Manual Absolute Encoder with CANopen (with bus cover) Firmware version from 1.00 Baumer IVO GmbH & Co. KG Dauchinger Strasse 58-62 DE-78056 Villingen-Schwenningen Phone +49 7720 942-0 Fax +49 7720 942-900 [email protected] www.baumer.com .11.12 · 174.02.022/11 Subject to modification in technic and design. Errors and omissions excepted. Contents Page 1. Introduction 3 1.1. 1.2. 3 4 Scope of delivery Product assignment 2. Safety and operating instructions 5 3. Product families 6 4. CAN bus and CANopen communication 7 4.1. 4.1.1. 4.2. 4.3. 4.3.1. 4.3.2. 4.3.3. 4.3.4. 4.3.5. 4.3.6. 4.3.7. 4.4. 4.4.1. 4.4.2. CAN bus CAN bus characteristics CANopen CANopen communication Communication profile CANopen message structure Service data communication Process data communication Emergency service Network management services Layer Setting Services Encoder profile Overview of encoder objects Detailed object list (DS-301) 7 7 8 9 9 9 10 11 13 14 18 21 21 25 5. Diagnosis and useful information 40 5.1. 5.2. 5.3. 40 40 41 Error diagnosis field bus communication Error diagnosis via field bus Useful information relating to the sensor 6. Applications 42 6.1. 6.2. 6.3. 6.4. 42 43 44 46 Setting and reading objects Configuration Operation Use the encoder via CAN interface 7. Terminal assignment and commissioning 48 7.1. 7.2. 7.2.1. 7.2.2. 7.2.3. 7.2.4. 7.2.5. 7.3. 48 48 48 49 49 49 52 52 Mechanical mounting Electrical connection Setting the user address (Node ID) Setting the baud rate Terminating resistor Bus cover connection Terminal assignment Display elements (status display) Manual_CANopen_BIDE_EN.docx 21.11.12 2/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Disclaimer of liability The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual. Baumer IVO 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. 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 Bus cover CD with describing file and manual (also available as download in the Internet) Manual_CANopen_BIDE_EN.docx 21.11.12 3/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 1.2. Product assignment Shaft encoder Product Product code Device Name Eds file Product family GBAMW 0x0F GBAM GBAMW_H.eds multivoPlus - Singleturn GBMMW 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn GBLMW 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn GCAMW 0x0D GCAM GCAMW_H.eds magtivo® - Singleturn GCMMW 0x0C GCMM GCMMW_H.eds magtivo® - Multiturn GEMMW 0x0A GXMM GXMMW_H.eds multivo® - Multiturn (stainless steel) GXAMW 0x0B GXAM GXAMW_H.eds multivo® - Singleturn GXMMW 0x0A GXMM GXMMW_H.eds multivo® - Multiturn GXLMW 0x0A GXMM GXMMW_H.eds multivo® - Multiturn End shaft encoder Product Product code Device Name Eds file Product family GBAMS 0x0F GBAM GBAMW_H.eds multivoPlus - Singleturn GBMMS 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn GBLMS 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn GCAMS 0x0D GCAM GCAMW_H.eds magtivo® - Singleturn GCMMS 0x0C GCMM GCMMW_H.eds magtivo® - Multiturn GXAMS 0x0B GXAM GXAMW_H.eds multivo® - Singleturn GXMMS 0x0A GXMM GXMMW_H.eds multivo® - Multiturn GXLMS 0x0A GXMM GXMMW_H.eds multivo® - Multiturn Hollow shaft encoder Product Product code Device Name Eds file Product family G0AMH 0x0B GXAM GXAMW_H.eds multivo® - Singleturn G0MMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn G0LMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn G1AMH 0x0B GXAM GXAMW_H.eds multivo® - Singleturn G1MMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn G2AMH 0x0B GXAM GXAMW_H.eds multivo® - Singleturn G2MMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn GBAMH 0x0F GBAM GBAMW_H.eds multivoPlus - Singleturn GBLMH 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn GBMMH 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn GEMMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn (stainless steel) Manual_CANopen_BIDE_EN.docx 21.11.12 4/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 2. Safety and operating instructions Supplementary information This manual is intended as a supplement to already existing documentation (i.e. catalogues, product information and assembly instructions). The manual must be read without fail before initial commissioning of the equipment. Intended purpose of the equipment The encoder 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 encoder may only be used for this purpose. Commissioning The encoder 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 / hollow 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. Electrical commissioning Do not make any electrical changes at the encoder. Do not carry out any wiring work when the encoder is live. Never plug or unplug the electrical connection when the encoder 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. Install the encoder 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. Completely shield the encoder 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. Manual_CANopen_BIDE_EN.docx 21.11.12 5/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 3. Product families The product family architecture is modular. Depending on what is required from the encoder, the basic encoder and bus covers can be combined at will with the selected bus system. The basic encoders differ in terms of accuracy, ambient conditions and the utilized sensing principle. Bus cover The bus cover accommodates the field bus interface and the complete electronics for processing the measured values. EtherNet/IP communication is