T Series Encoders with CANopen Interface User Manual TWK-ELEKTRONIK GmbH · PB. 10 50 63 · D-40041 Düsseldorf

COPYRIGHT: The TXN 11551 operating instructions are owned by TWK-ELEKTRONIK GMBH and are protected by copyright laws and international treaty provisions. © 2009 by TWK-ELEKTRONIK GMBH POB 10 50 63 ■ 40041 Dusseldorf ■ Germany Tel. +49/211 /63 20 67 ■ Fax +49/211 /63 77 05 [email protected] ■ www.twk.de

1. General The electromagnetic T Series encoders are designed for direct connection to the CAN bus. This is achieved internally via the CAN bus controller T89C51 CC02 SO 28 (Atmel). The following specifications have been implemented: Device Profile for Encoders CiA Draft Standard 406, Version 3.0 /1/ CANopen Application Layer and Communication Profile CiA Draft Standard 301, Version 4.02 /2/ The CANopen specifications can be obtained from the user organisation CiA (www.can-cia.org). The following T Series encoders with CANopen interface have been taken into consideration: 2. CANopen features...

3. Installation instructions 3.1 Electrical connection CiA Draft Recommendation Proposal 303-1, Version 1.1.1 CANopen Cabling and Connector Pin Assignment /3/ must be adhered to when connecting the encoder. This particularly applies with regard to the terminal resistors, the lead characteristics, the length of the branch lines and the transmission length. The bus terminal resistors must be implemented internally. The precise connector assignment is enclosed with each device. Principle bus structure: 3.2 Baud rates and lead lengths Note: The encoder has no galvanic separation between the supply...

4. Process data exchange In the case of CANopen, I/O data traffic takes place via the PDO (Process Data Object) message. The T Series encoders provide two PDOs. Their transmission behaviour (transmission type) can be set independently of each other. 4.1 Operating modes The following operating modes can be set: Polling Mode (asynchronous-RTR): The encoder transmits the current, actual position value, after the current position value has been polled via a „Remo-te Frame“ message by the master. Asynchronous Mode (cyclic / acyclic): Without being requested to do so by the master, the encoder transmits...

4. Process data exchange 4.2 Data format The definition of the output data (mapping) and their depiction is identical for both PDOs. The position value is output in steps and, in the case of the variant with speed signal, the speed value is output in steps per 100 ms. The position and speed value can also be called up in the object directory under indices 6004h - Position value and 2010h - Speed value. The position and speed values are depicted in Intel format. The following tables show encoders with 13 bits single turn resolution. For encoders with 12 bit resolution the positi-onvalue is one...

5. Emergency messages Each time the internal error status register (Index 1001 h) changes, the encoder transmits an emergency message with the identifier: 80h + node ID (even if an error which has occurred has been rectified). An emergency message is comprised of 8 data bytes and is structured as follows:

6. Programming and diagnosis (object directory) 6. Programming and diagnosis (object directory) In the case of CANopen, all parameters and diagnostic information are contained in the object directory. There, they may be changed and/or read with the SDO (Service Data Object) message, specifying their index and sub-index. The object directory is sub-divided into the following areas: Communication parameters Index 1000h - 1FFFh Manufacturer-specific parameters Index 2000h - 5FFFh Standardised device parameters Index 6000h - 9FFFh Those parameters marked with “rw” in this chapter can be set by the...

6.2 Communication parameters 6.2.1 Object 1000h - Device type Contains the manufacturer software version, e.g.: „TBN Std“

6. Programming and diagnosis (object directory) 6.2.7 Object 1010h - Store parameters The information in object 1018h (also see Chapter 3.3) is required to use the Layer Setting Service (LSS, /5/).

6.2.13 Object 1800h - First transmit PDO

6. Programming and diagnosis (object directory)

6.3 Standardised device parameters 6.3.1 Object 6000h - Operating parameters Values in brackets represent an encoder with 13 bit single turn resolution. The „Scaling function control" bit (object 6000h) must be enabled in order to change the parameter.

6. Programming and diagnosis (object directory) Note: For parametration of TRN it must be noted that the calculation of the number of revolutions is carried out in 2n powers internally within the encoder. Regardless of this requirement, the user may programme the desired total measuring range in units and the desired single turn resolution in accordance with the application. During calculation, the encoder accesses the next highest 2n power if required. In this case, the values are designated as the actual single turn resolution or as the actual total measuring range in units, and are displayed...

6.4 Standardised device diagnosis 6.4.1 Object 6500h - Operating status Only the alarms listed under object 6503h are supported.

6. Programming and diagnosis (object directory) 6.4.6 Object 6506h - Supported Warnings The object contains the device‘s serial number.

6.5 Manufacturer-specific parameters 6.5.1 Object 2000h - Node ID Gate time for speed measurement in ms. The updating time of the speed signal is equal to the gate time.

7. Examples Message traffic between a master and the TBN encoder (single-turn encoder without speed signal) during boot-up and when setting the slave address with LSS is shown in the following. The identifier (ID), the transmission direction (Rx/Tx), the Data Length Code (DLC) and the data bytes are shown in tabular form. The following applies: - The encoder has the address 1 (default) and is the only slave - Encoder with default parameter values - Tx: Master transmits data to the encoder - Rx: Encoder transmits data 7.1 Boot-up The following Table shows encoder boot-up, from switching on the...