O s ic o d e r

C AN o p e n M u lti-T u rn Ab s o lu te
E ncoder
U s e r’s M a n u a l
1690023_02A55 01
01/2006
1690023_02A55 01
2
 Table of Contents

S afety Infor m ation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

A bou t th e B ook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Ch ap ter 1 Intr od u c tion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1

P resentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
G eneral P resentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Ch ap ter 2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 7
P resentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Connection B ase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
W iring th e B us and th e P ow er S upply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
W iring th e Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Installation P recautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Ch ap ter 3 Ch ar ac ter istic s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 7

Encoder Ch aracteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Ch ap ter 4 Config u r ation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 9

P resentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4 .1 Config uration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Encoder Config uration/ED S F ile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
CANopen D ata Transm ission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Operational Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4 .2 S oftw are tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
S etting th e Netw ork P aram eters (S y Con) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Integ ration and Use under P L 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Ex am ples of S D O R eq uests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

3
 Chapter 5 CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.1 Communication Objects 1000h to 1FFFh (DS 301). . . . . . . . . . . . . . . . . . . . . . . 54
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Object 1000h: Dev ice Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Object 1001h: Error Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Object 1002h: Manufacturer Status Register. . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Object 1003h: Pre-defined Error Field (PEF). . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Object 1005h: COB-ID SY NC Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Object 1008h: Manufacturer Dev ice Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Objet 1009h: Manufacturer H ardware Dev ice (MH V ) . . . . . . . . . . . . . . . . . . . . . 60
Object 100Ah: Manufacturer Software V ersion (MSV ) . . . . . . . . . . . . . . . . . . . . 61
Object 100Ch: Guard Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Object 100Dh: Life Time Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Object 1010h: Store Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Object 1011h: Restore Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Object 1014h: COB-ID Emergency (EMCY ) message . . . . . . . . . . . . . . . . . . . . 64
Object 1015h: Inhibit Time EMCY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Object 1016h: Consumer H eartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Object 1017h: Producer H eartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Object 1018h: Identity Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Object 1200h: Serv er SDO Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Object 1800h: 1st Transmit PDO Communication Parameter . . . . . . . . . . . . . . . 69
Object 1801h: 2nd Transmit PDO Communication Parameter . . . . . . . . . . . . . . 71
Object 1A00h: 1st Transmit PDO Mapping Parameter . . . . . . . . . . . . . . . . . . . . 73
Object 1A01h: 2nd Transmit PDO Mapping Parameter. . . . . . . . . . . . . . . . . . . . 74
5.2 Manufacturer Specific Objects 2000h to 5FFFh . . . . . . . . . . . . . . . . . . . . . . . . . 75
Object 5FFFh: SED Data Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.3 Encoder Specific Objects 6000h to 9FFFh (DS 406). . . . . . . . . . . . . . . . . . . . . . 76
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Object 6000h: Operating Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Object 6001h: Measuring Units per Rev olution . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Object 6002h: Total Measuring Range in Measuring Units . . . . . . . . . . . . . . . . . 81
Object 6003h: Preset V alue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Object 6004h: Position V alue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Object 6200h: Cyclic Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Object 6500h: Operating Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Object 6501h: Singleturn Resolution (Rotary) . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Object 6502h: Number of Distinguishable Rev olutions . . . . . . . . . . . . . . . . . . . . 90
Object 6503h: Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Object 6504h: Supported Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Object 6505h: Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Object 6506h: Supported Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Object 6507h: Profile and Software V ersion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

4
 Object 6508h: Operating Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Object 6509h: Offset Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Object 650Ah: Module identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Object 650Bh: Serial Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Chapter 6 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Status Indication Provided by the LEDs in the Connection Base . . . . . . . . . . . . 98
FAQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

G lossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 5

5
6
 Safety Information
§

Important Information

NOTICE Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special
messages may appear throughout this documentation or on the equipment to warn
of potential haz ards or to call attention to information that clarifies or simplifies a
procedure.
The addition of this symbol to a Danger or Warning safety label indicates
that an electrical haz ard exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal
injury haz ards. Obey all safety messages that follow this symbol to avoid
possible injury or death.

DANGE R
DANGER indicates an imminently haz ardous situation, which, if not avoided,
w ill result in death, serious injury, or equipment damage.

W AR NING
WARNING indicates a potentially haz ardous situation, which, if not avoided, can
result in death, serious injury, or equipment damage.

CAU TION
CAUTION indicates a potentially haz ardous situation, which, if not avoided, can
result in injury or equipment damage.

1690023_02A55 01 01/2006 7
Safety Information

PLEASE NOTE Electrical equipment should be serviced only by qualified personnel. No responsi-
bility is assumed by Schneider Electric for any consequences arising out of the use
of this material. This document is not intended as an instruction manual for untrained
persons.
© 2005 Schneider Electric. All Rights Reserved.

8 1690023_02A55 01 01/2006
 About the Book

At a Glance

Document Scope This manual explains how to install and configure the absolute rotary encoder with
CANopen interface connected on a bus.

Related
Documents
Title of Documentation Reference Number
Instruction sheet W9 1690020

User Comments We welcome your comments about this document. You can reach us by e-mail at
techpub@ schneider-electric.com

1690023_02A55 01 01/2006 9
About the Book

10 1690023_02A55 01 01/2006
 Introduction

1
Presentation

Ov erv iew The purpose of this section is to provide general information about the encoder
described in this documentation.

What's in this This chapter contains the following topics:

Chapter?
Topic Page
Introduction 12
General Presentation 15

1690023_02A55 01 01/2006 11
Introduction

Introduction

Principle This manual explains how to install and configure the absolute rotary encoder with
CANopen interface. The products are fully compliant with standard DS406 and are
CiA certified.

M ulti-Turn Absolute rotary encoders identify all the points of a movement by means of a single
Absolute Rotary digital signal. Due to their capacity to give a single, exact position value to all linear
Encoders and angular positions, absolute rotary encoders have become one of the most
important links between the mechanical system and the control system.
The basic principle behind a rotary encoder is the optical sampling of a transparent
code disk fixed on the rotating shaft.
Resolution:
Type Value No. of bits
Maximum no. of steps per revolution 8192 13
Maximum no. of detectable revolutions 4096 12
Maximum resolution (no. of steps) 33554432 25

The CANopen bus interface on absolute rotary encoders permits speeds up to 1

Mbaud (30 m cable for a maximum speed of 1Mbaud, 5000 m cable for a maximum
speed of 10 kbaud).
The encoder connection base provides access to three rotary switches for
configuring the address and transmission speed. It also incorporates two LEDs that
provide assistance with diagnostics. The encoder acts as a T-junction with two M12
connectors for the BUS IN and BUS OUT signals.

12 1690023_02A55 01 01/2006
 Introduction

General The CANopen system is used in industrial applications. It is a multiple access

CANopen system (maximum: 127 participants), which means that all devices can access the
Information bus. In simple terms, each user checks whether the bus is free, and if it is the user
can send messages. If two users try to access the bus at the same time, the user
with the higher priority level (lowest ID number) has permission to send its message.
Users with the lowest priority level must cancel their data transfer and wait before
re-trying to send their message.
Data communication is carried out via messages. These messages consist of 1
COB-ID followed by a maximum of 8 bytes of data. The COB-ID, which determines
the priority of the message, consists of a function code and a node number.
The node number corresponds to the network address of the device. It is unique on
a bus. The function code varies according to the type of message being sent:
Management messages (LMT, NMT)
Messaging and service (SDOs)
Data exchange (PDOs)
Predefined messages (synchronization, emergency messages)
The absolute rotary encoders support the following operating modes:
Pooled mode: The position value is only given on request.
Cyclic mode: The position value is sent cyclically (regular, adjustable interval) on
the bus.
SYNC mode: The position value is sent after a synchronization message (SYNC)
is received. The position value is sent every n SYNCs (n ≥ 1).
State change mode: The position value is transferred as soon as it changes.
Other functions (direction of rotation, resolution, etc) can be configured. The
absolute rotary encoder corresponds to the class 2 encoder profile (DS 406 in which
the characteristics of rotary encoders with CANopen interface are defined). The
node number and speed in bauds are determined via rotary switches. The
transmission speed can range from 10 kbauds up to 1 Mbaud. Various software
tools for configuration and parameter-setting are available from different suppliers.
It is easy to align and program the encoders using the EDS (electronic data sheet)
configuration file provided.

Note: As well as the manufacturer-specific functions, this encoder supports Class

2 configurations, in accordance with the Profile for absolute encoders (this profile
is available from CiA).

1690023_02A55 01 01/2006 13
Introduction

More extensive information on the CANopen technology (functionality,

manufacturer, products), encoder standards and profiles are available from the CiA:
CAN In Automation (CiA)
International Users and Manufacturers Group e.V.
Am Weichselgarten 26
D-91058 Erlangen Germany
www.can-cia.org

14 1690023_02A55 01 01/2006
 Introduction

General Presentation

Description The absolute rotary encoder with CANopen interface looks like this:

2
A - +
+ B
-
A BUS
B
BU
S PW
IN
R OUT
P WR

L
H
G
L
H
3
- G
+

Encoder elements:
No. Description
1 Encoder body
2 Connection base
3 Sealing plug

The encoder body connects to the base via a 15-pin SUB-D connector.

1690023_02A55 01 01/2006 15
Introduction

Networking The absolute rotary encoder interface is based on the CANopen standard. The
CANopen master is generally a PLC, to which the encoders are attached via M12
connectors. The power to the encoders is supplied directly via the central PG9 of
each base:
PLC
+
CANopen master

11...30 V 11...30 V 11...30 V

Bus Architecture The maximum number of stations on the bus is 127 with addresses from 1 to 99.
The available speeds are 10 - 20 - 50 - 125 - 250 - 500 - 800 - 1000 kBaud.
The cable length is limited by the transmission speed due to bit-by-bit arbitration:
Speed (kbaud) 1000 8 00 500 250 125 50 20 10
Max. length (m) 20 40 100 250 500 1000 2500 5000

You will often find 40 m given as the maximum length for 1Mbaud in documents
about CANopen. This length is calculated without electrical isolation as used in
Schneider Electric’s CANopen devices. The minimum calculated network length
with electrical isolation is 4 m for 1Mbaud. However, experience has shown that 20
m is the nominal length that could be shortened by connectors or other influences.

