POSIROT ® – PRDS Output CANopen Description Interface CANOP Magnetic angle sensor with CANopen interface according to CiA 406. Communication profile Device profile Configuration services Error Control Node ID PDO PDO Modes SDO CAM Certified Transmission rates Bus connection Integrated bus 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 voa LSS or SDO 3 TxPDO, 0 RxPDO, static mapping Event-/Time triggered, Remote-request, Sync cyclic/acyclic 1 server, 0 client 8 cams Yes 50 kBaud to 1 MBaud, default: 125 kBaud; programmable via LSS or SDO M12 connector, 5 pins No No 11 ... 36 V DC Typ. 15/30 mA for 24/12 V, 100 mA max. 0.05° max. 1° (0.25° as option) 1 kHz (asynchronous) ±50 x 10-6 / °C f.s. 1 LSB -40 ... +105 °C Reverse polarity, short circuit 1 kV (V AC, 50 Hz, 1 min.) EN 61326:2004, table A1 ASM GmbH www.asm-sensor.com MAN-PRDS-E-11 21 POSIROT ® – PRDS Output CANopen Setup Before connecting to the CAN bus make sure that every node has a different node ID and a common 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! 22 • Precautions to prevent danger for man or machine are necessary! • Execute parametrizing at standstill of the machine only! MAN-PRDS-E-11 www.asm-sensor.com ASM GmbH POSIROT ® – PRDS Output CANopen Device profile SAVE LOAD Manufacturer-specific Node ID Bitrate User Offset Filter Angle encoder CiA406 Operating Parameters Measuring Units per Rev. Preset Value Position Value Cyclic Timer Number of revolutions 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 2100 2102 127 4 0 1 1...127 0...7 (s. table below) -231 …231-1 1...255 6000-0 6001-0 6003-0 6004-0 6200-0 6502-0 6507-0 650B-0 0 16383 0 0...7 6300-1 6301-1 6302-1 6310-1...6317-1 6320-1...6327-1 6330-1...6337-1 0 0 0 0 0 0 100 1 Operating Parameters Bit Code 15 ... ... ... 4 3 MSB cs = 0 cs = 1 sfc = 0 sfc = 1 2 sfc 1 0 cs LSB Code sequence CW Code sequence CCW Scaling function disabled Scaling function disabled Bit rates Index Bit rate 0 1 2 3 4 5 6 7 1 MBit/s 800 kBit/s 500 kBit/s 250 kBit/s 125 kBit/s reserved 50 kBit/s 20 kBit/s ASM GmbH www.asm-sensor.com MAN-PRDS-E-11 23 POSIROT ® – PRDS Output CANopen Process data CAM function PDO TxPDO-01 TxPDO-02 TxPDO-04 CAM active inactive Content Position value (4 Byte) Position value (4 Byte) CAM Status (1 Byte) Preselected transmission mode Asynchronous 100 ms Sync Mode Change of State Mode Hysteresis Hysteresis Lo-Limit Signal wiring / connection CAN bus wiring Signal name Hi-Limit Connector pin Wire color 1 2 3 4 5 Braid White Brown Blue Black Shield Excitation + GND CAN-H CAN-L 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 24 View to sensor connector MAN-PRDS-E-11 www.asm-sensor.com Cable T-piece Device 2 Terminating T-piece resistor Device n ASM GmbH