performed via the specialized EtherNet/IP-ASIC ERTEC200 with integrated high-performance microcontroller ARM9. Magres / magtivo® Utilizes a magnetic sensing principle and endures harsh industrial environments. Procoder / multivo® Utilizes a photoelectric sensing principle and is the recommended product for precise applications. Dignalizer / activo® / multivoPlus® Utilizes a photoelectric sensing principle with integrated analog/digital signal conversion and is the product to choose for ultra-precise sensing applications. The bus covers differ by the respectively integrated bus interface. Available bus interfaces: CANopen, DeviceNet, EtherCAT, Ethernet/IP, Profibus-DP, Profinet, Powerlink, Power over EtherCAT, SAE J1939, SSI. All encoders enable parameterization by bus interface. Functional principle: basic encoder Manual_CANopen_BIDE_EN.docx 21.11.12 bus cover 6/52 complete encoder Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4. CAN bus and CANopen communication 4.1. 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. 4.1.1. 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 -11 below 10 . 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 Manual_CANopen_BIDE_EN.docx 21.11.12 7/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.2. 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). Manual_CANopen_BIDE_EN.docx 21.11.12 8/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.3. CANopen communication 4.3.1. 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 4.3.2. CANopen message structure The first part of a message is the COB ID (Identifier). Structure of the 11-bit COB ID : Function code 4-bit function code Node ID 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 0 80h Peer to peer messages: Function code Emergency 1) PDO1 (tx) 1) PDO2 (tx) 1) SDO (tx) 1) SDO (rx) Heartbeat 1) LSS (tx) 1) LSS (rx) COB ID 80h + Node ID 180h + Node ID 280h + Node ID 580h + Node ID 600h + Node ID 700h + Node ID 7E4h 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 encoder = 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. Manual_CANopen_BIDE_EN.docx 21.11.12 9/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.3.3. 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 : 600h + Node ID Encoder -> 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 22h 23h 2Bh 2Fh Description Download request Download request Download request Download request Data length Max. 4 Byte 4 byte 2 byte 1 byte 60h 40h Download response Upload request - Confirms receipt to master Requests parameter from encoder 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 signals error code to master Transmits parameter to encoder 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 580h + Node ID 8 Byte 1 80h Byte 2 Object L Byte 3 Object H Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 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 Manual_CANopen_BIDE_EN.docx 21.11.12 10/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 0 40h x Data 1 x Data 2 x Data 3 x Data 1 b Data 2 c Data 3 d Data 1 b Data 2 c Data 3 d Data 1 0 Data 2 0 Data 3 0 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 0 43h a 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 0 22h a 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 0 60h 0 4.3.4. 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 supports the PDO1 and the PDO2. Both PDOs supply the current position of the encoder 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 0 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. Manual_CANopen_BIDE_EN.docx 21.11.12 11/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 Manual_CANopen_BIDE_EN.docx 21.11.12 12/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.3.5. 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) Meaning 0000 Error Reset or No Error 1000 Generic Error 5530 EEPROM error (from V1.04) 6010 Software reset (Watchdog) (from V1.04) 7320 Position error (from V1.04) 7510 Internal communication error (from V1.04) 8130 Life Guard error or Heartbeat error (from V1.04) FF00 Battery low (from V1.04) Byte 2: Error-Register Bit Meaning 0 Generic Error 4 Communication error (from V1.04) 7 manufacturer specific (from V1.04) Byte 3..4 Alarms Bit 0 Meaning Position error activ Byte 5..6 Warning Bit Meaning 2 CPU watchdog status 4 Battery charge Wert = 0 Nein Wert = 1 Ja Wert = 0 OK OK Wert = 1 Reset done Battery low Byte 7: not used Manual_CANopen_BIDE_EN.docx 21.11.12 13/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.3.6. 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 COB ID = 0 Byte 1 Command byte Byte 2 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. Hardware Reset Power on oder or hardware reset Init BootUp Message 4/5 4/5 Pre-Operational 3 2 1 3 Stopped/Prepared 4/5 1 Operational Manual_CANopen_BIDE_EN.docx 21.11.12 2 14/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 00 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 0 Command byte 1h Node number 0..127 Stop remote node (2) With the stop command, the encoder is switched to the stopped or prepared mode status. COB ID 0 Command byte 2h Node number 0..127 Enter pre-operational mode (3) Change to the pre-operational mode status. COB ID 0 Command byte 80h Node number 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 0 Command byte 81h Node number 0..127 Reset communication (5): COB ID 0 Command byte 82h Manual_CANopen_BIDE_EN.docx 21.11.12 Node number 0..127 15/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 bus-off) 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). Manual_CANopen_BIDE_EN.docx 21.11.12 16/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Heartbeat protocol The optional heartbeat protocol should substitute the life/node guarding protocol. Heartbeat ist aktiv, wenn im Objekt 2110h Bit 5 auf '0' ist. 