User Manual

POSI+ CANOPEN USER MANUAL
Page 4 Version 1.02
BEI IDEACOD SAS
Espace Européen de l’Ent reprise
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
CANopen
Transmission Technol ogy : Two-core cable
Baud rates: 10 kBaud up to 1 MBaud
Participants: maximum 127
Cable Length: 30 m for 1 MBaud
1000 m for 20 kBaud
The data communication is done via message telegrams. In general, telegrams can be split in a
COB-Identi fi er and u p to 8 f oll o wing bytes . Th e C OB-I den ti fi er, whic h determines the pri ority of the
message, is made from th e function code and the no de num ber.
The node number is uniquely assigned to each user. The function code varies according to the
type of message transmitted:
- Administrati ve messages (LMT, NMT)
- Service data objects (SDOs)
- Process data Objects (PDOs)
- pre-defined messages (synchronization, emergenc y m essage s)
PDOs (Process Data Objects) are needed for real time data exchange. Since this messages
possess a high pri ority, the function code and therefore the identi fier are low. SDOs (service data
objects) are necessary for the bus node configuration (e.g. transfer of device parameters).
Because these message telegrams are tranferred acyclicly (usually only while powering up the
network), the priority is low.
BEI IDEACOD rotary encoders with CANopen interface support all CANopen functions. The
following operating modes can be programmed:
- Response to a RTR message (Poll ed mode):
The position value is only given upon request
- Cyclic Mode:
The positi on valu e is written cycli c ally (interval adjustable) to the bus
- Sync mode:
After receiving a sync message by the host, the encoder answers with the current
process value. I f a node i s not r equir ed to ans wer after each sync m essage , a param eter
sync counter can be programmed to skip a certain number of sync messages before
answering again
Further functions (direction of rotation, resolution,etc..) can be parameterized. BEI IDEACOD
rotary encoders correspond with the class 2 profile for encoder (
DS 301 V4.0.2, DS 406 V3.1),
whereby the characteristics of rotary encoders with CANopen interface are defined. For
configuration and parameterization various software tools are available from different providers.
With the help of the pr ovi ded EDS fi l e (electroni c data shee t) si mple line-up and pr ogramming are
possible.