16 1690023_02A55 01 01/2006
 Installation

2
Presentation

Overview The absolute encoder is connected to a connection base by means of a 15-pin SUB-
D connector. The base can be removed from the encoder by undoing two screws
located on the side of the base. The bus and the power supply are routed into the
base via M12 connectors and a PG9 cable gland respectively and are connected to
the terminals.

What's in this This chapter contains the following topics:

Chapter?
Topic Page
Connection Base 18
Wiring the Bus and the Power Supply 21
Wiring the Encoder 22
Accessories 23
Installation Precautions 24

1690023_02A55 01 01/2006 17
Installation

Connection Base

Description Unscrew the encoder base to access the encoder settings:

2 3
RT
On

IN OUT
+ -

901 901 901

4

78
78

78
23

23

23
456 456 456

Bd x1
x10
1
5

Male M12 Female M12

connector 6 connector

Elements that can be accessed in the base:

No. Description Application
1 Rotary switches Transmission speed and node number
2 Switch Enables the line terminator
3 15-pin female SUB-D Base/encoder connection
4 Terminals BUS IN, BUS OUT and power supply
5 2 x M12 A-coded connectors Cable/base connection (BUS IN, BUS OUT)
6 PG9 cable glands Cable/base connection (for 24 VDC power supply
cable, ∅ 4...8 mm)

18 1690023_02A55 01 01/2006
 Installation

Transmission The baud rate is set using the rotary switch on the base.
Speed
9 01

78
23
456

Bd
The following baud rates are possible:
Speed (kbaud) Position of encoder rotary switch
10 0
20 1
50 2
125 3
250 4
500 5
800 6
1000 7
Reserved 8
Default (250) 9

Node Address The rotary switches located in the base are used to set the encoder network address
(node number):

901 901
78
78
23

23

456 456

x10 x1

The switch marked (x1) is used to set the units and the switch marked (x10) is used
to set the tens. The possible addresses are between 1 and 99, and any one address
can only be used once in the network. Two LEDs at the rear of the base indicate the
encoder operating mode.

Note: Address 0 is reserved (NMT).

1690023_02A55 01 01/2006 19
Installation

Line Terminator If the encoder is connected at one end of the bus line, the line terminator must be
enabled (set the switch to the "ON" position).
Encoder location on the bus Switch position
Encoder in the middle of the bus R
On

Encoder at the end of the bus R

On

Note: If the terminator is set to "ON", the "BUS OUT" terminals (See Wiring the Bus
a nd the P o w er S up p ly , p . 2 1 ) are disconnected.
The base must be connected to the encoder for the bus to be wired correctly. If the
encoder has to be changed during operation, a separate line terminator must be
used.

20 1690023_02A55 01 01/2006
 Installation

Wiring the Bus and the Power Supply

Description Remove the base to access the encoder wiring:

RT
On

IN OUT
+ -

901 901 901

78
78

78
23

23

23

IN OUT
+ -
456 456 456

Bd x1
x10

BUS IN BUS OUT

4 3 3 4
5 5
1 2 2 1

Description of the terminals:

Terminals Pin Description
- - Supply voltage 0 V
+ + Supply voltage 24 V
BUS IN 1 CAN_SHLD
2 (CAN_V+)
3 CAN_GND
4 CAN_H
5 CAN_L
BUS OUT 1 CAN_SHLD
2 (CAN_V+)
3 CAN_GND
4 CAN_H
5 CAN_L

1690023_02A55 01 01/2006 21
Installation

Wiring the Encoder

Connecting the To supply the encoder via the central PG9, connect the base using the following
Power Supply to procedure:
the Connection
Step Action
Base
1 Remove the screw, the seal gasket and the cable gland collar.
2 Prepare the cable as shown in the diagram below.
3 Place the screw and the seal gasket on the cable.
4 Fit the collar under the shielding.
5 Insert the cable assembly in the cable gland and tighten the screw.

Wiring diagram:

55 mm (2.16 inch)

50 mm (1.96 inch)

5 mm (0.19 inch) 5 mm (0.19 inch)

Connecting the To connect the encoder to the bus, simply connect the network cable to the female
base to the bus M12 connector (see Connection Base, p. 18).

Note: Shielded cables should be used for data transmission to avoid problems with
electromagnetic interference. The shielding must be connected to ground at both
ends of the cable.

Note: The encoder must be connected to the bus before being powered on.

22 1690023_02A55 01 01/2006
 Installation

Accessories

List of The list of available accessories is as follows:

accessories
Description Type
Bushing * 15 mm to 14 mm (0.59 in to 0.55 in) X CC R358RDL14
Bushing * 15 mm to 12 mm (0.59 in to 0.47 in) X CC R358RDL12
Bushing * 15 mm to 10 mm (0.59 in to 0.39 in) X CC R358RDL10
Bushing * 15 mm to 8 mm (0.59 in to 0.31 in) X CC R358RDL08
Bushing * 15 mm to 6 mm (0.59 in to 0.24 in) X CC R358RDL06

* Only for hollow shafts

Assembly Encoder with output shaft:

instructions Connect the encoder shaft to the revolving shaft using an X CC RA coupling.
Encoder with hollow shaft:
Position the encoder, fix it on the revolving shaft using the loop clamp, with or
without the bushing. Then attach the flexible kit to a fixed support.
Do not tighten the fixing ring if the driving shaft and the bushing are missing from the
encoder.

1690023_02A55 01 01/2006 23
Installation

Installation Precautions

Precautions The following points must be adhered to:

Do not drop the encoder and do not expose it to excessive vibration. The encoder
is a precision device.
Do not open the encoder casing (this does not mean that the connection base
cannot be removed).
The encoder shaft must be connected to the shaft to be measured by means of
an appropriate coupling. This coupling is used to dampen vibrations and
compensate for any imbalance at the encoder shaft, and also to prevent any
significant unauthorized force. Telemecanique offers appropriate couplings.
Telemecanique absolute encoders are robust, but when used in difficult
environmental conditions they must still be protected appropriately. The encoder
must not be used as a handle or a step.
Only qualified personnel can commission and operate these encoders. Such
personnel are authorized to commission, connect to ground and identify the
devices, systems and circuits in accordance with current safety standards.
No electrical modifications should be made to the encoder.
Route the connection cable from the bus to the encoder, ensuring it is a sufficient
distance or completely separate from the power supply cables and associated
electromagnetic interference. Use fully shielded cables to obtain reliable data
transfer and ensure correct grounding.
In environments subject to interference, it is advisable to connect the encoder to
ground.

WARNING
INCORRECT H ANDLING
Only perform connection/disconnection operations when the devices are not
supplied with power.
Short-circuits, voltage peaks, etc. can be harmful to device operation and can
generate uncontrolled states.
F ailure to follow this instruction can result in death, serious injury, or
eq uipment damage.

24 1690023_02A55 01 01/2006
 Installation

WARNING
INCORRECT INSTALLATION
Before powering up the system, check all the electrical connections.
Incorrect connections can prevent the system from operating properly.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.

1690023_02A55 01 01/2006 25
Installation

26 1690023_02A55 01 01/2006
 Characteristics

3
Encoder Characteristics

Mechanical The mechanical characteristics are as follows:

characteristics
Shaft type ∅ 10 h8 (0.39 in h8)
∅ 15 F7 (0.5 9 in F 7 )
Maximum rotation speed 6000 rpm
Moment of inertia 30 g.cm2
Torque 0.3 N.cm
Maximum load Radial 10 daN

Electrical The electrical characteristics are as follows:

characteristics
Supply voltage 11...30 V. Max. ripple: 500 mV
No-load current consumption 100 mA
Output level 5 V max. for a max. current of 40 mA
Clock input 7 mA current loop for 5 V voltage

1690023_02A55 01 01/2006 27
Characteristics

Environmental The environmental characteristics are as follows:

characteristics
Conformity CE
Ambient air Operation -40...+85° C (-40...+185°F)
temperature Storage -40...+85° C (-40...+185°F)
Degree of protection IP 64
V ibration resistance 100 g (f= 10...500 Hz), acc. to IEC 60068-2-6
Shock resistance 100 g (6 ms, 1/2 sine wave) acc. to IEC 60068-2-27
10 g (16 ms, 1/2 sine wave) acc. to IEC 60068-2-29
Withstand to electromagnetic Electrostatic discharges, acc. to IEC 61000-4-2: level 2, >
disturbance 4 kV.
Radiated electromagnetic fields (electromagnetic waves),
acc. to IEC 61000-4-3: level 3, 10 V/m.
Rapid transients (Start/Stop interference), acc. to IEC
61000-4-4: level 3, 2 kV (1 kV for the I/O).
Voltage wave impulse, acc. to 61000-4-5: level 1: 500 V.
Materials Base Aluminum
Cover Aluminum
Shaft Stainless steel
Bearings Steel balls 6000Z Z 1 (solid shaft) - 6803Z Z (hollow shaft)

28 1690023_02A55 01 01/2006
 Configuration

4
Presentation

Overview The purpose of this chapter is to describe the configuration parameters of the
absolute encoder with a CANopen interface.

What's in this This chapter contains the following sections:

Chapter?
Section Topic Page
4.1 Configuration 30
4.2 Software tools 37

1690023_02A55 01 01/2006 29
Configuration

4.1 Configuration

Introduction

Presentation This subsection describes how to configure a CANopen absolute encoder.

What's in this This section contains the following topics:

Section?
Topic Page
Encoder Configuration/EDS File 31
CANopen Data Transmission 32
Operational Mode 35

30 1690023_02A55 01 01/2006
 Configuration

Encoder Configuration/EDS File

General The absolute encoder with CANopen interface can be configured to suit the user’s
requirements. The EDS file corresponding to the encoder must be loaded in the
software tool used for the configuration of the CANopen network. The user can then
access the parameters and functions of the encoder.