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 (see object 2110) Manual_CANopen_BIDE_EN.docx 21.11.12 17/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.3.7. 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 encoders can be connected to the bus system with the same node ID. To allow individual encoders to be addressed, LSS is used. Each encoder is fitted with its own unique serial number and is addressed using this number. In other words, an optional number of encoders 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) Setting the node ID 7E5h 11h Node ID reserved 7E4h 11h ErrCode Spec error Node ID Error code Specific error reserved : The encoder's new node ID : 0=OK; 1=Node ID outside range; 2..254=reserved; 255Specific error : If Error code=255 application-specific error code. Manual_CANopen_BIDE_EN.docx 21.11.12 18/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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; 255Specific 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;255Specific error : If error code=255 Application-specific error code. 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 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 Manual_CANopen_BIDE_EN.docx 21.11.12 19/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 Revision number reserved : 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 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 Manual_CANopen_BIDE_EN.docx 21.11.12 20/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.4. Encoder profile 4.4.1. Overview of encoder 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. 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 1 = is stored in the EEPROM Info Additional info Object Name 1000h Device type Type Attr U32 ro 1001h 1003h 00h 01h U8 ARR U8 U32 .. 08h 1005h 1008h 1009h 100Ah 100Ch 100Dh 1010h 00h 01h 02h 03h Error register Predefined error field Biggest subindex Last entry .. Oldest entry Sync COB ID Device name Hardware version Software version Guard Time Life Time factor Store parameters Biggest subindex Save all parameters Communication parameters Application parameters Manual_CANopen_BIDE_EN.docx 21.11.12 .. U32 U32 U32 U32 U32 U16 U8 ARR U8 U32 U32 U32 ro rw ro Default EE Info 00020196h Multiturn encoder: Byte 0..1: Profile no=196h=406 Byte 2..3: Encoder type =2 (Multiturn, absolute) 00010196h Singleturn encoder: Byte 0..1: Profile no=196h=406 Byte 2..3: Encoder type =1 (Singleturn, absolute) 0h Bit0=Generic Error Contains the last 8 errors or warnings 0h Number of stored messages (0 - 8) Error or warning .. ro rw ro ro ro rw rw .. 80h "GXMM" "GXAM" "GCMM“ "GCAM" "GDMM" "GDAM" “GBMMW” “GBAMW” actual value actual value 0h 0h ro rw rw rw 4h 21/52 1 1 1 1 1000h Generic Error 5530h EEPROM Error 6010h Software Reset (Watchdog) 7320h Positions-Error 7510h Internal communication-Error 8130h Life Guard Error or Heartbeat Error FF00h Battery low .. Error or warning COB ID of the sync object Device name = "GXMM" multivo Multiturn "GXAM" multivo Singleturn "GCMM“ magtivo Multiturn "GCAM“ magtivo Singleturn "GDMM" activo Multiturn "GDAM" activo Singleturn "GBMM" multivoPlus Multiturn "GBAM" multivoPlus Singleturn Hardware version in ASCII Software version in ASCII Node Guarding Timer Multiplicator of Guard Time No. of save possibilities 4 =“save“ (0x73617665) to save =“save“ (0x73617665) to save =“save“ (0x73617665) to save Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 04h 1011h 00h 01h 02h 03h 04h Name Manuf. specific parameters Restore default parameters Biggest subindex All parameters Communication parameters Application parameters Manufacturer specific parameters 1014h Emergency COB ID 1016h Consumer heart beat time 00h Biggest subindex 01h Consumer heartbeat time Type U32 ARR U8 U32 U32 U32 U32 Attr rw ro rw rw rw rw 4h U32 ARR rw 80h +Node ID 1 COB ID of the emergency object U32 ro rw 1h 10000h 1 1017h 1018h 00h 01h 02h U16 U32 U8 U32 U32 rw ro ro ro ro 0h 1 Bit0..15 Consumer Heartbeat time in ms Bit16..23 Node-ID Producer Heartbeat time in ms Producer heartbeat time Identity object Biggest subindex Vendor ID Product code 03h 04h 1029h 00h 01h Revision number Serial number Error behavior Biggest subindex Communication error U32 U32 ARR U8 U8 1800h 00h 01h 02h 05h 1801h 00h 01h 02h 05h 1A00h 00h 01h 1A01h 00h 01h 2100h Transmit PDO1 parameter Biggest subindex COB ID PDO type Event timer Transmit PDO2 parameter Biggest subindex COB ID PDO type Event timer Transmit PDO1 mapping Biggest subindex Content of PDO1 Transmit PDO2 mapping Biggest subindex Content of PDO2 Baud rate REC U8 U32 U8 U16 REC U8 U32 U8 U16 ARR U8 U32 ARR U8 U32 U8 2101h Node ID U8 Manual_CANopen_BIDE_EN.docx 21.11.12 Default EE 4h ECh Info =“save“ (0x73617665) to save No. of reset possibilities = 4 =“load“ (0x6C6F6164) to load =“load“ (0x6C6F6164) to load =“load“ (0x6C6F6164) to load =“load“ (0x6C6F6164) to load 1 1 Vendor no. issued by CiA Product Code: 0Ah = multivo multiturn 0Bh = multivo singleturn 0Ch = magtivo multiturn 0Dh = magtivo singleturn 0Eh = activo/multivoPlus multiturn 0Fh = activo/multivoPlus singleturn Current revision number Unique consecutive serial number (V1.04+) ro ro 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh Actual value xyz 1 ro rw 1h 1h 1 0h = change to Pre-Operational Mode 1h = no Mode-change 2h = change to Stop Mode 3h = reset node ro rw rw rw 5h 180h+id FEh 203h 1 1 1 PDO ID = 180h + node ID FEh=User defined, cyclical Cycle time in ms ro rw rw rw 5h 280h+id 2h 100h 1 1 1 PDO ID = 280h + Node ID 2h= synchronous operation Cycle time in ms ro ro 1h 60040020h ro ro rw 1h 60040020h 2h 1 rw 1h 1 22/52 Read only, although from CiA as read write Read only, although from CiA as read write 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 Node number 1 -127 possible After setting the baud rate, the EEPROM must be saved and reinitialized. Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object Name 2110h Manufactures_Options Type Attr U32 rw 2201h 00h 01h 02h 03h REC U8 U32 U32 U32 ro ro ro ro 3h 0h 0h 0h ARR U8 U16 U16 U16 U16 U16 U16 U16 U16 U8 ro rw rw rw rw rw rw rw rw rw 8h 0h 0h 0h 0h 0h 0h 0h 0h 0h 1 1 1 1 1 1 1 1 1 Repeat counter for PDO1 U8 rw 0h 1 Repeat counter for PDO2 6000h 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 Data7 PDO1 addition / event trigger PDO2 addition (event trigger) Operating parameter U16 rw 4h 1 6001h Resolution U32 rw Bit0=Sense of rotation Bit2=Scaling function Resolution in steps / revolution: 13Bit = multivo 12Bit = magtivo 18bit = activo/multivoPlus Overall measuring range in increments 29Bit = multivo multiturn 13Bit = multivo singleturn 26Bit = magtivo multiturn 12Bit = magtivo singleturn 31Bit = activo/multivoPlus multiturn 18Bit = activo/multivoPlus singleturn Preset in increments Offset Position value including offset in increments In ms, identical object 1800h, subindex 5 Bit0=Sense of rotation Bit2=Scaling function 2300h 00h 01h 02h 03h 04h 05h 06h 07h 08h 2800h 2801h Default 1h EE Info 1 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 2 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 1 1 1 Optional data can be stored in this object 1 2000h 1000h 40000h 6002h 6003h 6004h 6200h 6500h Overall measuring range in increments U32 Preset value in increments Position in increments Cyclic timer for PDO1 Operating status U32 U32 U16 U16 Manual_CANopen_BIDE_EN.docx 21.11.12 No. of subindexes Position control Time since last reset Timer watchdog rw rw ro rw ro 1 20000000h 2000h 4000000h 1000h 80000000h 40000h 0h 203h 4h 23/52 1 1 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 6501h Max. resolution U32 ro 2000h 1000h 40000h 6502h Overall measuring range in increments U32 ro 6503h Alarms U16 ro 20000000h 2000h 4000000h 1000h 80000000h 40000h 0h 6504h Supported alarms U16 ro 1h 6505h Warnings U16 ro 0h 6506h Supported warnings U16 ro 14h 04h 6507h Profile & software version U32 ro 01000201h 6508h 6509h 650Bh Operating time Offset Serial number U32 U32 U32 ro ro ro 0h 0h xyz Manual_CANopen_BIDE_EN.docx 21.11.12 24/52 1 1 Max. resolution in steps / revolution: 13Bit = multivo 12Bit = magtivo 18Bit = activo/multivoPlus (is outside the specification of CiA) Overall measuring range in increments: 29Bit = multivo multiturn 13Bit = multivo singleturn 26Bit = magtivo multiturn 12Bit = magtivo singleturn 31Bit = activo/multivoPlus multiturn 18Bit = activo/multivoPlus singleturn The following alarms are evaluated: Bit0=Position error The following alarms are supported: Bit0=Position error The following warnings are evaluated: Multiturn encoder: Bit2 = CPU watchdog status Bit4 = Battery charge Singleturn encoder: Bit2 = CPU watchdog status The following warnings are supported: Multiturn encoder: Bit2 = CPU watchdog status Bit4 = Battery charge Singleturn encoder: Bit2 = CPU watchdog status Byte 0..1: Profile version =2.01 = 0201h Byte 2..3: Software version = 1.05 = 0105h Time in 1/10 hours since last reset Offset calculated from preset 6003h Linked with serial number object 1018-4 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 4.4.2. Detailed object list (DS-301) Object 1000 Device type Subindex Data type Access Default EEPROM Description Values Object 1001 Error Register Subindex Data type Access Default EEPROM Description Values Object 1003 0 Unsigned 32 Read only Multiturn: 00020196h Singleturn: 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 0 Unsigned 8 Read only 0h No Current error code Bit0 = Generic error Bit4 = Communication error (overrun, …) Bit7 = 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 Data type Access Default EEPROM Description Values Subindex Data type Access Default EEPROM Description Values 0 Unsigned 8 Read write 0 No Read: Number of errors or warnings Write 0: Reset error 0..8 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 Manual_CANopen_BIDE_EN.docx 21.11.12 25/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 1005 COB ID SYNC message Subindex Data type Access Default EEPROM Description Values Object 1008 Manufacturer Device Name Subindex Data type Access Default EEPROM Description Values Object 1009 0 Unsigned 32 Read only It depends on the basic encoder No Device name in ASCII Data 0..3: "GXMM" = 47h 58h 4Dh 4Dh "GXAM" = 47h 58h 41h 4Dh "GCMM" = 47h 43h 4Dh 4Dh "GCAM" = 47h 43h 41h 4Dh "GDMM" = 47h 44h 4Dh 4Dh "GDAM" = 47h 44h 41h 4Dh "GBMM" = 47h 42h 4Dh 4Dh "GBAM" = 47h 42h 41h 4Dh multivo Multiturn multivo Singleturn magtivo Multiturn magtivo Singleturn activo Multiturn activo Singleturn multivoPlus Multiturn multivoPlus Singleturn Manufacturer hardware version Subindex