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POSI+ CANOPEN USER MANUAL

ABSOLUTE ROTARY ENCODER WITH CAN-BUS INTERFACE

POSI+ RANGE
USER MANUAL
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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-index - SDO examples:
Request of a value by the master from the slave
Writing of a value by the master into the slave
2.3 Process data communication ........................................................................................................... 11
Synchronous- Cyclical (asynchronous) - Response to an RTR message -Transmission of the current
position
3. Operational mode................................................................................................................................ 12
Init - Pre-operational mode - Operational mode - Stopped mode - Reset of the absolute rotary
encoder
[Link] objects 1000h to 1FFFh (DS 301) .............................................................................. 14
Object 1010h: Store parameters
Object 1011h: Restore Default parameters
Object 1800h: 1st Transmit PDO communication Parameter
Transmission mode
COB-ID Structure
Inhibit Time (Sub-index 3)
Event Timer (Sub-index 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 revolution
Object 6002h: Total measuring range in measuring units
Object 6003h: Preset Value
Object 6004h: Position Value
Object 6200h: Cyclic Timer
Object 6500h: Operating Status
Object 6501h: Singleturn Resolution (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 identification
Object 650Bh: Serial Number

Appendix: Compatibility with with the old encoders SHM5/SHU9/CHU9/MHM5 .............................. 31

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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.

1.1 Absolute rotary encoder

The basic principle of an absolute rotary encoder is the optical sampling of a transparent code
disc which is fixed with the driving shaft.
The absolute rotary encoder has a maximum resolution of 8192 steps per revolution (13 Bit). The
Multi-Turn version can detect up to 65536 revolutions (16Bit). Therefore the largest resulting
resolution is 29 Bit = 229 = 536.870.912 steps. The standard Single-Turn version has 13 Bit, the
standard Multi-Turn version 29 Bit.

Open functions. The following modes can be programmed and enabled or disabled:
- RTR Message (Polled mode)
- Cyclic Mode
- Sync Mode

The protocol supports the programming of the following additional functions:

- Code sequence (Complement)
- Resolution per revolution
- Total revolutions
- Preset value
- Two limit switches
- Baudrate
- Node number

The general use of absolute rotary encoders with CAN-Bus interface using the CAN Open
protocol is guaranteed.

1.2 CANopen technology

CAN stands for Controller Area Network and was developed by the company Bosch for
applications within the automobile area. In the meantime CAN has become increasingly used for
industrial applications. CAN is a multi-masterable system, i.e. all users can access the bus at any
time as long as it is free. CAN doesn’t operate with addresses but with message identifiers. Access
to the bus is performed according to the CSMA/CA principle (carrier sense multiple access with
collision avoidance), i.e. each user listens if the bus is free, and if so, is allowed to send messages.
If two users attempt to access the bus simultaneously, the one with the highest priority (lowest
identifier) receives the permission to send. Users with lower priority interrupt their data transfer and
will access the bus when it is free again. Messages can be received by every participant.
Controlled by an acceptance filter the participant accepts only messages that are intended for
it.

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CANopen
Transmission Technology: 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-Identifier and up to 8 following bytes. The COB-Identifier, which determines the priority of the
message, is made from the function code and the node number.

The node number is uniquely assigned to each user. The function code varies according to the
type of message transmitted:

- Administrative messages (LMT, NMT)

- Service data objects (SDOs)
- Process data Objects (PDOs)
- pre-defined messages (synchronization, emergency messages)

PDOs (Process Data Objects) are needed for real time data exchange. Since this messages
possess a high priority, the function code and therefore the identifier 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 (Polled mode):

The position value is only given upon request

- Cyclic Mode:
The position value is written cyclically (interval adjustable) to the bus

- Sync mode:
After receiving a sync message by the host, the encoder answers with the current
process value. If a node is not required to answer after each sync message, a parameter
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 provided EDS file (electronic datasheet) simple line-up and programming are
possible.

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1.3 CAN Communication Reference Model

The communication concept can be described similar to the ISO-OSI Reference Model:

Device A Device B Device C Device X

ISO/OSI Layer 7: CAL

NMT DBT LMT CMS

ISO/OSI Layer 2: Data Link Layer

ISO/OSI Layer 1: Physical Layer

CANbus

The communication model* supports synchronous and asynchronous messages. With respect to
the functionality four different message objects are provided:

Administrational Messages (LMT, NMT)

Service Data Messages (SDO)
Process Data Messages (PDO)
Pre-defined Messages (Synchronisation and Emergency Messages)

Further information is available at:

CAN in Automation (CiA) International Users and Manufacturers Group e.V.

Am Weichselgarten 26
D-91058 Erlangen

(*) Reference: CAN Application Layer for Industrial Applications

CiA Draft Standard 201 ... 207, Version 1.1
CAL-based Communication Profile for Industrial Systems
CiA Draft Standard 301

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1.4 Definitions

CAN Controller Area Network

CAL CAN Application Layer
CMS CAN Message Specification.
One of the service elements of the application layer in the CAN Reference Model.
COB Communication Object. (CAN message)
A unit of transportation in a CAN Network.
Data must be sent across a Network inside a COB.
COB-ID COB-Identfier. Identifies a COB uniquely in a Network. The identifier determines the
priority of that COB.
LMT Layer Management. One of the service elements of the application layer in the CAN
Reference Model. It serves to configure parameters of each layer in the CAN
Reference Model.
NMT Network Management. One of the service elements of the application layer in the CAN
Reference Model. It performs initialisation, configuration and error handling in a CAN
network.
SDO Service Data Object. A data object with low priority to configure a CAN node.
PDO Process Data Object. A data object with high priority to transmit data in synchronous and
asynchronous modes.