Configuration Download the EDS file and its 3 associated image files from the
principle "www.telemecanique.com" site:
TEX CC35CB_ 0100E.EDS
TEX CC35CB_ 0100E_ R.dib
TEX CC35CB_ 0100E_ S.dib
TEX CC35CB_ 0100E_ D.dib
The system is configured as shown in the diagram below:
EDS file

Software tool Database

PLC Encoder

-+B A- +
BUSAPWROUST PW
BU R LH
BIN LHG
+- G

Parameter settings

1690023_02A55 01 01/2006 31
Configuration

CANopen Data Transmission

Data Data is transmitted in a CANopen network in the form of messages. These

Transmission messages consist of a COB-ID and 8 bytes of data, as shown in the following table:
COB-ID Command Index Sub-index Service data/Process data
11 Bits Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Low High LSB -> -> MSB

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 choice

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 address of
the absolute encoder. The node number is set using the two rotary switches located
on the base (Node Address, p. 19).
The following function codes are available (rx and tx as viewed by the master):
Object Function COB-ID result Hex. Priority class*
code (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

32 1690023_02A55 01 01/2006
 Configuration

Command Byte The Command byte determines the type of message sent via the CAN network. A
byte includes three types of message:
Parameter settings: These are used to send parameter data to the encoder
(node) for its configuration.
Requests: These are used by the master to read the parameters recorded in a
node.
Warnings: These are sent to the master by the rotary encoder if a message that
has been sent cannot be processed correctly.
The description of the commands is as follows:
Command Function Message Description
22h Master -> Encoder Request Parameter to the encoder
60h Master -> Encoder Confirmation Parameter received
40h Encoder -> Master Request Request for parameter
43h, 4Bh, 4Fh (*) Encoder -> Master Response Parameter to the master
80H Warning Response Transmission error

(*) The value of this Command byte depends on the data length of the required
parameter:
Command Data length Data length
43h 4 bytes Unsigned 32
4Bh 2 bytes Unsigned 16
4Fh 1 byte Unsigned 8

1690023_02A55 01 01/2006 33
Configuration

Index/Sub-Index Data is transmitted solely using objects referenced by an index. The objects are
simple or compound type. In this case, the index associated with the object will have
several sub-indexes. The number of sub-indexes is specified in sub-index 0, and
can be from 1 to 254. Each object is described in a structure called the 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 Objects 1000h to 1FFFh (DS 301),
p. 54)
2000-5FFF Manufacturer specific area (see M anufacturer Specific Objects 2000h to
5FFFh, p. 75)
6000-9FFF Device profile specific area (see E ncoder Specific Objects 6 000h to 9FFFh
(DS 406 ), p. 76 )
A000-FFFF Reserved

34 1690023_02A55 01 01/2006
 Configuration

Operational Mode

Principle The absolute rotary encoder accesses the CAN network four seconds after power-
up in pre-operational mode:
FC NN Command S/P data Description
1110 XXXXXXX Bootup message

It is recommended that the parameters are entered when the encoder is in pre-
operational mode. Pre-operational mode entails reduced activity on the network,
which simplifies the checking of the accuracy of the sent/received SDOs. It is not
possible to send or receive PDOs in pre-operational mode.

Reinitializ ation If a node is not operating correctly, it is advisable to carry out a reinitialization.
of the Absolute
FC NN Command S/P data Description
Rotary Encoder
0000 b NN d 81 h NMT-Reinitialization, NN
0000 b 0d 82 h NMT-Reinitialization, all nodes

NN: node number

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

Mode: Pre- To set a node to pre-operational mode, the master must send the following
operational message:
FC NN Command S/P data Description
0000 b NN d 80 h NMT-Pre-operational, NN

NN: node number

Mode: Start For 1 or all the nodes to switch to operational mode, the master sends the following
message:
FC NN Command S/P data Description
0000 b 0d 01 h NMT-start, all nodes.
0000 b NN d 01 h NMT-start, NN

NN: node number

It is possible to set all nodes (Index 0) or a single node (Index NN) to operational
mode.

1690023_02A55 01 01/2006 35
Configuration

Mode: STOP For 1 or all the nodes to exit operational mode, the master sends the following
message:
FC NN Command S/P data Description
0000 b 0d 02 h NMT-start, all nodes.
0000 b NN d 02 h NMT-start, NN

NN: node number

Transmission of The process value is sent on the CAN network with the following message:
the Current
COB-ID Process value
Position
11 Bits Byte 0 Byte 1 Byte 2 Byte 3

27 to 20 215 to 28 223 to 216 231 to 224

The COB-ID contains the node number and the corresponding PDO(tx). By default,
the process value that is sent uses function code PDO(tx)0011 and, in response to
the SYNC message, uses function code PDO(tx)0101.

36 1690023_02A55 01 01/2006
 Configuration

4.2 Software tools

Introduction

Presentation The encoders described in this document are CANopen certified with the DS 406
V3.1 profile. They are compatible with other CANopen certified products.
The encoders described in this chapter are configured using the following software:
Setting the network parameters SyCon configuration tool version ≥ 2.9
PLC programming PL7 Pro software workshop version ≥ 4.4

Please refer to the software documentation for the minimum PC configuration used.

What's in this This section contains the following topics:

Section?
Topic Page
Setting the Network Parameters (SyCon) 38
Integration and Use under PL7 45
Examples of SDO Requests 50

1690023_02A55 01 01/2006 37
Configuration

Setting the Network Parameters (SyCon)

Description of The configuration tool (SyCon) is used to draw a diagram of a network using a
SyCon graphic representation of the nodes on the network. SyCon is then used to generate
the complete configuration of the network that has been drawn.
It provides access to the various configuration parameters and the communication
parameters.

Method Within the PL7 programming software, launch the SyCon network tool and follow the
steps below:
Steps Actions
1 Open a CANopen type file.
2 Click on "File" and select "Copy EDS".
SyCon

File Edit View Insert Online Settings

New ? Ctrl+N
Open... Ctrl+O
Close
Save Ctrl+S
Save As…

Export
Copy EDS

Print... Ctrl+P
Print Preview
Print Setup...

1 D:\document\...\ftm_v0_04.co
2 D:\document\...\ana.co
3 D:\document\...\ana\4-20.co
4 D:\document\...\500k.pb

Exit

38 1690023_02A55 01 01/2006
 Configuration

Steps Actions
3 Select the file to be imported and click on "Open" :
SyCon
File Edit View Insert Online Settings Window Help

Copy EDS ?
Look in: can config
TEXCC35CB_0100E.EDS

File name: “TEXCC35CB_0100E.EDS” Open

File type: EDS Files (*.eds) Cancel

4 Click on "Yes" to import the 3 associated image files.

Q uestion

Do you want to import the corresponding bitmap files?

Yes No

5 If the image files are in the same directory as the EDS file, they are found
automatically:

Note

Imported files:

EDS files 1
Bitmap files 3

OK

Click "OK ".

1690023_02A55 01 01/2006 39
Configuration

Steps Actions
6 Click on "Insert" and select "Node" or click on the associated button.
SyCon

File Edit Insert Online Settings Window

? Master...
Node...

7 Select the devices to be inserted in the network, enter the node address given
by the rotary switches (see Node Address, p. 19) and the node description, and
click OK :
SyCon
File Edit View Insert Online Settings Window Help

Insert Node
CI
F-
-
CANopen Node filter
OK
Vendor Telemecanique
Profile 406 Cancel

Available devices Selected devices

Osicoder Osicoder
Add >>

Add All >>

< < Remove

< < Remove All

Vendor name Telemecanique Node ID (address) 2

Product number 90157 Description Node2
Product version No entry
Product revision No entry
File name TEXCC35CB_0100E.EDS
EDS Revision 2

40 1690023_02A55 01 01/2006
 Configuration

Setting the PDO Follow the steps below:

Parameters
Step Action
1 Double-click on the image of the encoder to be configured.
The configuration window appears.
2 Select a configured PDO and click on "PDO characteristics" :
SyCon
File Edit View Insert Online Settings Window Help

?
Node Configuration

CANopen
CIF
-- Node Master
Osicoder Node ID (address) 2 OK
Description Node
Node2 ID 63 Configuration Error Cancel
Master TSX CPP 100 Control Protocol Node BootUp
File name TEXCC35CB_0100E.EDS
Activate node in actual configuration Emergency COB-ID 130 OPC Objects
Nodeguard COB- 1794 Object
Configuration
Device Profile 406 Device type Absolute multi-turn angular encoder

Predefined Process Data Objects (PDOs) from EDS file Actual node
Obj.Idx. PDO name Enable 1 / Osicoder
1800 TxPDO1 Communication parameter
1801 TxPDO2 Communication parameter PDO mapping method
DS301 V4

Add to configured PDOs

Configured PDOs
PDO name COB-ID I Type I len. O len.
TxPDO1 PDO_1800 385 IB 0 4
PDO Characteristics...
TxPDO2 PDO_1801 641 IB 0 4

Delete configured PDO

Symbolic Names

Press F1 for Help CANopen Configuration

1690023_02A55 01 01/2006 41
Configuration

Step Action
3 Select the required transmission mode and click OK:
Node Receive PDO Characteristics, Master Output Process Data

Transmission Mode
OK
Node shall use a synchronization message as trigger to send the transmit PDO cyclically.
Node has to send the transmit PDO every 10 received synchronization message.
Node shall use a synchronization message as trigger to send the transmit PDO when
previously remote requested by the master.
Node shall send the transmit PDO when remote requested
Transmission event of transmit PDO full node manufacturer specific.
Transmission event of transmit PDO defined in the device profile of the node.

Resulting CANopen specific transmission type 254

Communication Timer Node

Event timer 10 ms

Inhibit time 10 ms

Master Remote Request Condition CANopen

Every 0 . Master cycle interval (Request slow down).

4 If you want to define the addresses of the activated PDOs manually:

Select the master
Click on "Settings" and select "Global settings"
Deselect "Enabled" in the "Process Data Auto Addressing" area
Click OK.
Illustration
Settings

Process Data Auto Addressing

OK
Enabled
Cancel

COB-ID Allocation during PDO insertion

Automatic Allocation in accordance with Profile 401

Manual Allocation in range 0-2047

Otherwise, go directly to step 6.