Data type Access Default EEPROM Description Values Object 100A 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 0 Unsigned 32 Read only "1.00" No Hardware version in ASCII Data 0..3 31h 2Eh 30h 30h = "1.00“ Manufacturer software version Subindex Data type Access Default EEPROM Description Values 0 Unsigned 32 Read only "1.00" No Software version in ASCII Data 0..3 31h 2Eh 30h 30h Manual_CANopen_BIDE_EN.docx 21.11.12 = "1.00“ 26/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 100C Guard Time Subindex Data type Access Default EEPROM Description Values Object 100D 0 Unsigned 16 ReadWrite 0h Yes Timer for Nodeguarding in ms 0...65535 Life Time Factor Subindex Data type Access Default EEPROM Description Values 0 Unsigned 8 ReadWrite 0h Yes Life Time Factor x Guard Time = Life time 0...256 Manual_CANopen_BIDE_EN.docx 21.11.12 27/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 8 Command 23h Object L 10h Object H 10h Subindex 01 Data 0 73h 's' Data 1 61h 'a' Data 2 76h 'v' Data 3 65h 'e' Objects stored in the EEPROM: Object 1005h 1008h Subindex Description 0h Sync ID 0h Device name 100Ch 100D 1014h 1016h 1017h 1018h 1018h 0h 0h 0h 1 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 Manual_CANopen_BIDE_EN.docx 21.11.12 28/52 Default Value (after object 1011) 80h "GXMM" multivo Multiturn "GXAM" multivo Singleturn *GCMM" magtivo Multiturn "GCAM" magtivo Singleturn "GDMM" activo Multiturn "GDAM" activo Singleturn "GBMM" multivoPlus Multiturn "GBAM" multivoPlus Singleturn 0h 0h 80h+node ID 10000h 0h (disabled) ECh 0Ah multivo multiturn 0Bh multivo singleturn 0Ch magtivo multiturn 0Dh magtivo singleturn 0Eh activo/multivoPlus multiturn 0Fh activo/multivoPlus singleturn xyz 1 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 multivo 1000h magtivo 40000h activo/multivoPlus Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 Object 1011 20000000h multivo multiturn 2000h multivo singleturn 4000000h magtivo multiturn 1000h magtivo singleturn 80000000h activo/multivoPlus multiturn 40000h activo/multivoPlus singleturn 0h 203h (see Object 1800-5) 0h xyz (see Object 1018-4) 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 Command 23h Object L 11h Object H 10h Data 0 6Ch 'l' Data 1 6Fh 'o' Data 2 61h 'a' Data 3 64h 'd' 0 Unsigned 32 Read write 80h+node ID Yes Defines COB ID of the emergency object 80h + Node ID Consumer heartbeat time Subindex Data type Access Default EEPROM Description Values 0 Unsigned 8 Read only 1 No Biggest supported subindex 1 = Biggest supported subindex Subindex Data type Access Default EEPROM Description Values 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 Subindex 01 COB ID emergency message Subindex Data type Access Default EEPROM Description Values Object 1016 DLC 8 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 Manual_CANopen_BIDE_EN.docx 21.11.12 29/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 1018 Identity Object Subindex Data type Access Default EEPROM Description Values 0 Unsigned 8 Read only 4 No Biggest supported subindex 4 = Biggest supported subindex Subindex Data type Access Default EEPROM Description Values Subindex Data type Access Default 1 Unsigned 32 Read only ECh Yes Vendor ID issued by CiA for Baumer IVO GmbH & Co. KG ECh (in the Internet under www.can-cia.de) 2 Unsigned 32 Read only 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh Yes Product code 0Ah multivo multiturn 0Bh multivo singleturn 0Ch magtivo multiturn 0Dh magtivo singleturn 0Eh activo/multivoPlus multiturn 0Fh activo/multivoPlus singleturn EEPROM Description Values Subindex Data type Access Default EEPROM Description Values 3 Unsigned 32 Read only 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 No Revision number of the sensor Version of the current = xxyy (xx=Version, yy=Sequence number) Data 0 = Sequ. Data 1 = Sequ. Data 2 = Version Data 3 = Version number LOW number HIGH LOW HIGH 00 00 01 00 Data 0,1 = 00h 00h = 0000h = Sequence number Data 2,3 = 01h 00h = 0001h = Version Manual_CANopen_BIDE_EN.docx 21.11.12 30/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Objekt 1029 Error Behavior (V1.04+) SubIndex Data type Access Default EEPROM Description Values 0 Unsigned 8 ReadOnly 1 No Biggest supported subindex 1 = Biggest supported subindex SubIndex Data type Access Default EEPROM Description Values 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 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 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) Subindex Data type Access Default EEPROM Description Values 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. Manual_CANopen_BIDE_EN.docx 21.11.12 31/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 1801 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) 60040020h 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) 60040020h No Describes the content of the PDO2 message 6004h = Position Object 2100 Baud rate Subindex Data type Access Default EEPROM Description Values 0 Unsigned 8 Read write 2 = 50 kBaud 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 Manual_CANopen_BIDE_EN.docx 21.11.12 32/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 2101 Node ID Subindex Data type Access Default EEPROM Description Values Object 2110 Manufacturers Options Subindex Data type Access Default EEPROM Description Values 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 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) 0 Not inverted 1 Inverted Bit2 = scaling