Additionally, following abbreviations are used in the manual:

APV Absolute Position Value

CW Clockwise. Turning direction as seen on shaft.
CCW Counterclockwise. Turning direction as seen on shaft.
FC Function code. It determines the kind of message, which is sent across the CAN
network.
NN Node number. It determines uniquely the CAN device.
PV Preset value
PCV Process value

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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.

Too much ERROR-Frames

Problem:
The bus load is too high in case of too much error frames.

Possible solution:
Check if all bus node has the same baudrate. If one node has another baudrate error frames
are produced automatically.

Installation hints

Both the cable shielding and the metal housings of encoders and subsequent electronics have a
shielding function. The housing must have the same potential and be connected to the main
signal ground over the machine chassis or by means of a separate potential compensating line.
Potential compensating lines should have a minimum cross section of 6 mm2.

Do not lay signal cable in the direct vicinity of interference sources (air clearance > 100 mm (4
in.).

A minimum spacing of 200 mm (8 in.) to inductors is usually required, for example in switch-mode
power supplies.

Configure the signal lines for minimum length and avoid the use of intermediate terminals.

In metal cable ducts, sufficient decoupling of signal lines from interference signal transmitting
cable can usually be achieved with a grounded partition.

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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.

COB-ID The 11-bit COB-ID is made up as follows:

10 9 8 7 6 5 4 3 2 1 0
Function code Node number
X X X X X X X X X X X X free, to be selected

The COB-ID only determines the message object. It consists of a function code, which identifies
the message class and the node number, which is the absolute encoder address. The node
number is fixed using the CAN interface.
The following function codes are available (rx and tx as viewed by the master):

Function code
Object COB-ID result Hex. Priority class*
(binary)

NMT 0000 0 0

SYNC 0001 128 80 0

Emergency 0010 129-255 81-FF 0,1

PDO (tx) 0011 385-511 181-1FF 1,2

PDO (rx) 0100 513-639 201-27F 2

PDO (tx) 0101 641-767 281-2FF 2,3

PDO (rx) 0110 769-895 301-37F 3,4

SDO (tx) 1011 1409-1535 581-5FF 6

SDO (rx) 1100 1537-1663 601-67F 6,7

* Priority: 0= maximum priority, 7=minimum priority

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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.

COB-ID Command Index Sub Index Service Data (Parameters)

Byte 1 Byte 2 Byte 4 Byte 7

11 bit Byte 0 Byte 3 Byte 5 Byte 6
(LSB) (MSB) (LSB) (MSB)

COB-ID

An SDO-COB ID is composed as follows:

Master -> Encoder : 600h + Node ID
Encoder -> Master : 580h + Node ID

Request for parameter

Command Function Description

40h Master -> Encoder Request for parameter
43h Encoder -> Master Response 4 bytes (unsigned 32)
4Bh Encoder -> Master Response 2 bytes (unsigned 16)
4Fh Encoder -> Master Response 1 byte (unsigned 8)
80h Encoder -> Master Error

Parameter to the encoder

Command Function Description

23h Master -> Encoder Write 4 bytes (unsigned 32)
2Bh Master -> Encoder Write 2 bytes (unsigned 16)
2Fh Master -> Encoder Write 1 byte (unsigned 8)
60h Encoder -> Master Parameter received
80h Encoder -> Master Error

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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
[Link] number of sub-index is specified into subindex 0, it can be from 1 to 254. Each
object is described into a object dictionary.

The organization of a standard object dictionary is shown in the following table:

Index (hex) Object

0000 Not used
0001-001F Static data types
0020-003F Complex data types
0040-005F Manufacturer specific data types
0060-0FFF Reserved
1000-1FFF Communication area (see Communication profile objects 1000h to 1FFFh (DS301)
2000-5FFF Manufacturer specific area (see Manufacturer-specific Zone Objects 2000h to 5FFFh)
6000-9FFF Device profile specific area (see Hardware Profile objects 6000h to 0FFFh (DS406)
A000-FFFF Reserved

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 Command Index Sub Index Service Data (Parameters)

600h+node ID 40h 04h 60h 00h X X X X

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 Command Index Sub Index Service Data (Parameters)

580h+node ID 43h 04h 60h 00h Pos0 Pos1 Pos2 Pos3

Writing of a value by the master into the slave

Position setting can be performed with preset. Object 6003h

COB-ID Command Index Sub Index Service Data (Parameters)

600h+node ID 22h 03h 60h 00h Pre0 Pre1 Pre2 Pre3

Slave’s response to the writing of a value

COB-ID Command Index Sub Index Service Data (Parameters)

580h+node ID 60h 03h 60h 00h 0 0 0 0

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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. Both PDOs supply the current position of the encoder and are defined in the
objects 1800h,1801h, 1A00h, 1A01.

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)
In synchronous operation, the PDO is requested by the master via the Sync telegram (COB-ID =
80h).

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.