42 1690023_02A55 01 01/2006
 Configuration

Step Action
5 Enter the required values in the "I Addr" boxes opposite the activated PDO.
Node Configuration

Node Osicoder Node ID (address) 2 OK

Description Node2 Cancel

Configuration Error
Control Protocol Node BootUp
File name TEXCC35CB_0100E.EDS

Activate node in actual configuration Emergency COB-ID 130 OPC Objects

Automatic COB-ID allocation in accordance with Profile 301Nodeguard COB-ID 1794 Object
Configuration
Device Profile 406 Device type Absolute multi-turn angular encoder

Predefined Process Data Objects (PDOs) from EDS file Actual node
Obj.Idx. PDO name Enable 1 / Osicoder
1800 TxPDO1 Communication parameter
1801 TxPDO2 Communication parameter PDO mapping method
DS301 V4

Add to configured PDOs

Configured PDOs
PDO name Symbolic Name COB-ID I Type I len. O Type O len. PDO Contents Mapping...
TxPDO1 PDO_1800 385 IB 0 4
TxPDO2 PDO_1801 641 IB 2 4 PDO Characteristics...

Delete configured PDO

Symbolic Names

1690023_02A55 01 01/2006 43
Configuration

Step Action
6 Click on "Object Configuration":
Node Configuration

Node Osicoder Node ID (address) 2 OK

Description Node2 Configuration Error Cancel

Control Protocol Node BootUp
File name TEXCC35CB_0100E.EDS
Activate node in actual configuration Emergency COB-ID 130 OPC Objects
Nodeguard COB-ID 1794 Object
Configuration
Device Profile 401 Device type Absolute multi-turn angular encoder
Object Configuration

Predefined Process Data Objects

Node (PDOs)Osicoder
from EDS file Actual node
Addr. Node 2 OK
Obj.Idx. PDO name
1800
Description Node2 3 / FTM Cancel
TxPDO1 Communication parameter
1801 TxPDO2 Communication supported Objects in the EDS file PDO mapping
parameter
Predefined Access Filter
Obj.Idx. Sub.Idx. Settings DS301 V4Access
Default value All
1000 0 DeviceType 20196
1001 0 ErrorRegister (no default value) Decimal
1002 0 Manufacturer Status Register Add to
(no default value)
Configured PDOs 1003 pre-defined error field
0 Number of actual errors 0
PDO name CO 0 I
Symbolic Name
1005 ICOB-IDI SYNCO O O 80 PDO Contents Add to Configured Objects
TxPDO1 PDO_1800 515 QB 0 0
TxPDO2 PDO_1801 771 PDO
387
Configured Objects automatically written while NodeDefine new
startup sequence
Obj.Idx. Sub.Idx. Settings CurrentDefine
Value new
1800 1 COB-ID 182 X
1800 2 Transmission type FE Delete
X
1800 3 Inhibit Time 0 X
1800 5 Event timer 0
Symbolic
X
1801 1 COB-ID 282 X
1801 2 Transmission type 1 X Delete Configured Object

This window is used to configure the default values of the configured objects that
will be sent to the encoder the next time the node is powered up.
For further information on the various objects seeCANopen Object Dictionary,
p. 53
7 Select the objects to be sent to the device, click on "Add to Configured Objects"
then click OK.
8 Select File/Save: A *.CO configuration file is created, which contains the complete
network architecture and the initial configuration of each node. This file is used by
PLC programming software (eg: PL7, etc).

44 1690023_02A55 01 01/2006
 Configuration

Integration and Use under PL7

Configuration Follow the steps below:

Steps Actions
1 In the master configuration window, select the network configuration file
generated with SyCon:
TSX 57353 [RACK 0 POSITION 1]

Configuration
Designation: TSX P 57353 PROCESSOR

CHANNEL 1:

CHANNEL 1 TSX CCP 100-110 CAN OPEN PCMCIA CARD

CANopen MAST

Bus startup Inputs Outputs

Maintain Reset
Automatic
No. of words (% MW) 500
Semi-Automatic (bus only) No. of words (% MW) 500
Index of 1st % MW 1000
By program Index of 1st % MW 1000

Configuration loading mode Watchdog

Select Database D:\document\QSF\CanOpen\FTM\work\pro
Enabled
Configuration size 5223 words

PL7 Open Disabled ?

SyCon
Transmission Speed 1 MBit/s
Look in: conf can
SyCon Tool
COB-ID SYNC Message 128
ana
SYNC Message Period speeds
1000 msftm_I
Auto-Clear 0 ana.co
island_v0_01.co
Busisland_v0_03.co
configuration
island_v0_04.co

File name: island_v0_04.co Open

File type CANopen FILE (*.co) Cancel

1690023_02A55 01 01/2006 45
Configuration

Steps Actions
2 Complete the fields in the "Input" (input data exchange area) and "Output"
(output data exchange area) boxes:
TSX 57353 [RACK 0 POSITION 1]

Configuration

Designation: TSX P 57353 PROCESSOR

CHANNEL 1:

CHANNEL 1 TSX CCP 100-110 CAN OPEN PCMCIA CARD

CANopen MAST

Bus startup Inputs Outputs

Maintain Reset
Automatic
No. of words (%MW) 500
Semi-Automatic (bus only) No. of words (%MW) 0
Index of 1st %MW 1000
By program Index of 1st %MW 1500

Configuration loading mode Watchdog

Select Database D:\document\QSF\CanOpen\FTM\work\pro

Enabled
Configuration size 5223 words
Disabled
PL7 SyCon

Transmission Speed 1 MBit/s

SyCon Tool
COB-ID SYNC Message 128

SYNC Message Period 1000 ms

Auto-Clear 0

Bus configuration

46 1690023_02A55 01 01/2006
 Configuration

Steps Actions
3 Click on the "Bus Configuration" button:
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR

CHANNEL 1:
CHANNEL 1 TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen MAST

Bus startup Inputs Outputs

Maintain Reset
Automatic
No. of words 50 bus configuration
CANopen
No. of 50
By program 10 slaves
Index of 1st CANopen Inputs
Add
Index of
Device Name Act. Life T.
10 Parameter Symbol
Configuration loading mode 000 APP-1CCO2 1 400
Watchdog %MW1300
000 FTM 1CN10 0 400 %MW1301
Select Database D:\document\QSF\CanOpen\FTM\work\pr
000 FTM 1CN10 0 400
000 OTB 0 Enable
400
Configuration size 5223 wor001 FTB 1CN16EP0 1 400
PL7 002 FTB 1CN12E04SP0 1 Disable
400 Outputs
SyCon
003 FTB 1CN08E08SP0 1 400 Parameter Symbol
Transmission Speed 1 MBit/s 004 FTB 1CN16CP0 1 400
COB-ID SYNC Message 128 009 FTM 1CN10 SyCon
1 400
010 OSICODER 1 400
SYNC Message Period 1000 ms
Auto-Clear 0
CANopen Device Details

Bus configuration Device Name : OSICODER

Vendor Name: Telemecanique
Total Description: OSICODER
No. of slaves No. Input %MW No. Output %MW
COB-ID: EMCY= 224, TxPDO= 768
0010 83 113
Close

The bus configuration window is used to display the exact address of the data
associated with the devices.
The start address of each PDO is defined by the start address of the exchange
area configured using PL7, to which the PDO offset defined using SyCon is
added.
4 Execute the required SDO requests (either from the debug screen, or via the
program).

1690023_02A55 01 01/2006 47
Configuration

SDO Request Follow the steps below:

from the Debug
Step Action
Screen
1 Click on the "Enter request" button at the bottom right of the debug screen:
TSX 57353 [RACK 0 POSITION 1]

Debugging

Designation: TSX P 57353 PROCESSOR Version: 5.0

DIAG…

CHANNEL 1:

CHANNEL 1 TSX CCP 100-110 CAN OPEN PCMCIA CARD

CANopen MAST DIAG…

CANopen slave status Slave data

Addr. Device Name Act. Life T. Inputs

0001 APP-1CCO2 1 400 Parameter Symbol Value
0006 FTM 1CN10 0 400 %MW1300 0
0007 FTM 1CN10 0 400 %MW1301 0
0008 FTM 1CN10 0 400
0010 OSICODER 1 400
0020 FTB 1CN12E04SP0 1 400
Output value Base
0030 FTB 1CN08E08SP0 1 400 OK Bin Dec Hex
0040 FTB 1CN16CP0 1 400
0096 FTM 1CN10 1 400 Outputs
0097 FTM 1CN10 1 400 Parameter Symbol Value
0098 FTM 1CN10 0 400

Slave information
Node 10: Status=08h, AddInfo=0001h, Profile=406, NodeStat

Total
No. of slaves No. Input %MW No. Output %MW Request to be sent
Received response
0011 83 113 Enter

48 1690023_02A55 01 01/2006
 Configuration

Step Action
2 Complete the fields:
Request: "Write SDO" or "Read SDO"
Node: Address of the device on the CANopen network
Index: Index of the object to be read or written
Subindex: Sub-index of the object to be read or written
Value: Entry area for the data to be sent, for write only
Click on "Send".
For further details on the various objects, see CANopen Object Dictionary,
p. 53.
The example below shows setting the number of points per revolution to 4096:
Enter CANopen Request

Request: Write SDO

Node: 10
Index: 16# 6001
Subindex: 16# 0
Value: 16# 00 10 00 00
(120 bytes max.)

Send Cancel

The value "00 10 00 00" corresponds to the number 1000 in hexadecimal

format, and thus to 4096 in decimal format.
3 After a "Read SDO" request, the value obtained can be read in the "Received
response" area at the bottom right of the debug screen:
Slave information
Node 10: Status=08h, AddInfo=0001h, Profile=406, NodeStat

Total
No. of slaves No. Input %MW No. Output %MW Request to be sent
Received response
0011 83 113 Enter request

1690023_02A55 01 01/2006 49
Configuration

Examples of SDO Requests

Programmed This example gives the program for reading object 1000h. After a request is made,
SDO Request: the data obtained is read in table Diag0:4 (defined below).
Example 1 Variables used and parameters of the function

Variable Type Description

Read_sdo Boolean Request launch bit.
Index Word Index of the object to poll (LSB of the double word
"Index_dw").
Sub-index Word Sub-index of the object to poll (LSB of the double
word "Index_dw").
Slave_add Word Address of the slave to poll.
Diag0:4 Word table Data exchange area.
Status0:4 Word table Exchange control and status words.
ADR#y.SYS Immediate value Master board address.
‘SDO’ Character string Type of SDO object (SDO always in upper case).
Index_dw Double word Most significant word = sub-index.
Least significant word = index.
Node_Id Word Word or value identifying the destination device
on the CANopen bus.