function (Object 6000h Bit2) 3 enabled 4 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) 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 Manual_CANopen_BIDE_EN.docx 21.11.12 33/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 Manual_CANopen_BIDE_EN.docx 21.11.12 34/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 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 Resolution Subindex Data type Access Default EEPROM Description Values 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 Object 6001 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 32 Read write 2000h = 8192 = 13Bit multivo 1000h = 4096 = 12Bit magtivo 40000h = 262144 = 18Bit activo/multivoPlus 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 6501) 1..n..8192 multivo 1..n..4096 magtivo 1..n..262144 activo/multivoPlus Manual_CANopen_BIDE_EN.docx 21.11.12 35/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 6002 Overall measurement range Subindex Data type Access Default EEPROM Description Note regarding multiturn encoder operation: n If the number of turns programmed is uneven 2 (1, 2, 4,...65536) the encoder will have to be programmed anew upon having passed the zero point in powerless state. 1..n.. overall measurement range in increments (see object 6502) 1..n..536870912 multivo multiturn 1..n..8192 multivo singleturn 1..n..67105564 magtivo multiturn 1..n..4096 magtivo singleturn 1..n..2147483648 activo/multivoPlus multiturn 1..n..262144 activo/multivoPlus singleturn Values Object 6003 Preset value Subindex Data type Access Default EEPROM Description Values Object 6004 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) Position in increments Subindex Data type Access Default EEPROM Description Values Object 6200 0 Unsigned 32 Read write 20000000h = 536870912 = 29bit multivo multiturn 2000h = 8192 = 13bit multivo singleturn 4000000h = 67108864 = 26bit magtivo multiturn 1000h = 4096 = 12bit magtivo singleturn 80000000h = 2147483648 = 31bit activo/multivoPlus multiturn 40000h = 262144 = 18bit activo/multivoPlus singleturn Yes Overall measurement range freely selectable in increments. Formula: Number of turns = total measuring range Resolution 0 Unsigned 32 Read only 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 0 Unsigned 16 Read write 203h Yes Event timer for process data object (see object 1800-5) 0= Cyclical transmission switched off 1..n..65535 = Repeat time cyclical transmission amounts to n ms. Manual_CANopen_BIDE_EN.docx 21.11.12 36/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 6500 Operating Status Subindex Data type Access Default EEPROM Description Values Object 6501 Max. resolution in increments Subindex Data type Access Default EEPROM Description Values Object 6502 0 Unsigned 32 Read only 2000h = 8192 = 13Bit multivo 1000h = 4096 = 12Bit magtivo 40000h = 262144 = 18Bit activo/multivoPlus No Maximum singleturn resolution in increments 2000h = 8192 = 13Bit multivo 1000h = 4096 = 12Bit magtivo 40000h = 262144 = 18Bit activo/multivoPlus Overall measurement range in increments Subindex Data type Access Default EEPROM Description Values Object 6503 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 0 Unsigned 32 Read only 20000000h = 536870912 = 29Bit multivo multiturn 2000h = 8192 = 13Bit multivo singleturn 4000000h = 67108864 = 26Bit magtivo multiturn 1000h = 4096 = 12Bit magtivo singleturn 80000000h = 2147483648 = 31Bit activo/multivoPlus multiturn 40000h = 262144 = 18Bit activo/multivoPlus singleturn No Maximum measurement range (the data type U32 in this object does not correspond to the CiA profile) 20000000h = 536870912 = 29Bit multivo multiturn 2000h = 8192 = 13Bit multivo singleturn 4000000h = 67108864 = 26Bit magtivo multiturn 1000h = 4096 = 12Bit magtivo singleturn 80000000h = 2147483648 = 31Bit activo/multivoPlus multiturn 40000h = 262144 = 18Bit activo/multivoPlus singleturn Alarms Subindex Data type Access Default EEPROM Description Values 0 Unsigned 16 Read only 0h No Alarm messages as per object 6504h Bit 0 = 1 Position error active Manual_CANopen_BIDE_EN.docx 21.11.12 37/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 6504 Supported alarms Subindex Data type Access Default EEPROM Description Values Object 6505 Warnings Subindex Data type Access Default EEPROM Description Values Object 6506 0 Unsigned 16 Read only 0h No Warnings as per object 6506h Multiturn: Bit 2 = 1 CPU watchdog reset Bit 4 = 1 Battery charge too low Singleturn: Bit 2 = 1 CPU Watchdog reset Supported warnings Subindex Data type Access Default EEPROM Description Values Object 6507 0 Unsigned 16 Read only 1h No Alarm messages supported by object 6503 Bit 0 = Position error 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 Singleturn: Bit 2 = CPU watchdog status Profiles and software versions Subindex Data type Access Default EEPROM Description Values 0 Unsigned 32 Read Only 01000201h No Version of the profile and the current software Version of the current software = xxyy Data0 = Profile Data1 = Profile Data2 = Software version LOW version HIGH version LOW 01 02 00 (xx = Software version, yy = Profile version) Data3 = Software version HIGH 01 Data 0,1 = 01h 02h = 0201h = Profile version Data 2,3 = 00h 01h = 0100h = Software version Manual_CANopen_BIDE_EN.docx 21.11.12 38/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Object 6508 Operating time Subindex Data type Access Default EEPROM Description Values Object 6509 Offset Subindex Data type Access Default EEPROM Description Values Object 650B 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 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 1018-4) Manual_CANopen_BIDE_EN.docx 21.11.12 39/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 5. Diagnosis and useful information 5.1. Error diagnosis field bus communication If the encoder 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 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. 