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POSI+ CANOPEN USER MANUAL

BEI IDEACOD SAS

Espace Européen de l’Ent reprise

9, rue de Copenhague

B.P. 70044 Schiltigheim

F 67013 Strasbourg Cedex

Tél : +33 (0)3 88 20 80 80

Fax : +33 (0)3 88 20 87 87

Mail : info@bei-ideacod.com

Web : www.bei-ideacod.com

ABSOLUTE ROTARY ENCODER WITH CAN-BUS INTERFACE

POSI+ RANGE

USER MANUAL

Summary of content (34 pages)

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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex POSI+ CANOPEN USER MANUAL ABSOLUTE ROTARY ENCODER WITH CAN-BUS INTERFACE POSI+ RANGE USER MANUAL Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL CONTENTS 1. Introduction ............................................................................................................................................. 3 1.1 Absolute rotary encoder...........................................................
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 1. Introduction This manual describes the implementing and configuration of an absolute rotary encoder with CANopen interface. The device fullfills the requirements of a CANopen device regarding the device specification DS406 of the CANopen user group.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL CANopen Transmission Technology: Baud rates: Participants: Cable Length: Two-core cable 10 kBaud up to 1 MBaud maximum 127 30 m for 1 MBaud 1000 m for 20 kBaud The data communication is done via message telegrams.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 1.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 1.4 Definitions CAN CAL CMS Controller Area Network CAN Application Layer CAN Message Specification. One of the service elements of the application layer in the CAN Reference Model. COB Communication Object.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 1.5 Troubleshooting Malfunction of the position value during transmission Problem: During the transmission of the position value occasional malfunctions occurs. Possible solution: Check, if the last bus node has switched on the terminal resistor.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 2. Device Configuration 2.1. CANopen Data Transmission Data Transmission Data is transmitted in a CANopen network in the form of messages. These messages basically consist of a COB-ID and 8 data bytes.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 2.2. 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.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Index / Sub-index Data is transmitted solely using objects referenced by index. The objects are simple or composed type. In this case, the index associated to the composed object will be subdivided into several sub-index.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 2.3. Process data communication Process data objects are used for real time data exchange for process data :position. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder supports the PDO1 and the PDO2.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 3. Operational mode Principle The absolute rotary encoder accesses the CAN network less one second after powerup in pre-operational mode. Init Following initalization, the encoder logs on to the CAN bus with a BootUp message.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Mode: Preoperational To set a node to pre-operational mode, the master must send the following message: COB-ID Command (Byte 0) Node Number (Byte 1) Description 00h 80h 00h NMT Preoperational, all Node 00h 80h 01h..
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 4. Communication objects 1000h to 1FFFh (DS 301) Introduction This section lists the objects relating to the communication. Each object, with all its technical characteristics, is described according to the CANopen standard. EDS File : PHM5V102.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 1801 2 TransmissionType U8 RW 01h Yes 01h= synchronous operation 1801 3 InhibitTime U16 RW 0000h Yes minimum interval for PDO transmission multiple of 100µs.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Object 1011h: Restore Default parameters Description This object is used to restore the encoder default parameters.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Transmission mode The PDO transmission mode can be configured as described in the table below.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Event Timer (Sub-index 5) In mode 254/255, if a value > 0 is written in this 16-bit field, the TPDO is always sent after the "event timer" expires. The value written in 1800sub05 and 1801sub05 corresponds to the "event timer" in ms.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL The COB ID and the transfer type for the PDOs is determined in the objects 1800h and1802h. With the software version = 1.01, this value cannot be stored in the EEPROM and has to be transferred again after each activation (Reset or Power-On).
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL 6. Encoder-specific objects 6000h to 9FFFh (DS 406) Introduction This section lists the encoder-specific objects. Each object, with all its technical characteristics, is described according to the CANopen standard.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Object 6000h: Operating Parameters Presentation The code sequence (Complement) can be selected as the operating parameter.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Object 6003h: Preset Value Presentation The preset value is the required position value to be reached at a certain physical location of the axis. The position value is fixed as being the process value required by the presetting of the parameters.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Object 6500h: Operating Status Description This object contains the operating status of the encoder. It provides information on the encoder internal parameters.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Object 6503h: Alarms Description This object contains the various alarm messages. An alarm will be displayed if a malfunction of the encoder cause a position error.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Object 6507h: Profile and Software Version Description This object indicates the encoder hardware profile version and software version. Object 6508h: Operating Time Description This object indicates the encoder operating time.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Encoder Cam1 : Only for standard encoder : DeviceName (1008h) = « POSI+ » Only one CAM is available. Cam1 has parameters for the minimum switch point, the maximum switch point.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.com POSI+ CANOPEN USER MANUAL Appendix Software for the compatibility with with the old encoders SHM5/SHU9/CHU9/MHM5 Do not use this version for the new designs only to replace old encoders. EDS File: PHM5SFV102.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P. 70044 Schiltigheim F 67013 Strasbourg Cedex Tél Fax Mail Web : : : : +33 (0)3 88 20 80 80 +33 (0)3 88 20 87 87 info@bei-ideacod.com www.bei-ideacod.
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BEI IDEACOD SAS Espace Européen de l’Entreprise 9, rue de Copenhague B.P.