P rog ram
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1000; (*index 1000h*)
Sub_index:=0; (*sub-index 0*)

IF Read_sdo THEN
(*initialize command*)
Read_sdo:=FALSE;
(*Parameter update*)
Node_Id:=Slave_add; (*Slave address*)
Diag0:4:=16#FFFF; (*Initialize diagnostics receive table*)
Status2:=0; (*Initialize exchange report*)
Status3:=6; (*Time-out*)
(*request*)

50 1690023_02A55 01 01/2006
 Configuration

READ_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:4,Status1:4);
END_IF;

1690023_02A55 01 01/2006 51
Configuration

Programmed This example shows the program for saving parameters with object 1010h. The data
SDO Request: to be sent is contained in table Diag0:4 (defined below).
Example 2 Variables used and parameters of the function

Variable Type Description

Write_sdo Boolean Request launch bit.
Index Word Index of the object to poll.
Sub-index Word Sub-index of the object to poll.
Slave_add Word Address of the slave to poll.
Diag0:4 Word table Data exchange area.
Status0:4 Word table Exchange control and status words.
ADR#y.SYS Immediate value Master board address.
‘SDO’ Character string Type of SDO object (SDO always in upper case).
Index_dw Double word Most significant word = sub-index, Least
significant word = index.
Node_Id Word Word or value identifying the destination device
on the CANopen bus.
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1010; (*index 1010h*)
Sub_index:=1; (*sub-index 1*)
Diag0:=16#6173; (*'as'*)
Diag0[1]:=16#6576; (*'ev'*)
IF write_sdo THEN
(*initialize command*)
write_sdo:=FALSE;
(*Parameter update*)
Node_Id:=Slave_add; (*Slave address*)
Status2:=0; (*Initialize exchange report*)
Status3:=6; (*Time-out*)
(*request*)
WRITE_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:4,Status1:4);
END_IF;

52 1690023_02A55 01 01/2006
 CANopen Object Dictionary

5
Presentation

Introduction This section describes each CANopen network interface module dictionary object.

What's in this This chapter contains the following sections:

Chapter?
Section Topic Page
5.1 Communication Objects 1000h to 1FFFh (DS 301) 54
5.2 Manufacturer Specific Objects 2000h to 5FFFh 75
5.3 Encoder Specific Objects 6000h to 9FFFh (DS 406) 76

1690023_02A55 01 01/2006 53
CANopen Object Dictionary

5.1 Communication Objects 1000h to 1FFFh (DS 301)

Presentation

Introduction This section lists the objects relating to communication. Each object, with all its
technical characteristics, is described according to the CANopen standard.

What's in this This section contains the following topics:

Section?
Object Description Data type Attribute Default value Page
1000h Device Type Unsigned 32 RO 0x02196 55
1001h Error Register Unsigned 8 RO 56
1002h Manufacturer Status Register Unsigned 32 RO 57
1003h Pre-defined Error Field Unsigned 32 RO 58
1005h COD-ID SYNC Unsigned 32 ROMAP 0x080 60
1008h Manufacturer Device Name Visible string Constant Osicoder 60
1009h Manufacturer hardware Version Visible string Constant HVC2.B1 60
100Ah Manufacturer Software Version Visible string Constant SV03.01.02.01 61
100Ch Guard Time Unsigned 16 RW 0 61
100Dh Life Time Factor Unsigned 8 RW 0 61
1010h Store Parameters Unsigned 32 RW 62
1011h Restore Default Parameters Unsigned 32 RW 63
1014h COB-ID EMCY Unsigned 32 RW 0x80 + Node ID 64
1015h Inhibit Time EMCY Unsigned 16 RW 0 64
1016h Consumer heartbeat Time Unsigned 32 RW 0 65
1017h Producer heartbeat Time Unsigned 16 RW 0 66
1018h Identity Project RO 67
1200h 1st Server SDO Parameter RO 68
1800h 1st Transmit PDO Parameter RW 69
1801h 2nd Transmit PDO Parameter RW 71
1A00h 1st transmit PDO Mapping RW 73
1A01h 2nd Transmit PDO Mapping RW 74

54 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1000h: Device Type

Description This object indicates the device type and its functionalities. It consists of a 16-bit field
indicating the profile used (406 for DS406: encoder profile) and a second 16-bit field
giving information on the type of encoder.
Representation of the object:
31 16 15 0
Encoder type Profile used
MSB LSB

Encoder type:
Value Description
0001h Single-turn absolute rotary encoder
0002h Multi-turn absolute rotary encoder
0003h Single-turn absolute rotary encoder with electronic revolution counter
0004h Incremental rotary encoder
0005h Incremental rotary encoder with electronic counting
0006h Incremental linear encoder
0007h Incremental linear encoder with electronic counting
0008h Absolute linear encoder
0009h Absolute linear encoder with cyclic coding
000Ah Multi-sensor encoder interface
000Bh ...FFFFh Reserved

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - UNSIGNED32 N/A ro no no

1690023_02A55 01 01/2006 55
CANopen Object Dictionary

Object 1001h: Error Register

Description This object can store internal faults. It is mandatory for all devices, and is used with
the EMCY object, which indicates errors.
The following fault can be displayed:
Bit Meaning
0 Generic error

These bits represent the Boolean "OR" for the faults present on the node.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - UNSIGNED8 - ro no no

56 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1002h: Manufacturer Status Register

Description Diagnostics data is saved in this double word. This object is used with the EMCY
message.
Representation of the object:
31 16 15 0
Additional information Error code
MSB LSB

Bit Assignment
Registers Description
Bits 0 ... 15 Bits [0...8]: not used
Bit [9]: communication fault or external fault
Bits [10...15]: not used
Bits 16 ... 31 Bits [16... 31]: not used

Note:
Bit values:
0 : no fault
1 : fault

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - UNSIGNED32 - ro no no

1690023_02A55 01 01/2006 57
CANopen Object Dictionary

Object 1003h: Pre-defined Error Field (PEF)

Description This object is a double word used to store the device faults indicated by the EMCY
object. This object is used to keep an error log.
Sub-index 0 contains the number of errors recorded. A 0 value means that there
is no error recorded (for example, after reinitialization of the PEF object).
The least significant word contains the error code.
The most significant word stores the additional information specific to the error
indicated on the encoger.
Representation of the object:
31 16 15 0
Additional information Error code
Most significant word Least significant word

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Backed up
Mapping
0 Number of sub- UNSIGNED8 0 rw no no
indexes =
Number of
errors recorded
1 Most recent UNSIGNED32 - ro no no
error
2 Second to last UNSIGNED32 - ro no no
error
...
FE

Appearance of a When a new fault appears, the codes that are already present are moved up to the
New Fault next level sub-index: the fault in sub-index 1 is moved to sub-index 2, the fault in sub-
index 2 is moved to sub-index 3, etc.

58 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Reset The fault code log can only be cleared by writing the value 0 in sub-index 0 of object
1003h.

Note: Eliminating the cause of a fault does not delete the error code from the PEF.

List of error
codes
Error code Diagnostics Cause
(Hex)
0000 ERROR_RESET_OR_NO_ERROR An error has been rectified
1000 GENERIC_ERROR Internal communication error
6101 SOFTWARE_RX_QUEUE_OVERRUN Overrun of the receive memory
6102 SOFTWARE_TX_QUEUE_OVERRUN Overrun of the transmit memory
8100 COMMUNICATION Transmission/reception counter
synchronization error (EMCY
transmit message if the counter
value is > 96)
8120 CAN_IN_ERROR_PASSIVE_MODE Interruption of the CAN controller
8130 LIFE_GUARD_ERROR Node-Guarding Error
8140 BUS_OFF Transmission counter buffer overrun

1690023_02A55 01 01/2006 59
CANopen Object Dictionary

Object 1005h: COB-ID SYNC Message

Description This object contains the synchronization message identifier.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default Access PDO Backed up
value Mapping
0 - UNSIGNED32 80H ROMAP no yes

Object 1008h: Manufacturer Device Name

Description This object contains the device name.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Backed up
Mapping
0 - STRING - ro no no

Objet 1009h: Manufacturer Hardware Device (MHV)

Description This object contains the hardware version of the device.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default Access PDO Backed up
value Mappin
g
0 - STRING - ro no no

60 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 100Ah: Manufacturer Software Version (MSV)

Description This object contains details of the device software version, in the form 'SWxx.yy'.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - STRING - ro no no

Object 100Ch: Guard Time

Description Object 100Ch contains the ''Guard-Time'' parameter expressed in milliseconds. This
is the time between two pollings of the node by the master (presence of the node).
''Guard-Time' is zero if the protocol is not used.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - UNSIGNED16 0 rw no yes

Object 100Dh: Life Time Factor

Description Object 100Dh contains the "Life-Time-Factor" parameter which, multiplied by the
value of the 100Ch ''Guard-Time'' object, is the time allowed by the master before
stopping the node when the node does not respond to the master.
"Life-Time-Factor" is zero if the protocol is not used.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - UNSIGNED8 0 rw no yes

1690023_02A55 01 01/2006 61
CANopen Object Dictionary

Object 1010h: Store Parameters

Description This object supports the saving of the parameters to the non-volatile memory. To
save the parameters, the "save" character string (6576 6173h) must be written in the
sub-index, which prevents unintended saving.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of sub-indexes UNSIGNED8 1 ro no no
1 Store all parameters UNSIGNED32 - rw no no

Operation To save the parameters, the "save" character string (6576 6173h) must be written
in the corresponding index:
Most significant word Least significant word
ISO 8859 (ASCII) signature e v a s
Hex value 65h 76h 61h 73h

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.

