 10 ... 30000 6300-1 6301-1 6302-1 6310-1...6317-1 6320-1...6327-1 6330-1...6337-1 0 0 0 0 0 0 *) Restore factory configuration except bitrate and node ID Operating Parameters Bit Code 15 ... ... ... 4 3 MSB 2 sfc 1 0 cs LSB cs = 0/1 Code sequence CW/CCW sfc = 0/1 Scaling function disabled/enabled Bit rates Index Bit rate 0 1 2 3 4 5 6 1 MBit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s reserved 50 kBit/s MAN-WS-E-11 www.asm-sensor.com ASM GmbH POSIWIRE® ADCANOP CANopen Output Process data CAM function PDO TxPDO-01 TxPDO-02 TxPDO-04 Content Position value (4 Byte) Position value (4 Byte) CAM status (1 Byte) Preselected transmission mode Change of State Mode Sync Mode Asynchronous Hysteresis CAM active Hysteresis inactive Lo-Limit Signal wiring / connection CAN bus wiring Signal name Hi-Limit Connector pin Wire color 1 2 3 4 5 Braid Brown White Blue Black Shield Excitation + GND CAN-H CAN-L View to sensor connector Connect the device by a T-connector to the CAN trunk line. Total length of stubs should be minimized. Do not use single stub lines longer than 0.5 m. Connect terminating resistors 120 Ohm at both ends of the trunk line. Terminating resistor Cable T-piece Device 1 ASM GmbH www.asm-sensor.com Cable T-piece Device 2 Terminating T-piece resistor Device n MAN-WS-E-11 POSIWIRE® PCANOP CANopen Output Description Interface PCANOP Cable extension position sensor with CANopen interface according to CiA 406. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO CAM Transmission rates Bus connection Integrated terminating resistor Bus, galvanic isolated Specifications Excitation voltage Excitation current Resolution Linearity Measuring rate Stability (temperature) Repeatability Operating temperature Protection Dielectric strength EMC Automation CANopen CiA 301 V 4.02, Slave Encoder CiA 406 V 3.2 Layer Setting Service (LSS), CiA Draft Standard 305 (transmission rate, node id) Node Guarding, Heartbeat, Emergency Message Default: 127; programmable via LSS or SDO 3 TxPDO, 0 RxPDO, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 server, 0 client 8 cams 50 kBaud to 1 MBaud, default: 125 kBaud; programmable via LSS or SDO M12 connector, 5 pins RT = 120 Ω, user programmable No 8 ... 36 V DC Typ. 15/30 mA for 24/12 V, max. 100 mA 0.05 mm ±0.05 % f.s. 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +85 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326-1:2006 MAN-WS-E-11 www.asm-sensor.com ASM GmbH POSIWIRE® PCANOP CANopen Output Setup efore connecting to the CAN bus make sure that all nodes have a different B node ID and the same bit rate. If necessary set node ID and bit rate by the Layer-Setting-Service (LSS) as defined in Standard CiA DSP-305. If LSS is not available node ID and bit rate can be changed by writing the new values to objects 2000 and 2010 via Service Data Object (SDO). New node ID and bit rate become effective not before ”SAVE” and resetting the device. After power up the slave will send a boot-up message and will be ready for configuration and start of data exchange. On first power-up the default parameters are effective. Change parameters and operating mode of process data objects after importing the EDS file by the master software. Changed parameters become effective immediately. Parameters will become non-volatile on writing ”SAVE” to object 1010-1. Note: Setting of some parameters may have influence on the function of other parameters, e.g. changing the resolution may also influence the cam function. Warning notice • Changing the parameters can cause a sudden step of the instantaneous value and can result in unexpected machine (re)actions! • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! ASM GmbH www.asm-sensor.com MAN-WS-E-11 POSIWIRE® PCANOP CANopen Output Device profile SAVE LOAD Manufacturer-specific Node ID Bitrate Termination resistor Hysteresis (change of state) User Offset Filter Linear encoder CiA406 Operating Parameters Total Measuring Range Preset Value Position Value Cyclic Timer Measuring Step Profile and SW Version Serial Number Cam function CiA406 Cam state register Cam enable register Cam polarity register Cam 1-8 low limit Cam 1-8 high limit Cam 1-8 hysteresis Index 1010-1 1011-1 Default „save“ „load“ *) Value range MSB...LSB 73h, 61h, 76h, 65h MSB...LSB 6Ch, 6Fh, 61h, 64h 2000 2010 2020 2040 2100 2102 127 4 0 10 0 1 1...127 0...6 (s. table below) 0 (off) / 1 (on) 0 ... 1000 -231 …231-1 1...255 6000 6002 6003 6004 6200 6505 6507 650B 0 0...7 Model specific 0 100 10 µm 6300-1 6301-1 6302-1 6310-1...6317-1 6320-1...6327-1 6330-1...6337-1 10 ... 30000 0 0 0 0 0 0 *) Restore factory configuration except bitrate and node ID Operating Parameters Bit Code 15 ... ... ... 4 3 MSB 2 sfc 1 0 cs LSB cs = 0/1 Code sequence CW/CCW sfc = 0/1 Scaling function disabled/enabled Bit rates Index Bit rate 0 1 2 3 4 5 6 1 MBit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s reserved 50 kBit/s MAN-WS-E-11 www.asm-sensor.com ASM GmbH POSIWIRE® PCANOP CANopen Output Process data CAM function PDO TxPDO-01 TxPDO-02 TxPDO-04 Content Position value (4 Byte) Position value (4 Byte) CAM Status (1 Byte) Preselected transmission mode Change of State Mode Sync Mode Asynchronous Hysteresis CAM active Hysteresis inactive Lo-Limit Signal wiring / connection CAN bus wiring Signal name Hi-Limit Connector pin Wire color 1 2 3 4 5 Braid Brown White Blue Black Shield Excitation + GND CAN-H CAN-L View to sensor connector Connect the device by a T-connector to the CAN trunk line. Total length of stubs should be minimized. Do not use single stub lines longer than 0.5 m. Connect terminating resistors 120 Ohm at both ends of the trunk line. Terminating resistor Cable T-piece Device 1 ASM GmbH www.asm-sensor.com Cable T-piece Device 2 Terminating T-piece resistor Device n MAN-WS-E-11