Response to an RTR message

by means of the remote frame = recessive RTR bit, precisely the message with the transferred
identifier will be requested

Transmission of the current position

The process value is sent on the CAN network with the following message:

COB-ID Process value

11 bits Byte 0 Byte 1 Byte 2 Byte 3
2 to 2
7 0 2 to 2
15 8 2 to 2
23 16 231 to 224

The COB-ID contains the node number and the corresponding PDO(tx). By default, the sended
process value use the COB-ID 0180h+Node-ID and, in response to the SYNC message, use the
COB-ID 0280h+Node ID.
The PDO COB-ID are defined in the object 1800h/1801h subindex 1.

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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. 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 mode
In the stopped mode, only NMT communication is possible. No SDO parameters can be read or
set.

Reset of the absolute rotary encoder

If a node is not operating correctly, it is advisable to carry out a Reset.

Command Node Number

COB-ID Description
(Byte 0) (Byte 1)
00h 81h 00h NMT Reset Remote Node, all Node

00h 81h 01h..7Fh NMT Reset Remote Node node number

After Reset, the absolute rotary encoder accesses the bus in pre-operational mode.

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Mode: Preoperational
To set a node to pre-operational mode, the master must send the following message:

Command Node Number

COB-ID Description
(Byte 0) (Byte 1)
00h 80h 00h NMT Preoperational, all Node

00h 80h 01h..7Fh NMT Preoperational node number

Mode: Start
For 1 or all the nodes to switch to operational mode, the master sends the following message:

Command Node Number

COB-ID Description
(Byte 0) (Byte 1)
00h 01h 00h NMT Start, all Node

00h 01h 01h..7Fh NMT Start node number

Mode: STOP

For 1 or all the nodes to switch off operational mode, the master sends the following message:

Command Node Number

COB-ID Description
(Byte 0) (Byte 1)
00h 02h 00h NMT Stop, all Node

00h 02h 01h..7Fh NMT Stop node number

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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 : [Link] Standard Encoder, Device Name (1008h) = POSI+

(EDS File : [Link] for the compatibility with old encoder SHM5,SHU9,MHM5
Device Name = POSI+SF, not for new designs, objects description in Appendix)

Format:
U8 : Unsigned 8 bits
U16 : Unsigned 16 bits
U32 : Unsigned 32 bits

Access:
RO : Read Only
RW : Read Write

Object
Name Format Access Default Save Description
SubIndex
multiturn
Encoder type: Bytes 0,1
1000 00020196h
DeviceType U32 RO 0001:Monoturn 0002:Multiturn Profil
0 monoturn
Bytes 2,3: 0196h=406
00010196h
1001 Bit0 = Generic error
ErrorRegister U8 RO 00h
0 Bit4 = Communication error

1003 pre-defined error field Contains the last error

1003 Number of stored messages 0 or 1

Number of actual errors U8 RW 00h
0 Write 0 to reset the counter
Last Error
1003 1000h Generic error
New, actual error U32 RO ########
1 8130h Life Guard error or Heartbeat
error
1005
COB-ID SYNC Message U32 RW 00000080h Yes COB ID of the sync object
0
Name : POSI+ (standard)
1008
DeviceName STR CONST POSI+ Name : POSI+ SF for compatibility
0
with SHM5/MHM5 see Appendix
100C
GuardTime U16 RW 0000h Yes Timer for nodeguarding
0

100D
LifeTimeFactor U8 RW 00h Yes Multiplication of Guard time
0

1010 StoreParameters Save parameters to encoder

1010
LargestSupportedSubindex U8 RO 01h No. of save possibilities 1
0

1010
SaveAllParameters U32 RW 00000001h ="evas " (0x65766173) to save
1

Restore default parameters from

1011 RestoreDefaultParameters
the encoder

1011
LargestSupportedSubindex U8 RO 01h No. of restore possibilities = 1
0

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1011
RestoreAllDefaultParameters U32 RW 00000001h ="daol" (0x64616F6C) to load
1

1014 COB ID of the emergency object

COB-ID EMCY U32 RO 00000081h
0 80h + Node ID

1016 Consumer Heartbeat Time

1016
Number of entries U8 RO 01h
0

1016 Bit0..15 Consumer heartbeat in ms

Consumer Heartbeat Time 1 U32 RW 00000000h Yes
1 Bit16..23 Node-ID

1017
Producer HeartBeat Time U16 RW 0000h Yes Producer heartbeat time in ms
0

1018 Identity Object

1018
LargestSupportedSubindex U8 RO 04h
0

1018
Vendor ID U32 RO 00000184h Vendor no. issued by CiA
1

1018
Product code U32 RO 354D4850h
2

1018
Revision number U32 RO 00010000h Current revision number
3

1018
Serial number U32 RO xxxxxxxxh Unique consecutive serial number
4

1200 Server SDO Parameter 0

1200
Number of entries U8 RO 02h
0

1200
COB-ID Client -> Server U32 RO 00000601h 600h+Node ID
1

1200
COB-ID Server -> Client U32 RO 00000581h 580h+Node ID
2

Transmit PDO1
1800
Communication Parameter

1800
NrOfEntries U8 RO 05h
0

1800
COB-ID U32 RW 00000181h Yes PDO ID = 180h + node ID
1

1800
TransmissionType U8 RW FEh Yes FEh=User defined, cyclical
2
minimum interval for PDO
1800
InhibitTime U16 RW 0000h Yes transmission
3
multiple of 100µs.
1800
Event Timer U16 RW 0000h Yes Cycle time in ms
5

