User Manual

POSI+ CANOPEN USER MANUAL
Page 2 Version 1.02
BEI IDEACOD SAS
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9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex
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Fax : [phone]
Mail : [e-mail]
Web : www.bei-ideacod.com
CONTENTS
1. Introduction.............................................................................................................................................3
1.1 Absolute rotary encoder......................................................................................................................3
3
1.2 CANopen technology..........................................................................................................................3
1.3 CAN Communication Reference Model............................................................................................5
1.4 Definitions ..............................................................................................................................................6
1.5 Troubleshooting ....................................................................................................................................7
2. Device Configuration .............................................................................................................................8
2.1. CANopen Data Transmission..............................................................................................................8
Data Transmission - COB-ID
2.2. Service data communication ............................................................................................................9
Request for parameter – Parameter to the encoder - Index / Sub-i ndex - SDO examples:
Request of a v al ue by the master from the slave
Writing of a value by th e m aster into the sl ave
2.3 Process data communication........................................................................................................... 11
Synchronous- Cyclical (asynchronous) - Response to an RTR message -Transmi ssion of the current
position
3. Operational mode................................................................................................................................12
Init - Pre-operational mode - Operational mode - Stopped mode - Reset of the absolute rotary
encoder
4.Communication objects 1000h to 1FFFh (DS 301) ..............................................................................14
Object 1010h: Store parameters
Object 1011h: Restore Default parameters
Object 1800h: 1st Transmi t PDO communicati on Parameter
Transmission mode
COB-ID Structure
Inhibi t Time (Sub-index 3)
Event Timer (Sub-i ndex 5 )
Object 1801h: 2nd Transmit PDO communication Parameter
5. Manufacturer-specific Objects 2000h to 5FFFh .................................................................................20
Object 2002h: Speed
Object 2005h: PDO type
Object 2100h: Transmission Rate
Object 2101h: Node Number
6. Encoder-specific objects 6000h to 9FFFh (DS 406)............................................................................22
Object 6000h: Operating Parameters
Object 6001h: Measuring Units per rev olution
Object 6002h: Total measuri ng range in measuring uni ts
Object 6003h: Preset Value
Object 6004h: Position Value
Object 6200h: Cyclic Timer
Object 6500h: Operating Status
Object 6501h: Singleturn Resoluti on (Rotary)
Object 6502h: Number of Distinguishable Revolutions
Object 6503h: Alarms
Object 6504h: Supported Alarms
Object 6505h: Warnings
Object 6506h: Supported Warnings
Object 6507h: Profile and Software Version
Object 650Ah: Module id entification
Object 650Bh: Serial Number
Appendix: Compatibility with with the old encoders SHM5/SHU9/CHU9/MHM5.............................. 31