62 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1011h: Restore Default Parameters

Description This object restores the device’s default parameters. To restore the parameters, the
"load" character string (6461 6F6Ch) must be written in the relevant sub-index,
which prevents unintended restoring.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of sub-indexes UNSIGNED8 1 ro no no
1 Restore all default UNSIGNED32 - rw no no
parameters.

Note: The restoration of parameters will only be taken into account after a power
up.

Operation To restore the parameters, the "load" (6461 6F6Ch) character string must be written
in the corresponding index:
Most significant word Least significant word
ISO 8859 (ASCII) signature d a o l
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.

1690023_02A55 01 01/2006 63
CANopen Object Dictionary

Object 1014h: COB-ID Emergency (EMCY) message

Description This object contains the EMCY emergency message identifier.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - UNSIGNED32 80h + NODE-ID rw no yes

Object 1015h: Inhibit Time EMCY

Description This object contains the EMCY emergency message inhibit time. This time must be
a multiple of 100 µs.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - UNSIGNED16 0 rw no yes

64 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1016h: Consumer Heartbeat Time

Description This object is used to configure the period required by the consumer (the encoder)
for receiving the Heartbeat message from the bus master.
The value of this object must be greater than the value of object 1017h.
The time must be a multiple of 1 ms.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default Access PDO Backed up
value Mapping
0 Number of sub- UNSIGNED8 1 ro no yes
indexes
1 Consumer UNSIGNED32 0 rw no yes
heartbeat time

Content of the The content of sub-index 1 is as follows:

Variable
Bit 31 to 24 23 to 16 15 to 0
Value 0h (Reserved) Encoder address Monitoring time in ms

If the value of the object is 0, no encoder is monitored.

1690023_02A55 01 01/2006 65
CANopen Object Dictionary

Object 1017h: Producer Heartbeat Time

Description This object is used to configure the cycle time of the Hearbeat transmission
message.
The time must be a multiple of 1 ms.
If the value of the object is 0, the object is not used.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Backed up
Mapping
0 - UNSIGNED16 0 rw no yes

If the Heartbeat error monitoring protocol is selected, the producer transmits a

Heartbeat message periodically, depending on the "Producer Heartbeat Time"
parameter. The nodes responsible for monitoring this message (Heartbeat
Consumer) generate a Heartbeat event if the message is not received within the
configured time (Consumer Heartbeat Time).

66 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1018h: Identity Object

Description This object contains general information about the device.

The Vendor ID is the manufacturer’s identifier (sub-index 1h).
The Product code gives the specific version of the encoder (sous-index 2h).
The Revision number, which is specific to the manufacturer, consists of a major
revision number and a minor revision number (sub-index 3h).
The major revision number indicates the changes to CANopen functionalities. The
minor revision number indicates the changes to functionalities specific to the device:
31 16 15 0
Major revision number Minor revision number
MSB LSB

The Serial number identifies the device (sub-index 4h).

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Backed up
Mapping
0 Number of UNSIGNED8 4h ro no no
inputs
1 Vendor ID UNSIGNED32 0700005Ah ro no no
2 Product code UNSIGNED32 1602Dh ro no no
3 Revision UNSIGNED32 10000h ro no no
number
4 Serial number UNSIGNED32 FFFFFFFFh ro no no

1690023_02A55 01 01/2006 67
CANopen Object Dictionary

Object 1200h: Server SDO Parameter

Description This object contains the message identifiers for SDO communication.

Object The characteristics of this object are outlined in the following table:
Characteristics
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of UNSIGNED8 2h ro no no
sub-indexes
1 Client to UNSIGNED32 600h + Node ID ro no no
Server
2 Server to UNSIGNED32 580h + Node ID ro no no
Client

68 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1800h: 1st Transmit PDO Communication Parameter

Description This object contains the communication parameters for the Transmit PDO.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of sub-indexes UNSIGNED8 5 ro no possible
1 COB-ID UNSIGNED32 180h + Node ID rw no possible
2 Transmission mode UNSIGNED8 FEh rw no possible
3 Inhibit time UNSIGNED32 0 rw no possible
4 Not available
5 Event timer UNSIGNED32 0 rw no possible

Transmission The PDO transmission mode can be configured as described in the table below.
Mode
Transfer Transmission mode Notes
code Cyclic Acyclic Synchronous Asynchronous RTR only
0 x x Send PDO on first Sync message
following an event
1 to 240 x x Send PDO every n (n = 0...240)
Sync messages
241 to 251 Reserved -
252 x x Update data immediately after the
Remote Request and send PDO at
the next SYNC
253 x x Update data and send PDO on
Remote Request
254 x Send PDO on specific
manufacturer event
255 x Send PDO on specific encoder
event

1690023_02A55 01 01/2006 69
CANopen Object Dictionary

COB-ID The structure of a COB-ID for CAN2.0 is shown in the following table:
Structure
Bit No. Value Meaning
31 (MSB) 0 The PDO object exists
1 The PDO object does not exist
30 0 RTR mechanism authorized
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 For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this
(Sub-index 3) 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 100 µs of object 1800 sub-index 03/1801 sub-index 03.
The following table shows some examples of values.
Value Time in ms
0000h 0
64h 10
3E8h 100
1388h 500
2710h 1000
FFFFh 6553

Event Timer The "event timer" only operates in asynchronous transmission mode (transmission
(Sub-index 5) mode 254, 255). If the data changes before the "event timer" expires, a temporary
telegram is sent. 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 1800 sub-index 05/1801 sub-
index 05 corresponds to the "event timer" in ms. The data transfer also takes place
with no change to data.

70 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1801h: 2nd Transmit PDO Communication Parameter

Description This object contains the communication parameters for the second Transmit PDO.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of UNSIGNED8 5 ro no yes
sub-indexes
1 COB-ID UNSIGNED32 280h + Node ID rw no yes
2 Transmission UNSIGNED8 1h rw no yes
mode
3 Inhibit time UNSIGNED16 0 rw no yes
4 Not available
5 Event timer UNSIGNED16 0 rw no yes

Transmission The PDO transmission mode can be configured as described in the table below.
Mode
Transfer Transmission mode Notes
code Cyclic Acyclic Synchronous Asynchronous RTR only
0 x x Send PDO on first Sync message
following an event
1 to 240 x x Send PDO every n (n = 0...240)
Sync messages
241 to 251 Reserved -
252 x x Update data immediately after the
Remote Request and send the
PDO at the next SYNC
253 x Update data and send PDO on
Remote Request
254 x Send PDO on specific
manufacturer event
255 x Send PDO on specific encoder
event

1690023_02A55 01 01/2006 71
CANopen Object Dictionary

Inhibit Time For "Transmit PDOs", the "inhibit time" for PDO transmissions can be entered in this
(Sub-index 3) 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 100 µs of object 1800 sub-index 03/1801 sub-index 03.
The following table shows some examples of values.
Value Time in ms
0000h 0
64h 10
3E8h 100
1388h 500
2710h 1000
FFFFh 6553

Event Timer The "event timer" only operates in asynchronous transmission mode (transmission
(Sub-index 5) mode 254, 255). If the data changes before the "event timer" expires, a temporary
telegram is sent. 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 1800 sub-index 05/1801 sub-
index 05 corresponds to the "event timer" in ms. The data transfer also takes place
with no change to data.

72 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 1A00h: 1st Transmit PDO Mapping Parameter

Description This object is used to describe the objects that will be transported by the PDO.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of sub-indexes UNSIGNED8 1 rw no yes
1 1st object in PDO UNSIGNED32 60040020h- rw no yes

Data Field Each data object to be transported is represented in the following way:
Structure
Bits 31 to 16 15 to 8 7 to 0
Data Index number of the Sub-index number of the Length of the object to
object to be transported object to be transported be transported
Example 6004h 00h 20h

Note: The maximum total length of data transported by the PDO is 8 bytes.

1690023_02A55 01 01/2006 73
CANopen Object Dictionary

Object 1A01h: 2nd Transmit PDO Mapping Parameter

Description This object is used to describe the objects that will be transported by the PDO.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of sub-indexes UNSIGNED8 1 rw no yes
1 1st object in PDO UNSIGNED32 60040020h rw no yes

Data Field Each data object to be transported is represented in the following way:
Structure
Bits 31 to 16 15 to 8 7 to 0
Data Index number of the Sub-index number of the Length of the object to
object to be transported object to be transported be transported
Example 6004h 00h 20h

Note: The maximum total length of data transported by the PDO is 8 bytes.

74 1690023_02A55 01 01/2006
 CANopen Object Dictionary

5.2 Manufacturer Specific Objects 2000h to 5FFFh

Object 5FFFh: SED Data Object

Description This object contains the manufacturer’s name and the conformity class for
Transparent Ready.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Number of inputs 2 ro No
1 Manufacturer Telemecanique Constant No
2 Conformity class S10 Constant No

1690023_02A55 01 01/2006 75
CANopen Object Dictionary

5.3 Encoder Specific Objects 6000h to 9FFFh (DS 406)

Presentation

Introduction This section lists the encoder specific objects. Each object, with all its technical
characteristics, is described according to the CANopen standard.

What's in this This section contains the following topics:

Section?
Object Description Data type Attribute Page
6000h Operating Parameters Unsigned 16 RW 77
6001h Measuring Units per revolution Unsigned 32 RW 79
6002h Total measuring range in measuring units Unsigned 32 RW 81
6003h Preset Value Unsigned 32 RW 83
6004h Position Value Unsigned 32 ROMAP 85
6200h Cyclic Timer Unsigned 16 RO 86
6500h Operating Status Unsigned 16 RO 89
6501h Singleturn Resolution Unsigned 32 RO 90
6502h Number of distinguishable Revolutions Unsigned 16 RO 90
6503h Alarms Unsigned 16 RO 91
6504h Supported Alarms Unsigned 16 RO 92
6505h Warnings Unsigned 16 RO 93
6506h Supported Warnings Unsigned 16 RO 94
6507h Profile and Software Version Unsigned 32 RO 95
6508h Operating Time Unsigned 32 RO 95
6509h Offset Value Unsigned 32 RO 95
650Ah Module identification Unsigned 32 RO 96
650Bh Serial Number Unsigned 32 RO 96

76 1690023_02A55 01 01/2006
 CANopen Object Dictionary

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 - Fh Unsigned 16

General Master to absolute rotary encoder: (parameter implemented)

description of
the parameters
FC NN Command Index Sub-index Service data/Process data
SDO (rx) Load 6000h Byte 4 Byte 5
1100 b 1-90 d 22 60 00 00 X 00

X Required direction
The code sequence (Complement) determines the counting direction in which the
output process value increases or decreases. The code sequence is determined by
Bit 0 in index 6000h:
Bit 0 Code sequence Code
0 Clockwise Increasing CW
1 Counter-clockwise Decreasing CCW

When transmission has been successful, the encoder responds with a confirmation
message :
FC NN Command Index Sub-index Service data/Process data
SDO (tx) Load 6000h Byte 4 Byte 5 Byte 6 Byte 7
1011 b 1-90 d 60 60 00 00 00 00 00 00

1690023_02A55 01 01/2006 77
CANopen Object Dictionary

Example Aim: Absolute rotary encoder in CCW direction, decreasing.