Transmit PDO2
1801
Communication Parameter

1801
NrOfEntries U8 RO 05h
0

1801
COB-ID U32 RW 00000281h Yes PDO ID = 280h + node ID
1

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1801
TransmissionType U8 RW 01h Yes 01h= synchronous operation
2
minimum interval for PDO
1801
InhibitTime U16 RW 0000h Yes transmission
3
multiple of 100µs.
1801
Event Timer U16 RW 0000h Yes Cycle time in ms
5

1A00 Transmit PDO1 Mapping

1A00
NrOfEntries U8 RO 01h
0
mapping for the PDO1 the device is
able to transmit
1A00 b0..b7 : object length
Mapped Object U32 RO 60040020h
1 20h = Unsigned32
b8..b15 : sub-index (00h)
b16..b31 : Index (6004h)

1A01 Transmit PDO2 Mapping

1A01
NrOfEntries U8 RO 01h
0
mapping for the PDO2 the device is
able to transmit
1A01 b0..b7 : object length
Mapped Object U32 RO 60040020h
1 20h = Unsigned32
b8..b15 : sub-index (00h)
b16..b31 : Index (6004h)

Object 1010h: Store parameters

Description This object supports the saving of parameters in non volatile memory.
In order to avoid storage of parameters by mistake, storage is only executed when the specific
signature “save” is written to the Sub-Index

Characteristics The characteristics of this object are outlined in the following table:

Sub-index Desciption Dtat type Default value Access

Number of sub-
0 UNSIGNED8 1 Ro
indexes

1 Store all parameters UNSIGNED32 - rw

Operation To save the parameters, the "save" character string (6576 6173h) must be written
in the corresponding index:
Information on storage functionality is read from a sub-index. The result obtained, 0000 0001h,
indicates that the module saves parameters only when it receives the command to do so.

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Object 1011h: Restore Default parameters

Description This object is used to restore the encoder default parameters.

In order to avoid the restoring of default parameters by mistake, restoring is only executed when
the specific signature “load“ (6461 6F6Ch) is written to the appropriate sub-index.

Characteristics The characteristics of this object are outlined in the following table:

Sub-Index Description Data type Default value Access

Number of sub-
0 Unsigned8 1 Ro
indexes

Restore all default

1 Unsigned32 - rw
parameters

Note: The restoration of parameters will only be taken into account after a power up or NMT Reset.
After the power on or the NMT Reset, the transmission Rate and the node number are the default
values

Operation To restore the parameters, the corresponding index must be written in the "load"
character string (6461 6F6Ch):

Most significant word Least Significant word

ISO 8859 (ASCII)
d a o l
signature
Hex value 64h 61h 6Fh 6Ch

Information on whether it is possible to restore the module's factory parameters is read from a
sub-index. The result obtained, 00000001h, indicates that the factory parameters can only be
restored when the module receives the command to do so.

Object 1800h: 1st Transmit PDO communication Parameter

Description This object contains the Transmit PDO communication parameter.

Characteristics The characteristics of this object are outlined in the following table:

Sub-Index Description Data type Default value Access

Number of sub-
0 Unsigned8 5 ro
indexes
1 COB-ID Unsigned32 180h + Node ID rw

2 Transmission mode Unsigned8 FEh rw

3 Inhibit time Unsigned32 0 rw

4 Not available

5 Event timer Unsigned32 0 rw

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Transmission mode

The PDO transmission mode can be configured as described in the table below.

Tranfer Transmission code

Notes
code Cyclic Acylic Synchronous Asynchronous RTR only
Send PDO on first Sync
0 x x
message following an event
1 to Send PDO every n (n=0…240)
x x
240 Sync messages
241 to
Reserved -
251
Update data immediately
after Remote request and
252 x x
send PDO on next SYNC
message

Update data and send PDO

253 x x
on Remote Request

Send PDO on manufacturer-

254 x
event

255 x Send PDO on encoder -event

COB-ID Structure

The structure of a COB-ID for CAN2.0 is shown in the following table:

Bit No. Value Meaning

0 The PDO object exists
31 (MSB)
1 The PDO object doesn’t exist
0 RTR mechanism authorized
30
1 RTR mechanism unauthorized
29 0 11-bit ID (CAN 2.0A)
28-11 0 If bit 29 = 0
10-0 (LSB) X Bit 10-0 of the identifier

Inhibit Time (Sub-index 3)

For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this 16 bit field. If
data is changed, the PDO sender checks whether an "inhibit time" has expired since the last
transmission. A new PDO transmission can only take place if the "inhibit time" has expired. The
"inhibit time" is useful for asynchronous transmission (transmission mode 254, 255), to avoid
overloads on the CAN bus. The "inhibit time" is a multiple of 100µs of object 1800sub03/1801sub03.

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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.

Object 1801h: 2nd Transmit PDO communication Parameter

Description This object contains the Transmit PDO communication parameter.

