Kubler Sendix 7058 Manual 

Absolute Singleturn Encoder Sendix 7068 / 7088 / 7168 / 7188 Absolute Multiturn Encoder R60712.0002

Schubertstr. 47 78054 Villingen-Schwenningen Germany www.kuebler.com Application support Tel. +49 7720 3903-952 Fax +49 7720 21564 [email protected] Document no. R60712.0002 Document-Title Manual Sendix 7058 / 7078 / 7158 / 7178 Sendix 7068 / 7088 / 7168 / 7188 Language version English (EN) – English is the original version Document version 28.06.2018, Document no. R60712.0002 - Index 3 Copyright ©2018, Kübler Group, Fritz Kübler GmbH Legal notice All contents included in this manual are protected by the terms of use and copyrights of Fritz Kuebler GmbH. Any reproduction, modification, usage or publication in other electronic and printed media as well as in the internet requires prior written authorization by Fritz Kuebler GmbH.

R60712.0002 EN Table of contents Table of contents List of abbreviations 1. Technical details and characteristics ............................................................................... 6 1.1 CANopen Multiturn /Singleturn Encoder Series 58X8 ........................................................... 6 1.2 The CANopen Communication Profile DS 301 V4.2.0 .......................................................... 6 1.3 Encoder Device Profile DS 406 V3.1 .................................................................................... 7 1.4 Objectives of LSS ................................................................................................................. 7 1.5 Data transmission ................................................................................................................. 7 1.6 Objects and Function Code in the Predefined Connection Set.............................................. 8 1.7 Transmission of Process Data .............................................................................................. 9 2. Electrical installation and CAN bus ................................................................................. 11 2.1 Supply voltage (Power supply) ........................................................................................... 11 2.2 CANbus lines ...................................................................................................................... 11 2.3 Bus Termination ................................................................................................................. 12 3. Grounding and equipotential bonding ............................................................................ 13 4. Quick Start Guide - Default settings on delivery ............................................................ 14 4.1 Encoders with cable outlet .................................................................................................. 14 4.2 Communication parameter ................................................................................................. 14 4.3 Encoder profile ................................................................................................................... 15 5. Emergency Objects .......................................................................................................... 17 6. Heartbeat Protocol ........................................................................................................... 18 7. Objects of Encoder Profile DS 306 .................................................................................. 19 7.1 Object 6000h Operating Parameters .................................................................................. 19 7.2 Object 6001h: measuring steps per revolution (Resolution) ................................................ 20 7.3 Object 6002h: Total number of measuring steps................................................................. 20 7.4 Object 6003h: Preset Value ................................................................................................ 20 7.5 Object 6004h: Position Value.............................................................................................. 21 7.6 Object 6030h: Speed Value ................................................................................................ 21 7.7 Object 6040h: Acceleration Value ....................................................................................... 21 7.8 Object 6200h: Cyclic Timer ................................................................................................. 22 7.9 Object 6500h: Display Operating Status ............................................................................. 22 7.10 Object 6502h: Number of Multiturn revolutions ........................................................ 22 7.11 Object 6503h: Alarms .............................................................................................. 23 7.12 Object 6504h: Supported Alarms ............................................................................. 23

R60712.0002 EN 7.13 Object 6505h: Warnings .......................................................................................... 23 7.14 Object 6506h: Supported Warnings ......................................................................... 24 7.15 Object 6400h: Working Area State Register 2 values .............................................. 24 7.16 Object 2100h: Baud rate .......................................................................................... 25 7.17 Object 2101h: Node address ................................................................................... 25 7.18 Object 2102h: CAN bus termination OFF/ON .......................................................... 26 7.19 Object 2103h: Firmware flash version ...................................................................... 26 7.20 Object 2105h: Save All Bus Parameters .................................................................. 26 7.21 Objekt 2110h: Sensor Configuration Data ................................................................ 27 7.22 Objekt 2120,4h: Actual temperature Position-Sensor * ............................................ 27 7.23 Objekt 2120,2h: Actual temperature lower limit Position-Sensor .............................. 28 7.24 Objekt 2120,3h: Actual temperature upper limit Position-Sensor ............................. 28 7.25 Object 2130h: Encoder Measuring Step .................................................................. 28 7.26 Object 2140h: Customer Memory (16 Bytes) ........................................................... 29 7.27 Object 2150h: Temperature History ......................................................................... 29 8. Network Management ....................................................................................................... 31 9. NMT Commands ............................................................................................................... 32 10. Glossary ............................................................................................................................ 33