5.2. Error diagnosis via field bus The encoder has at its disposal several objects and messages which transcribe the status or error status of the encoder. 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. Manual_CANopen_BIDE_EN.docx 21.11.12 40/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 : 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 5.3. Useful information relating to the sensor Resetting the node ID 1. The node ID is reset using the Baumer IVO specific object 2101h. 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 IVO specific object 2100h. 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 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. Manual_CANopen_BIDE_EN.docx 21.11.12 41/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 6. Applications 6.1. 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 then transmits the confirmation. Value (ba) is transmitted: COB ID DLC Command Object L Object H Subindex Data 0 600h+node ID 8 00h 23h 3h 2Bh a Data 1 b Data 2 x Data 3 x Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 00h 23h 3h 60h 0 Data 1 0 Data 2 0 Data 3 0 Read object First the master transmits a request for the required object. Then the encoder transmits the requested value. Request from master: COB ID DLC Command Object L Object H Subindex Data 0 600h+node ID 8 04h 60h 0h 40h x Data 1 x Data 2 x Data 3 x Data 1 b Data 2 c Data 3 d Response (dcba) of the encoder to the request: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 04h 60h 0h 43h a Commissioning When the encoder is connected to the bus, it logs on with a BootUp message. The encoder 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. 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 logs on with the new node ID. Manual_CANopen_BIDE_EN.docx 21.11.12 42/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 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 10 kBaud 20 kBaud 50 kBaud 100 kBaud 125 kBaud 250 kBaud 500 kBaud 800 kBaud 1000 kBaud 0 1 2 3 4 5 6 7 8 The baud rate now still has to be saved using object 1010-1. On next initialization, the encoder logs on to the new baud rate. However, before this the baud rate of the master should be changed. 6.2. Configuration Position setting The value is transmitted: COB ID DLC Command Object L Object H Subindex Data 0 600h+node ID 8 03h 60h 0h 23h a Data 1 b Data 2 c Data 3 d Data 1 0 Data 2 0 Data 3 0 Conformation: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 03h 60h 0h 60h 0 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 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 DLC Command Object L 600h+node ID 8 00h 23h Object H Subindex Data 0 Data 1 60h 0h 5h x Data 2 x Data 3 x Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 00h 60h 0h 60h Manual_CANopen_BIDE_EN.docx 21.11.12 43/52 0 Data 1 0 Data 2 0 Data 3 0 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Changing singleturn resolution In object 6001h, the singleturn resolution can be configured. For example 4096 (12bit) steps per revolution (1024 = 400h): COB ID DLC Command Object L Object H Subindex Data 0 600h+node ID 8 01h 60h 0h 23h 00 Data 1 04 Data 2 00 Data 3 00 Data 1 0 Data 2 0 Data 3 0 Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 01h 60h 0h 60h 0 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 12 bit (4096 steps) and the overall resolution at 24 bit (16777216) resulting in 4096 (12bit) revolutions of 4096 (12bit) steps each. Setting the overall resolution to 4194304 (4194304 = 400000h) COB ID DLC Command Object L Object H Subindex Data 0 600h+node ID 8 02h 60h 0h 23h 00 Data 1 00 Data 2 40 Data 3 00 Data 1 0 Data 2 0 Data 3 0 Confirmation: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 02h 60h 0h 60h 0 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 DLC Command Object L Object H Subindex Data 0 600h+node ID 8 10h 10h 01h 23h 73 's’ Data 1 61 'a’ Data 2 76 'v’ Data 3 65 'e’ Data 1 0 Data 2 0 Data 3 0 Conformation: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 10h 10h 01h 60h 0 6.3. 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 is stopped with an NMT stop, the encoder is then in the stopped mode. In this mode, only NMT communication is the possible, i.e. also heartbeat. Manual_CANopen_BIDE_EN.docx 21.11.12 44/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany By means of an NMT reset the encoder is re-initialized and is then once again in the pre-operational mode. Reading the position Request from the master: COB ID DLC Command Object L Object H Subindex Data 0 600h+node ID 8 04h 60h 0 40h 0 Data 1 0 Data 2 0 Data 3 0 Data 1 b Data 2 c Data 3 d Response (dcba) of the encoder to the request: COB ID DLC Command Object L Object H Subindex Data 0 580h+node ID 8 04h 60h 0 43h a 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 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). 