Characteristics The characteristics of this object are outlined in the following table:

Sub-Index Description Data type Default value Access

0 Number of sub-indexes UNSIGNED8 5 Ro

1 COD-ID UNSIGNED32 280h+node ID Rw

2 Transmission mode UNSIGNED8 1 Rw

3 Inhibit time UNSIGNED16 0 Rw

4 Not available

5 Event timer UNSIGNED16 0 Rw

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5 Manufacturer-specific objects 2000h to 5FFFh

Object
Name Format Access Default Save Description
SubIndex

Speed of the encoder shaft

2002
Speed I16 RO No Number of physical impulses with a
0
time period of 5 ms
Types for PDO1 and PDO2
Bit 3..0 = PDO1 Bit 7..4=PDO 2
0 (Default):Byte 0 .. Byte3 of PDO =
Yes Value of position
2005 PDO-Type U8 RW 00h
(1.02) 2 (Type 2):Byte 0 .. Byte3 of PDO =
Value of position
Byte 4 .. 5 of PDO = Speed
Byte 6 .. 7 of PDO = 0x00 0x00

After setting the baud rate, the

EEPROM must be saved and
reinitialized
0=10 kBit/s
1=20 kBit/s (default)
2100 2=50 kBit/s
Transmission Rate U8 RW 01h Yes
0 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

2101
Node Number U8 RW 01h Yes setting the baud rate, the EEPROM
0
must be saved and reinitialized.

Object 2002h: Speed

Only for standard encoder with software version >=1.01 : DeviceName (1008h) = « POSI+ » ,
Software Version (6507h) >= 0x0101

CMS Index Default value Value range Data length

SDO 2002h Signed 16

Description To measure the rotational speed of the encoder shaft, the difference between two
physical (unscaled) values of position with a time period of 5 ms is calculated. The difference
between the two values will be read out as a signed 16 bits value (positive value = clockwise
direction of rotation ).
The output of the speed by means of PDO is made possible by setting the desired PDOs to type 2
(see object 2005h).

Object 2005h: PDO Type

Only for standard encoder with software version >=1.01 : DeviceName (1008h) = « POSI+ » ,
Software Version (6507h) >= 0x0101

CMS Index Default value Value range Data length

SDO 2005h 00h Unsigned 8

This object helps to determine the types for PDO1 and PDO2.

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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).
With the software version >=1.02, this value can be stored in the EEPROM.

Data Bit 7 .. 4 = PDO2 Bit 3 .. 0 = PDO1

00h Default Default

02h Default Type2

20h Type2 Default

22h Type2 Type2

Standard: PDO1 and PDO2 set to type Default (00h)

COB-ID Process data (PDO)

11 bit Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Default Value of position

Type 2 Value of position Speed 00h 00h

Object 2100h: Transmission Rate

Only for standard encoder : DeviceName (1008h) = « POSI+ »

Description This object contains the baud rate, see table above for the values.
Default = 20kbit/s

Object 2101h: Node Number

Only for standard encoder : DeviceName (1008h) = « POSI+ »

Description This object contains the Node Number.
Default = 1

Note: After setting the baud rate or the node number, the parameters must be saved in the
EEPROM with “StoreParameters” (Object 1010h) and the new values are set valid after the device
is reset (NMT reset node ) or power cycled.

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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.

Object
Name Format Access Default Save Description
SubIndex
Bit0 = Position increasing
0 CW
6000 1 CCW
Operating Parameters U16 RW 0004h Yes
0 Bit2 = 0 Scaling function
disabled 1 Scaling
function enabled
6001 Resolution in steps /
Measuring Units per Revolution U32 RW 00002000h Yes
0 revolution: 13 bits
Multi: Overall measuring
6002 20000000h range in increments
Total Measuring Range U32 RW Yes
0 Mono: 29Bit = multiturn
00002000h 13Bit = singleturn
6003
Preset Value U32 RW 00000000h Yes Preset in increments
0

6004
Position Value U32 RO 00000ECBh Position value
0

6200 In ms, identical object

Cyclic timer U16 RW 0000h Yes
0 1800h, subindex 5

6300 Cam state register

6300
NrOfAvailableChannel U8 RO 01h only CAM1
0
status bit of the cam in
a cam channel
6300
Cam state channe l 1 U8 RO 00h Bit0 = CAM1
1
0 = CAM Inactive
1 = CAM active

6301 Cam enable

6301
NrOfAvailableChannel U8 RO 01h only CAM1
0
Bit0 = CAM1
0 = cam disable
6301
Cam enable channel 1 U8 RW 00h Yes 1 = cam state
1
calculated by the
device

6302 Cam polarity

6302
NrOfAvailableChannel U8 RO 01h
0
Bit0 = CAM1
0 = cam state not
6302
Cam polarity channel 1 U8 RW 00h Yes inverted
1
1 = cam state not
inverted

6310 Cam1 low limit

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6310
NrOfAvailableChannel U8 RO 01h only CAM1
0
switch point for the
6310
Cam1 low limit channel 1 U32 RW 00000000h Yes lower limit setting for
1
CAM1
6320 Cam1 high limit

6320
NrOfAvailableChannel U8 RO 01h only CAM1
0
switch point for the
6320
Cam1 high limit channel 1 U32 RW 00000000h Yes higher limit setting for
1
CAM1
Bit0 = Position increasing
0 CW
6500 1 CCW
Operating Status U16 RO 0004h
0 Bit2 = 0 Scaling function
disabled 1 Scaling
function enabled
6501 Max. Resolution in steps
Single Turn Resolution U32 RO 00002000h
0 / revolution: 13 bits
Number of
distinguishable
6502 Multi FFFFh
Number of Revolutions U16 RO revolutions
0 Mono 0001h
Multiturn = FFFFh
Monoturn = 1
6503
Alarms U16 RO 0000h Alarms
0