Bit matrix:
Bit 0 = 1 (Decreasing (CCW))
Result bit matrix X = 01h
Node number NN = 01
Master to absolute rotary encoder: (parameter implemented)
COB-ID Command Index Sub-index Service data/Process data
Load 6000h Byte 4 Byte 5
601 22 60 00 00 01 00

Absolute rotary encoder to master: (Confirmation)

COB-ID Command Index Sub-index Service data/Process data
Load 6000h Byte 4 Byte 5 Byte 6 Byte 7
581 60 60 00 00 00 00 00 00

78 1690023_02A55 01 01/2006
 CANopen Object Dictionary

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 1 and 8192:
CMS Index Default value Value range Data length
SDO 6001h - 0h - 2000h Unsigned 16

General Master to absolute rotary encoder: (parameter implemented)

Description of
the Parameters
FC NN Command Index Sub-index Service data/Process data
SDO (rx) Load 6001 Byte 4 Byte 5 Byte 6 Byte 7
1100 b 1-90 d 22 60 01 00 X X 00 00

X: Required measuring units per revolution (< 13 bits)

If the required value exceeds that of the encoder resolution, the code will not be
transmitted step-by-step. It is therefore important that the parameter is within the
range of possible values.
When transmission has been successful, the encoder responds with a confirmation
message:
FC NN Command Index Sub-index Service data/Process data
SDO (tx) Load 6001h Byte 4 Byte 5 Byte 6 Byte 7
1011 b 1-90 d 60 60 01 00 00 00 00 00

1690023_02A55 01 01/2006 79
CANopen Object Dictionary

Programming Programming example: Measuring units per revolution

Example Aim: Absolute rotary encoder with 4096 steps per revolution.
Steps per revolution: 4096 steps = 1000 h
Node number NN = 01
Master to absolute rotary encoder: (parameter implemented)
COB-ID Command Index Sub-index Service data/Process data
Load 6001h Byte 4 Byte 5 Byte 6 Byte 7
601 22 60 01 00 00 10X 00 00

Absolute rotary encoder to master: (Confirmation)

COB-ID Command Index Sub-index Service data/Process data
Load 6001h Byte 4 Byte 5 Byte 6 Byte 7
601 60 60 01 00 00 00 00 00

80 1690023_02A55 01 01/2006
 CANopen Object Dictionary

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, printed on the encoder nameplate:
CMS Index Default value Value range Data length
SDO 6002h 2.000.000h 0h - 2.000.000h Unsigned 32

Caution:
The following combinations of letters will be used
PGA: Total physical resolution of the encoder
PAU: Physical resolution per revolution
GA: Total resolution (client parameter)
AU: Measuring units per revolution (client parameter)
If the required measuring units per revolution is lower than the actual physical
resolution per revolution of the encoder, then the total resolution must be written as
follows:
Total resolution: GA = (PGA*AU)/PAU, with AU ≤ PAU
If the total resolution of the encoder is lower than the total physical resolution, the
resolution in the parameters must be a multiple of the total physical resolution:
k = PGA/GA, with k being a whole number

1690023_02A55 01 01/2006 81
CANopen Object Dictionary

General Master to absolute rotary encoder: (parameter implemented)

Description of
the Parameters
FC NN Command Index Sub-index Service data/Process data
SDO (rx) Load 6002h Byte 4 Byte 5 Byte 6 Byte 7
1100 b 1-90 d 22 60 02 00 X X X X

X: Required measuring units per revolution (> 15 bits)

When transmission has been successful, the encoder responds with a confirmation
message:
FC NN Command Index Sub-index Service data/Process data
SDO (tx) Load 6002h Byte 4 Byte 5 Byte 6 Byte 7
1011 b 1-90 d 60 60 02 00 00 00 00 00

Programming Aim: Absolute rotary encoder with a total resolution of 24 bits.

Example A total resolution of 24 bits is the equivalent of 1000000 h
Node number NN = 1
Master to absolute rotary encoder: (parameter implemented)
COB-ID Command Index Sub-index Service data/Process data
Load 6002h Byte 4 Byte 5 Byte 6 Byte 7
601 22 60 02 00 00 00 00 01

Absolute rotary encoder to master: (Confirmation)

COB-ID Command Index Sub-index Service data/Process data
Load 6002h Byte 4 Byte 5 Byte 6 Byte 7
601 60 60 02 00 00 00 00 00

82 1690023_02A55 01 01/2006
 CANopen Object Dictionary

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 resolution
of the parameters.
CMS Index Default value Value range Data length
SDO 6003h 0h 0h - total resolution Unsigned 32

General Master to absolute rotary encoder: (parameter implemented)

description of
the parameters
FC NN Command Index Sub-index Service data/Process data
SDO (rx) Load 6003h Byte 4 Byte 5 Byte 6 Byte 7
1100 b 1-90 d 22 60 03 00 X X X X

X: Required preset value

When transmission has been successful, the encoder responds with a confirmation
message like the following:
FC NN Command Index Sub-index Service data/Process data
SDO (tx) Load 6003h Byte 4 Byte 5 Byte 6 Byte 7
1011 b 1-90 d 60 60 03 00 00 00 00 00

1690023_02A55 01 01/2006 83
CANopen Object Dictionary

Programming Aim: Absolute rotary encoder with a preset value at 0

example The preset value at 0 is equivalent to X = 0h
Node number NN = 1
Master to absolute rotary encoder: (parameter implemented)
COB-ID Command Index Sub-index Service data/Process data
Load 6003h Byte 4 Byte 5 Byte 6 Byte 7
601 22 60 03 00 00 00 00 00

Absolute rotary encoder to master: (Confirmation)

COB-ID Command Index Sub-index Service data/Process data
Load 6003 Byte 4 Byte 5 Byte 6 Byte 7
601 60 60 03 00 00 00 00 00

84 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 6004h: Position Value

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

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 32 ROMAP Optional No

1690023_02A55 01 01/2006 85
CANopen Object Dictionary

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 - 10000h Unsigned 16

General description of the parameters:

Master to absolute rotary encoder: (parameter implemented)
FC NN Command Index Sub-index Service data/Process data
SDO (rx) Load 6200h Byte 4 Byte 5 Byte 6 Byte 7
1100 b 1-90 d 22 62 00 00 X X 00 00

X: Required cycle time

Absolute rotary encoder to master: (Confirmation)
FC NN Command Index Sub-index Service data/Process data
SDO (tx) Load 6200h Byte 4 Byte 5 Byte 6 Byte 7
1011 b 1-90 d 60 62 00 00 00 00 00 00

Disabling cyclic To disable absolute rotary encoder cyclic mode, send the following message
mode (disabling of cyclic mode):
Master to absolute rotary encoder: (parameter implemented)
COB-ID Command Index Sub-index Service data/Process data
Load 6200 Byte 4 Byte 5 Byte 6 Byte 7
601 22 62 00 00 00 00 00 00

Absolute rotary encoder to master: (Confirmation)

COB-ID Command Index Sub-index Service data/Process data
Load 6200 Byte 4 Byte 5 Byte 6 Byte 7
601 60 62 00 00 00 00 00 00

86 1690023_02A55 01 01/2006
 CANopen Object Dictionary

SYNC mode When it has received the SYNC telegram sent by the host, the absolute rotary
encoder sends the current position value. If several nodes are programmed in SYNC
mode, they respond according to their COB-ID. Programming an offset time is not
applicable.
It is also possible to program a number of ignored SYNC messages:
CMS Index Sub-Index Default value Value range Data length
SDO 1801 2h 1h 1h - 100h Unsigned 8

General description of the parameters:

Master to absolute rotary encoder: (parameter implemented)
FC NN Command Index Sub-index Service data/Process data
SDO (rx) Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7
1100 b 1-90 d 22 18 01 02 X 00 00 00

X: Number of SYNC messages after which the encoder sends the process value.
Absolute rotary encoder to master: (Confirmation)
FC NN Command Index Sub-index Service data/Process data
SDO (tx) Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7
1011 b 1-90 d 60 18 01 02 00 00 00 00

As with cyclic mode, SYNC mode can also be disabled, using the same procedure.
To disable it, PDO 2 must be addressed with index 1802h.
Example: Number of SYNC messages
Aim: Absolute rotary encoder with 3 SYNC messages
Number of SYNC messages: X = 03h
Node number: NN = 01 d

1690023_02A55 01 01/2006 87
CANopen Object Dictionary

Master to absolute rotary encoder: (parameter implemented)

COB-ID Command Index Sub-index Service data/Process data
Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7
601 22 18 01 02 03 00 00 00

Absolute rotary encoder to master: (Confirmation)

COB-ID Command Index Sub-index Service data/Process data
Load 1801h 2h Byte 4 Byte 5 Byte 6 Byte 7
601 60 18 01 02 00 00 00 00

Pulled mode The connected host requests the current process value using a remote transmission
request message. The absolute rotary encoder reads the current position value,
optionally calculates the adjustment parameters and, using the same COB-ID,
sends the process value that is obtained. The PDO (rx) with function code 001 is
used by the encoder to transmit the position value.
This type of transmission mode must only be used in operational mode.
CMS Bit remote transmission request (RTR) Data length
PDO 1 0

88 1690023_02A55 01 01/2006
 CANopen Object Dictionary

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 C1 C2
0 Code sequence CW CCW Mandatory Mandatory
1 Commissioning Diagnostic Control Not supported Supported Optional Optional
2 Scaling function control Disabled Enabled Optional Mandatory
3 Measuring direction CW CCW Optional Optional
4...11 Reserved
12 Manufacturer-specific function Disabled Enabled Optional Optional
13 Manufacturer-specific function Disabled Enabled Optional Optional
14 Manufacturer-specific function Disabled Enabled Optional Optional
15 Manufacturer-specific function Disabled Enabled Optional Optional

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Unsigned 16 ro No No

1690023_02A55 01 01/2006 89
CANopen Object Dictionary

Object 6501h: Singleturn Resolution (Rotary)

Description This object indicates the number of steps per revolution according to the position of
the encoder. The maximum encoder resolution is 213.