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 should transmit a heartbeat (100 = 64h): COB ID DLC Command Object L Object H 600h+node ID 8 17h 10h 2Bh Subindex Data 0 0h 64h Data 1 Subindex Data 0 0h 0 Data 1 0h Confirmation: COB ID DLC Command Object L Object H 580h+node ID 8 17h 10h COB ID 701h 60h 0 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 is in the pre-operational modus (7Fh = 127). Manual_CANopen_BIDE_EN.docx 21.11.12 45/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 6.4. Use the encoder via CAN interface Easy use of the CANopen encoder 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’ Manual_CANopen_BIDE_EN.docx 21.11.12 46/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Trace view of CAN-telegrams to and from encoder (commands see page before) Boot up after Power on SDO request to encoder COB ID = 0x600+Node ID SDO response from encoder COB ID = 0x580+Node ID Encoder in state Operational Run, transmitting cyclic Position-Data COB ID = 0x180 + Node ID Encoder in state Pre-operational Encoder in state Stopped Encoder Reset Boot up Message COB ID = 0x700+Node iD Manual_CANopen_BIDE_EN.docx 21.11.12 47/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7. Terminal assignment and commissioning 7.1. Mechanical mounting Shaft encoder Mount the encoder housing using the fastening holes on the flange side with three screws (square flange with four screws), paying attention to the thread diameter and thread depth. Alternatively, the encoder can be mounted in any angular position using three eccentric fastenings - see accessories. Connect the drive shaft and encoder shaft using a suitable coupling. The ends of the shafts must not be touching. The coupling must be capable of compensating for displacement due to temperature and mechanical backlash. Pay attention to the admissible axial or radial shaft loads. For suitable connecting devices, see under accessories. Tighten the fastening screws. Hollow shaft / end shaft encoder Clamping ring fixture Prior to mounting the encoder open the clamping ring completely. Push encoder onto the drive shaft and tighten the clamping ring firmly. Encoder torque pin Slide encoder onto the drive shaft and insert torque pin into the adjusting element provided by customer. Adjusting element with rubberized spring element Push the encoder on to the drive shaft and insert the parallel pin into the mounted adjusting element (not supplied) (with rubberized spring element) Adjusting bracket Push the encoder over the drive shaft. Insert the adjusting bracket into the rubberized spring element of the encoder and fasten the adjusting bracket on the contact surface (not supplied). Shoulder screw Push the encoder over the drive shaft and insert the shoulder screw (not supplied) in the rubberized spring element of the encoder. Coupling spring Mount the coupling spring with screws onto the fixing holes of the encoder housing. Push the encoder over the drive shaft and fasten the coupling spring on the contact surface. 7.2. Electrical connection Only ever store or transport the bus cover in the ESD bag. 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 7.2.1. Setting the user address (Node ID) 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 01). Example: 23 Manual_CANopen_BIDE_EN.docx 21.11.12 48/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.2.2. 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 DIP 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: 7.2.3. Terminating resistor If the connected encoder 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 DIP switch (default setting OFF). ON = Final user OFF = User X Switch 1: Switch 2: ON = Final user OFF = User X Without function 7.2.4. 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 approx. 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. For standard encoder Manual_CANopen_BIDE_EN.docx 21.11.12 49/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany For G0AMH, G0MMH, GBAMH and GBMMH Bus cable Supply voltage cable 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. Use isolated core end sleeves. Avoid crossing over data lines with the supply voltage line. Bus cover – Shaft/end shaft 1 2 3 Manual_CANopen_BIDE_EN.docx 21.11.12 Cable gland 50/52 M12 connector Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany Bus cover – Hollow shaft G1 and G2 1 2 3 Bus cover – Hollow shaft G0 and GB Manual_CANopen_BIDE_EN.docx 21.11.12 51/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany 7.2.5. Terminal assignment Pin 1 2 3 4 5 Terminal GND UB GND CAN_H CAN_L Explanation Ground connection relating to UB Supply voltage 10...30 VDC Ground connection relating to UB CAN Bus signal (dominant High) CAN Bus signal (dominant Low) M12-connector (male/female) Terminals with the same designation are connected to each other internally and identical in their functions. Maximum load on the internal clamps UB-UB and GND-GND is 1 A each. Carefully plug the bus cover onto the D-SUB plug of the basic encoder, then press only via the sealing rubber, taking care not to tilt it. The bus cover must rest fully against the basic encoder. Tighten both the fastening screws firmly in the same direction. The encoder housing and braided shield of the connecting cable are only ideally connected if the bus cover is resting fully on the basic encoder (positive locking). 7.3. 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 Manual_CANopen_BIDE_EN.docx 21.11.12 Status Supply voltage not connected Pre-operational mode Operational mode Stopped/Prepared mode Warning Error 52/52 Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany