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Absolute Singleturn Encoders - CANopen - MA1020

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Turck Absolute Singleturn Encoders for CANopen Manual
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  Absolute Singleturn Encoders CANOPEN Type RS-52 (shaft)/ RS-53 (Blind hollow shaft) Manual Your Global Automation Partner  2  Turck Inc.   |   3000 Campus Drive, Minneapolis, MN 55441   |    T +1 800 544 7769   |   F +1 763 553 0708   |   www.turck.com Turck Inc. sells its products through Authorized Distributors. These distributors provide ourcustomers with technical support, service and local stock. Turck distributors are locatednationwide – including all major metropolitan marketing areas.For Application Assistance or for the location of your nearest Turck distributor, call:1-800-544-7769Specifications in this manual are subject to change with out notice. Turck also reserves the right to make modifications and makes no guarantee of the accuracy of the information contained herein. Literature and Media questions or concerns?Contact Marketing Turck USA – media@turck.com  3 Contents 1 General...............................................................................................4 CANopen Singleturn Encoder Type RS-52/RS-53 ...............................................................5The CANopen Communication Profile DS 301 V4.02 ...........................................................5Encoder Device Profile DS 406 V3.1 ...........................................................................6Objectives of LSS .............................................................................................6Data Transmission ............................................................................................6Objects and Function Code in the Predefined Connection Set..................................................7Broadcast (Network-Wide) Objects ...........................................................................7Peer-To Peer (Device-To-Device) Objects.......................................................................1-7Restricted, Reserved Objects..................................................................................1-7 2 Transmission of Process Data ..........................................................................2-8 Transmit PDO1 (1800H) Position Asynchronous ................................................................2-8Transmit PDO2 (1801H) Position Synchronous (SYNC-MODE)...................................................2-8Transmit PDO3 (1802H) Velocity Asynchronous ...............................................................2-8 3 Transmission of Service Data...........................................................................3-9 Example: Transmission of Service Data to and from the Encoder................................................3-10LSS Hardware Restrictions (LSS Address) ......................................................................3-10LSS Operating Restrictions....................................................................................3-10LSS Configurations and the Operation Modes .................................................................3-10 4 Power Supply and CAN-BUS Connection................................................................4-11 Power Supply ................................................................................................4-11CAN - M12 Connector ........................................................................................ 4-11Mechanical Characteristics....................................................................................4-11 5 Initial Startup - General Device Setting .................................................................5-11 Baudrate .....................................................................................................5-11Node Number................................................................................................5-12CAN-BUS Termination ........................................................................................5-12Save All Bus Parameter........................................................................................5-12 6 Layer Setting Services (LSS)............................................................................6-137 Default Settings on Delivery...........................................................................7-15 Communication Parameter ...................................................................................7-15Encoder Profile ...............................................................................................7-16 8 Communication Parameter ............................................................................8-17 Definition of the Transmission Type of the PDO................................................................8-19Variable PDO Mapping .......................................................................................8-19Structure of a Mapping Entry .................................................................................8-20 9 Example of a Variable Mapping Table...................................................................9-21 Mapping Object 1A00H.......................................................................................9-21Mapping Table of Object 1A00H ..............................................................................9-21  4  Turck Inc.   |   3000 Campus Drive, Minneapolis, MN 55441   |    T +1 800 544 7769   |   F +1 763 553 0708   |   www.turck.com 10 Application Programming Example ..................................................................10-22 Setting Up Objects ...........................................................................................10-22Total Measuring Range set to 3600 ........................................................................10-22Measuring Units per Revolution – limit to 3600 ............................................................10-22Set Preset Value to 0 ......................................................................................10-23Set the values of Transmit Parameters TPDO1 and TPDO2 ..................................................10-23Producer Heartbeat - set to 500 ms........................................................................10-24Set Work Area low and high limit values ...................................................................10-24Save all modified parameters in the EEPROM Store Parameters 1010h ......................................10-25Object 1010h: Store Parameters ...........................................................................10-25Object 1011h: Load Standard Values.......................................................................10-25Communication Profile – Further Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-26 11 Emergency Objects ..................................................................................11 Error Codes Supported .......................................................................................11 12 Emergency Message .................................................................................12 Example of an Over-Temperature Message ....................................................................11Emergency Protocol..........................................................................................12 13 Heartbeat Protocol...................................................................................1314 CAN open Object Dictionary..........................................................................14 Structure of the Entire Object Dictionary ......................................................................12 15 CANopen Communication Profile DS 301 V4.02........................................................15 Communication Object.......................................................................................15Manufacturer Specific Objects ................................................................................15 16 CANopen Encoder Device Profile DS 406 V3.2 .........................................................16 Device-Specific Objects.......................................................................................16 17 Objects in Detail - Encoder Profile DS 306 V3.2.17-32...................................................32 Object 6000H Operating Parameters ..........................................................................17Object 6001H: Measuring Steps Per Revolutions (Resolution)...................................................12Object 6002H: Total Number of Measuring Steps ..............................................................17Object 6003H: Preset Value ...................................................................................17Object 6004H: Position Value .................................................................................17Object 6030H: Speed Value ...................................................................................17Object 6200H: Cyclic Timer....................................................................................17Object 6500H: Display Operating Status.......................................................................17Object 6503H: Alarms.........................................................................................17Object 6504H: Supported Alarms .............................................................................17Object 6505H: Warnings ......................................................................................17Object 6506H: Supported Warnings...........................................................................17Object 6400H: Working Area State Register....................................................................17Object 6401H: Working Area Low Limit........................................................................17Object 6402H: Working Area High Limit .......................................................................17Object 2101H: Baud Rate .....................................................................................17
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