6504
Supported Alarms U16 RO 0000h Supported Alarms
0

6505
Warnings U16 RO 0000h Warnings
0

6506
Supported Warnings U16 RO 0000h Supported Warnings
0
Byte 0,1:Profile version
6507 =3.1 = 0301h
Profile & Software Version U32 RO 01020301h
0 Byte 2,3: Software
version = 1.02 = 0102h
6508
Operating Time U32 RO FFFFFFFFh not used
0

6509 Offset calculated from

Calculated Offset Value INT32 RO
0 preset 6003h

650A Module Identification

650A
NrOfEntries U8 RO 03h
0

650A manufacturer_offset_value Manufacturer offset

U32 RO 00000000h
1 value

650A Manufacturer_Min_Position_Val
U32 RO 00000000h Minimum position value
2 ue
Multi:
650A Manufacturer_Max_Position_Va 1FFFFFFFh
U32 RO Maximum position value
3 lue Mono:
00001FFFh
650B Linked with serial
Serial Number U32 RO
0 number object 1018-4

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Object 6000h: Operating Parameters

Presentation The code sequence (Complement) can be selected as the operating parameter.

CMS Index Default value Value range Data length

SDO 6000h 0h 0h-FFFFh Unsigned 16

Bit Function Bit = 0 Bit = 1

0 Code Sequence CW CCW
1 Commissionning Diagnostic control Not used
2 Scaling function control Disabled Enabled
3 Measuring direction Not used

CODE SEQUENCE: The code sequence defines whether increasing or decreasing position values
are output when the encoder shaft rotates clockwise or counterclockwise as seen on the shaft.
SCALING FUNCTION CONTROL: With the scaling function the encoder numerical value is
converted in software to change the physical resolution of the encoder.
The measuring units per revolution object (6001h) and total measuring range in measuring units
object (6001h) are the scaling parameters. The scaling function bit is set in the operating
parameters. If the scaling function bit is set to zero, the scaling function is disabled.

Object 6001h: Measuring Units per revolution

Presentation The Measuring Units per revolution parameter is used to program the required
number of steps per revolution. Choose a value between 2 and 8192:

CMS Index Default value Value range Data length

SDO 6001h - 0h – 2000h Unsigned 16

Object 6002h: Total measuring range in measuring units

Presentation This parameter is used to program the required number of measuring units from the
global measuring range. This value must not exceed that of the total resolution of the absolute
rotary encoder

CMS Index Default value Value range Data length

SDO 6002h 2000 0000h 2 - 2000 0000h Unsigned 32

Total measuring range (total resolution) = Number of revolutions x ·Measuring Units per resolution

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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.
To avoid execution time errors, the preset value must not exceed the total measuring range (total
resolution) -1 of the parameters.

CMS Index Default value Value range Data length

SDO 6003h - 0 – (total resolution-1) Unsigned 32

Object 6004h: Position Value

Description This object is used to define the position of the encoder.

CMS Index Default value Value range Data length

SDO 6004h - 0 – (total resolution-1) Unsigned 32

Object 6200h: Cyclic Timer

Cyclic mode The absolute rotary encoder transmits the current process value cyclically – without
being polled by the host. The cycle time can be programmed in milliseconds for values between
1 ms and 65535 ms. (For example: 64h = 100 ms).

CMS Index Default value Value Range Data length

SDO 6200h 0h 0h – FFFFh Unsigned 16

This parameter is identical “Event Timer” of the transmit PDO1 Index 1800h, Sub Index 05h.
See description of the object “Transmit PDO1” (1800h) for the use of the cyclic timer.
If the value is 0, the cyclic timer is disabled and the position is never sent.

Note: After setting the encoder parameters, they must be saved in the EEPROM with
“StoreParameters” (Object 1010h). If the encoder parameters are not saved, the configuration will
be lost at the next power up.

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Object 6500h: Operating Status

Description This object contains the operating status of the encoder. It provides information on
the encoder internal parameters.
Values The values of this object are outlined in the following table:

Bit Function Value = 0 Value = 1

0 Code sequence CW CCW

Commissionning
1 Not supported Supported
Diagnostic Control
2 Scaling function control Disabled Enabled

3 Measuring direction Not used

4…11 Reserved
Manufacturer specific
12 Not used
alarm
Manufacturer specific
13 Not used
alarm
Manufacturer specific
14 Not used
alarm
Manufacturer specific
15 Not used
alarm

Sub
CMS Index Default value Value range Data length Access
Index
SDO 6500h 00h - - Unsigned 16 ro

Object 6501h: Singleturn Resolution (Rotary)

Description This object indcates the number of steps per revolution according to the position of
the encoder. The maximum encoder resolution is 8192.

Sub
CMS Index Default value Value range Data length Access
Index
SDO 6501h 00h 2000h - Unsigned 32 ro

Object 6502h: Number of Distinguishable Revolutions

Description This object indicates the number of revolutions that the encoder can execute. The
maximum number of revolutions of the encoder is 65536.