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Unsigned 32 ro No No

Object 6502h: Number of Distinguishable Revolutions

Description This object indicates the number of revolutions that the encoder can execute. The
maximum number of encoder revolutions is 212

Characteristics The characteristics of this object are outlined in the following table:
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 Unsigned 16 ro No No

90 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 6503h: Alarms

Description This object contains the various alarm messages. An alarm will be displayed if an
encoder malfunction causes 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 C1 C2
0 Position error No Yes Optional Optional
1 Commissioning diagnostics Not supported Supported
2...11 Reserved
12 Manufacturer-specific alarm Disabled Enabled Optional Optional
13 Manufacturer-specific alarm Disabled Enabled Optional Optional
14 Manufacturer-specific alarm Disabled Enabled Optional Optional
15 Manufacturer-specific alarm Disabled Enabled Optional Optional

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 16 ro No No

1690023_02A55 01 01/2006 91
CANopen Object Dictionary

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
1 Commissioning diagnostics No Yes
2...11 Reserved
12 Manufacturer-specific alarm No Yes
13 Manufacturer-specific alarm No Yes
14 Manufacturer-specific alarm No Yes
15 Manufacturer-specific alarm No Yes

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 16 ro No No

92 1690023_02A55 01 01/2006
 CANopen Object Dictionary

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 C1 C2
0 Position error No Yes Optional Optional
1 Light control reserve Not reached Error Optional Optional
2 CPU watchdog status OK Reset Optional Optional
3 Operating time limit warning No Yes Optional Optional
4 Battery charge OK Too slow Optional Optional
5 Reference point Reached Not reached Optional Optional
6...11 Reserved
12 Manufacturer-specific warning N/A N/A Optional Optional
13 Manufacturer-specific warning N/A N/A Optional Optional
14 Manufacturer-specific warning N/A N/A Optional Optional
15 Manufacturer-specific warning N/A N/A Optional Optional

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 16 ro No No

1690023_02A55 01 01/2006 93
CANopen Object Dictionary

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 exceeded Not supported Supported
1 Light control reserve Not supported Supported
2 CPU watchdog status Not supported Supported
3 Operating time limit warning Not supported Supported
4 Battery charge Not supported Supported
5 Reference point Not supported Supported
6...11 Reserved
12 Manufacturer-specific warning Not supported Supported
13 Manufacturer-specific warning Not supported Supported
14 Manufacturer-specific warning Not supported Supported
15 Manufacturer-specific warning Not supported Supported

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 16 ro No No

94 1690023_02A55 01 01/2006
 CANopen Object Dictionary

Object 6507h: Profile and Software Version

Description This object indicates the encoder hardware profile version and software version.

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 32 ro No No

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 value given is FFFFFFFFh.

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 32 FFFFFFFh ro No Yes

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.

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 32 ro No No

1690023_02A55 01 01/2006 95
CANopen Object Dictionary

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- Description Data type Default value Access PDO Mapping Backed up
index
0 Number of inputs Unsigned 32 ro No No
1 Manufacturer offset value Unsigned 32 0h ro No No
2 Manufacturer minimum Unsigned 32 ro No No
position value
3 Manufacturer maximum Unsigned 32 ro No No
position value

Object 650Bh: Serial Number

Description This object indicates the encoder serial number.

Characteristics The characteristics of this object are outlined in the following table:
Sub- Description Data type Default value Access PDO Mapping Backed up
index
0 Unsigned 32 0 ro No No

96 1690023_02A55 01 01/2006
 Diagnostics

6
Presentation

Overview This section describes the various diagnostic messages that can be generated by
the encoder.

What's in this This chapter contains the following topics:

Chapter?
Topic Page
Status Indication Provided by the LEDs in the Connection Base 98
FAQ 100

1690023_02A55 01 01/2006 97
Diagnostics

Status Indication Provided by the LEDs in the Connection Base

Principle Two LEDs are located on the base. They indicate the status of the encoder in the
CANopen network.
The red CAN ERR LED indicates errors. The green CAN RUN LED indicates the
encoder status.

Description LEDs on the connection base:

1 2

No. Description
1 RED LED
2 GREEN LED

98 1690023_02A55 01 01/2006
 Diagnostics

LED status table for diagnostics conforming to DR 303-3 V1.2:

No. LED Type of Status/Possible cause
flashing
1 CAN ERR Off No error
2 (red) 1 flash The internal error counter has reached or exceeded the
maximum level.
3 2 flashes Detection of a guard event or a heartbeat event.
4 3 flashes Synchronization error: message not received within the
defined period.
5 Flashing Error in the bus address or speed.
6 On Bus off.
7 CAN RUN 1 flash Module in Stopped mode.
8 (green) Flashing Module in pre-operational mode.
9 On Module in operational mode.

When both LEDs are off, the encoder is not supplied with power.

1690023_02A55 01 01/2006 99
Diagnostics

FAQ

Problem Possible cause Possible solution

The encoder does The bus is active but the Turn off the PLC
not respond after installed encoder is not Turn off the encoder power supply.
power-up. responding to the bootup Remove the encoder base.
message from the master. Check the baud rate using the two
rotary switches.
Refit the base.
Turn the encoder power supply back
on.
Turn the PLC back on.
There is a position Malfunctions may occur Check that each end of the bus is fitted
value error during during transmission of the with a line terminator (see Line
transmission. position value. The CAN bus T erminator, p. 20). If the last node of the
may also be temporarily in bus is an encoder, the line terminator is
off mode. The messages placed in the base and activated by a
transmitted are therefore switch.
incorrect.
Too many ERROR The bus is overloaded by too Check that all the nodes are configured
frames many ERROR frames. at the same speed. If one of the nodes is
at a different speed, correct this speed
(see T ransmission Speed, p. 19). If a
node is incorrectly configured, it
automatically generates error frames.

100 1690023_02A55 01 01/2006

 Glossary

Address Number, assigned to each node, irrespective of whether it is a master or slave. The
encoder address (non-volatile) is configured in the base with rotary switches.

APV Absolute Position Value.

Baud rate Transmission speed formulated in number of bits per second.

Bus node Device that can send and/or receive or amplify data by means of the bus.

Byte 8-bit unit of data = 1 byte.

CAL CAN application layer.

CAN Controller Area Network or CAN multiplexing network.

CANopen Application layer of an industrial network based on the CAN bus.

CCW Counter-clockwise

1690023_02A55 01 01/2006 101

Glossary

CiA CAN In Automation, organization of manufacturers and users of devices that

operate on the CAN bus.

COB Elementary communication object on the CAN network. All data is transferred using
a COB.

COB-ID COB-Identifier. Identifies an object in a network. The ID determines the transmission

priority of this object. The COB-ID consists of a function code and a node number.

CW Clockwise

EDS file Standardized file containing the description of the parameters and the
communication methods of the associated device.

FAQ Frequently Asked Questions

FC Function code. Determines the type of message sent via the CAN network.

Line terminator Resistor terminating the main segments of the bus.

LMT Network management object.

This is used to configure the parameters of each layer in the CAN.

102 1690023_02A55 01 01/2006

 Glossary

Master "Active" device within the network, that can send data without having received a
request. It controls data exchange and communication management.

NMT Network management object.

This is responsible for managing the execution, configuration and errors in a CAN
network.

NN Node number

PCV Process Value

PDO Communication object, with a high priority for sending process data.

PV Preset Value: Configuration value

RO Read Only: Parameter that is only accessible in read mode.

ROMAP Read Only MAPable: Parameter that can be polled by the PDO.

RW Read/Write: Parameter that can be accessed in read or write mode.

1690023_02A55 01 01/2006 103

Glossary

SDO Communication object, with a low priority for messaging (configuration, error
handling, diagnostics).

Slave Bus node that sends data at the request of the master. Absolute rotary encoders are
always slaves.

SyCon Dedicated software tool with a uniform interface under Windows for configuring
industrial networks and setting device parameters. This tool uses the description
files (GSD, EDS, etc).

WO Write Only: Parameter that is only accessible in write mode.

104 1690023_02A55 01 01/2006

 Index
B
AC
A I
Accessoires, 23 Index/Sub-Index, 34
Assembly instructions, 23

L
C Life Time Factor, 61
CANopen Data Transmission, 32 Line Terminator, 20
COB-ID, 32 List of accessories, 23
Command Byte, 33
Connecting the base to the bus, 22
Connecting the Power Supply to the M
Connection Base, 22 Measuring Units per Revolution, 79
Connection Base, 18 Mechanical characteristics, 27
Cyclic mode, 86 Mode
Pre-operational, 35
Start, 35
D STOP, 36
Description, 18
Disabling cyclic mode, 86
N
Node Address, 19
E
EDS File, 31
Electrical characteristics, 27 O
Encoder Configuration, 31 Operating parameters, 77
Environmental characteristics, 28 Operational Mode, 35

G P
Guard time, 61 Preset Value, 83
Pulled mode, 88

1690023_02A55 01 01/2006 105

Index

R
Reinitialization of the Absolute Rotary
Encoder, 35

S
SYNC mode, 87

T
Total Measuring Range in Measuring Units,
81
Transmission Mode, 86
Transmission of the Current Position, 36
Transmission Speed, 19

W
Wiring the Bus and the Power Supply, 21
Wiring the Encoder, 22

106 1690023_02A55 01 01/2006