Sub
CMS Index Default value Value range Data length Access
Index
SDO 6502h 00h FFFFh - Unsigned 16 ro

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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. The alarm bit remains enabled until the alarm
is cleared and the encoder is able to provide a correct position value.
Values The values of this object are outlined in the following table:

Bit Function Value = 0 Value = 1

0 Position error No Yes

Commissionning
1 Not supported Supported
diagnostics
2…11 Reserved
Manufacturer specific
12 Disabled Enabled
alarm
Manufacturer specific
13 Disabled Enabled
alarm
Manufacturer specific
14 Disabled Enabled
alarm
Manufacturer specific
15 Disabled Enabled
alarm

Object 6504h: Supported Alarms

Description This object indicates the alarms supported by the encoder.

Values The values of this object are outlined in the following table:

Bit Function Value = 0 Value = 1

0 Position error No Yes

Commissionning
1 No Yes
diagnostics
2…11 Reserved
Manufacturer specific
12 No Yes
alarm
Manufacturer specific
13 No Yes
alarm
Manufacturer specific
14 No Yes
alarm
Manufacturer specific
15 No Yes
alarm

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Object 6505h: Warnings

Description This object indicates if the tolerances of certain encoder internal parameters have
been exceeded
Values The values of this object are outlined in the following table:

Bit Function Value = 0 Value = 1

0 Position error No Yes

1 Ligth control reverse Not reached Error

2 CPU watchdog status OK Reset

Operating time limit
3 No Yes
warning
4 Battery charge OK Too slow

5 Reference point Reached Not reached

6…11 Reserved
Manufacturer specific
12 N/A N/A
warning
Manufacturer specific
13 N/A N/A
warning
Manufacturer specific
14 N/A N/A
warning
Manufacturer specific
15 N/A N/A
warning

Object 6506h: Supported Warnings

Description This object indicates the warnings supported by the encoder.

Values The values of this object are outlined in the following table:

Bit Function Value = 0 Value = 1

0 Frequency exceed Not supported Supported

1 Light control reverse Not supported Supported

2 CPU watchdog status Not supported Supported

Operating time limit
3 Not supported Supported
warning
4 Battery charge Not supported Supported

5 Reference point Not supported Supported

6…11 Reserved Not supported Supported

Manufacturer-specific
12 Not supported Supported
warning
Manufacturer-specific
13 Not supported Supported
warning
Manufacturer-specific
14 Not supported Supported
warning
Manufacturer-specific
15 Not supported Supported
warning

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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. The operating time is recorded in
the EEPROM memory as long as the encoder is powered up.
This function is not available for this encoder. The delivered value is FFFFFFFFh.
Object 6509h: Offset Value
Description This object indicates the offset value. The offset value is calculated by the Preset
value function (see Object 6003h: Preset Value, p. 83). It is then used by the encoder to offset the
position value.
The offset value is recorded and can be read in the encoder.

Object 650Ah: Module identification

Description This object indicates the manufacturer-specific offset value, as well as the minimum
and maximum position values.
The offset value is stored in sub-index 1.
The minimum and maximum position values are stored in sub-indices 2 and 3 respectively.
Characteristics The characteristics of this object are outlined in the following table:

Sub-Index Dscription Data type Default value Access

0 Number of inputs Unsigned 32 ro

Manufacturer
1 Unsigned 32 Oh Ro
offset value
Manufacturer
2 Unsigned 32 Ro
minimum value
Manufacturer
3 maximum position Unsigned 32 ro
value

Object 650Bh: Serial Number

Description This object indicates the encoder serial number.

Linked with serial number object 1018-4.

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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.
The encoder calculates the cam state if the bit0 of the Object “Cam Enable” channel 1 (Index
6301h Sub Index 01h) is set to 1.

Low limit of CAM1 : Object “Cam1_low_limit_channel_1” (Index 6310h Sub Index 01h)
High limit of CAM1 : Object “Cam1_high_limit_channel_1” (Index 6320h Sub Index 01h)
Polarity of CAM1 : bit0 Index 6302h Sub Index 01h
If the polarity bit is set to 1, the cam state of an active cam shall signal by setting the related cam
state bit to zero. In the other case the cam state of the related cam shall not be inverted.

State of CAM1 : Object “Cam_state_channel_1” Index 6300h Sub Index 01h

The status bit set to 1 shall define “cam active“. The status bit set to 0 shall define “cam inactive“.
If the polarity bit of a cam is set (refer to index 6302h Sub Index01h) the actual cam state will be
inverted.

Cam state
register
(6300h -01h)

polarity bit is set to 0 ( 6302h -01 )

Cam state
register
(6300h -01h)

polarity bit is set to 1 ( 6302h -01 )

Nota: The ESD can be downloaded free of charge from our Homepage [Link].

We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject
to change without notice.

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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: [Link]

Device Name (0x1008) = “POSI+ SF” for this version and the following objects are supported
See the SHM5 / MHM5 Manual for the complete description of these objects.

Object Name Format Access Default Save Description

SubIndex
multiturn
00020196h
DeviceType U32 RO
1000 monoturn
0 00010196h

1001 ErrorRegister U8 RO 00h

0
1018 Identity Object

1018 LargestSupportedSubindex U8 RO 04h

0

1018 Vendor ID U32 RO 00000184h

1

1018 Product code U32 RO 354D4850h

2

1018 Revision number U32 RO 00010000h

3

1018 Serial number U32 RO xxxxxxxxh

4
1003 pre-defined error field

1003 Number of actual errors U8 RW 00h

0

1003 New, actual error U32 RO ########

1
1004 Number of PDOs supported

1004 Number of PDOs supported U32 RO 00000002h

0

1004 Number of synchronous PDOs U32 RO 00000001h

1

1004 Number of asynchronous PDOs U32 RO 00000001h

2

1005 COB-ID SYNC Message U32 RW 00000080h Yes

0

1008 DeviceName STR CONST POSI+ SF

0

100C GuardTime U16 RW 0000h Yes

0

100D LifeTimeFactor U8 RW 00h Yes

0

100F number of SDOs supported U32 RO 00000001h

0

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1010 StoreParameters

1010 LargestSupportedSubindex U8 RO 01h

0

1010 SaveAllParameters U32 RW 00000001h

1
1011 RestoreDefaultParameters

1011 LargestSupportedSubindex U8 RO 01h

0

1011 RestoreAllDefaultParameters U32 RW 00000001h

1

1014 COB-ID EMCY U32 RO 00000081h

0
1016 Consumer Heartbeat Time

1016 Number of entries U8 RO 01h

0

1016 Consumer Heartbeat Time 1 U32 RW 00000000h Yes

1

1017 Producer HeartBeat Time U16 RW 0000h Yes

0
1200 Server SDO Parameter 0

1200 Number of entries U8 RO 02h

0

1200 COB-ID Client -> Server U32 RO 00000601h

1

1200 COB-ID Server -> Client U32 RO 00000581h

2
Transmit PDO1 Communication
1800 Parameter

1800 NrOfEntries U8 RO 05h

0

1800 COB-ID U32 RW 00000181h Yes

1

1800 TransmissionType U8 RW FEh Yes

2

1800 InhibitTime U16 RW 0000h Yes

3

1800 Event Timer U16 RW 0000h Yes

5
Transmit PDO2 Communication
1801 Parameter

1801 NrOfEntries U8 RO 05h

0

1801 COB-ID U32 RW 00000281h Yes

1

1801 TransmissionType U8 RW 01h Yes

2

1801 InhibitTime U16 RW 0000h Yes

3

Page 32 Version 1.02

 BEI IDEACOD SAS
Espace Européen de l’Entreprise Tél : +33 (0)3 88 20 80 80
9, rue de Copenhague Fax : +33 (0)3 88 20 87 87
B.P. 70044 Schiltigheim Mail : info@[Link]
F 67013 Strasbourg Cedex Web : [Link]

POSI+ CANOPEN USER MANUAL

1801 Event Timer U16 RW 0000h Yes

5
1A00 Transmit PDO1 Mapping

1A00 NrOfEntries U8 RO 01h

0

1A00 Mapped Object U32 RO 60040020h

1
1A01 Transmit PDO2 Mapping

1A01 NrOfEntries U8 RO 01h

0

1A01 Mapped Object U32 RO 60040020h

1

6000 Operating Parameters U16 RW 0004h Yes

0

6001 Measuring Units per Revolution U32 RW 00002000h Yes

0
Multi:
20000000h
Total Measuring Range U32 RW Yes
6002 Mono:
0 00002000h

6003 Preset Value U32 RW 00000000h Yes

0

6004 Position Value U32 RO 1FFFFDE6h

0

6005 Limit Switch Min U32 RW 00000000h Yes

0

6006 Limit Switch Max U32 RW 00000000h Yes

0

6100 Transmission Rate U16 RW 0002h Yes

0

6101 Node Number U16 RW 0001h Yes

0

6200 Cyclic timer U16 RW 0000h Yes

0

6500 Operating Status U16 RO 0004h

0

6501 Single Turn Resolution U32 RO 00002000h

0
Multi
FFFFh
Number of Revolutions U16 RO
6502 Mono
0 0001h

6503 Alarms U16 RO 0000h

0

6504 Supported Alarms U16 RO 0000h

0

6505 Warnings U16 RO 0000h

0

6506 Supported Warnings U16 RO 0000h

0

Version 1.02 Page 33

 BEI IDEACOD SAS
Espace Européen de l’Entreprise Tél : +33 (0)3 88 20 80 80
9, rue de Copenhague Fax : +33 (0)3 88 20 87 87
B.P. 70044 Schiltigheim Mail : info@[Link]
F 67013 Strasbourg Cedex Web : [Link]

POSI+ CANOPEN USER MANUAL

6507 Profile Version U32 RO 01020301h

0

6508 Operating Time U32 RO FFFFFFFFh

0

6509 Calculated Offset Value INT32 RO 00000000h

0
650A Module Identification

650A Manufacturer Offset Value INT32 RO 00000000h

0

650A Manufacturer Minimum Position

INT32 RO 00000000h
1 Value
Multi:
Manufacturer Maximum Position 1FFFFFFFh
INT32 RO
650A Value Mono:
2 00001FFFh

650B Serial Number U32 RO 12345678h

0

2000 Process Value U32 RO 1FFFFDE6h

0

2100 Operating Parameter U16 RW 0000h Yes

0

2101 Resolution per Revolution U16 RW 2000h Yes

0

2102 Total Resolution U32 RW 20000000h Yes

0

2103 Preset Value U32 RW 00000000h Yes

0

2104 Limit Switch Min U32 RW 00000000h Yes

0

2105 Limit Switch Max U32 RW 00000000h Yes

0

2200 Cyclic Time U16 RW 0000h Yes

0

2300 Save Parameter U32 WO ########

0

3000 C5 Node number U8 RW 01h Yes

0

3001 C5 Baud Rate U8 RW 00h Yes

0

Page 34 Version 1.02