R60712.0002 EN List of abbreviations Abbreviation Meaning CAL CAN Application Layer. Application layer (Layer 7) in the CAN communication model CAN Controller Area Network CiA CAN in Automation. International association of CAN products users and manufacturers CMS CAN Message Specification. Service element of CAL COB Communication Object. Transport unit in the CAN network (CAN message). Data is sent through the network in a COB. COB-ID C OB-Identifier. Univocal designation of a CAN message. The identifier determines the priority of the COBs in the network. DBT Distributor. Service element of CAL, responsible for the dynamic allocation of identifiers. DS Draft Standard DSP Draft Standard Proposal ID Identifier, see COB-ID LMT Layer Management. Service element of CAL, responsible for the configuration of the parameters in the various layers of the communication model. LSB Least Significant Bit/Byte MSB Most Significant Bit/Byte NMT Network Management. Service element of CAL, responsible for the initialization, configuration and errors handling within the network. MT Multiturn encoder OSI Open Systems Interconnection. Layers model for describing the functional areas in a data communication system. PDO Process Data Object. Object for the exchange of process data. RTR Remote Transmission Request; data request telegram SDO Service Data Object; communication object used by the master to access the object dictionary of a node. SYNC Synchronization telegram. Bus participants answer the SYNC command with their process value.

R60712.0002 EN - 6 1. Technical details and characteristics 1.1 CANopen Multiturn /Singleturn Encoder Series 58X8 The CANopen encoders of Series 7068/88 support the latest CANopen communication profile according DS 301 V4.02. In addition, device-specific profiles such as the encoder profile DS 406 V3.1 are adapted. The following operating modes can be selected: Polled Mode, Cyclic Mode, Sync Mode and a High Resolution Sync Protocol. Moreover, scale factors, preset values, limit switch values and many other additional parameters can be programmed via the CAN-Bus. At Power ON all parameters are loaded from an EEPROM, which had previously been saved in the non-volatile memory to protect them in case of power failure. The following output values may be freely combined as PDO (PDO Mapping): position, speed, acceleration as well as the status of the four limit switches. The encoders are available with a cable connection, for which changes to the device address and baud rate are software controlled. The models have an integrated T-coupler to allow an easy installation . 1.2 The CANopen Communication Profile DS 301 V4.2.0 CANopen represents a unified user interface and thus allows for a simplified system structure with a wide variety of devices.CANopen is optimized for the fast exchange of data in real-time systems and possesses a number of different device profile that have been standardized. The CAN in Automation (CiA) manufacturers and users group is responsible for creating and standardization of the relevant profiles. CANopen offers • user-friendly access to all device parameters • auto-configuration of the network and of the devices • device synchronization within the network • cyclic and event-driven process data exchange • simultaneous read and write of data CANopen uses four communication objects (COB) with different properties • Process Data Objects (PDO) for real-time data, • Service Data Objects (SDO) for transmitting parameters and programs, • Network Management (NMT, Life-Guarding, Heartbeat) • Predefined Objects (for Synchronisation, Time-Stamp, Emergency) All device parameters are filed in an Object Dictionary. This Object Dictionary contains the description, data type and structure of the parameters, as well as the address (Index). The dictionary is divided into a communications profile section, a section covering the device profile as well as a section specific to the manufacturer.

R60712.0002 EN - 7 1.3 Encoder Device Profile DS 406 V3.1 This profile describes a vendor-independent mandatory definition of the interface with regard to encoders. It is laid down in the profile, which CANopen functions are to be used as well as how they are to be used. This standard thus makes possible an open vendor-independent bus system. Figure 1 The device profile is broken down into two Object classes: • Class C1 describes all the basic functions that the encoder must contain. • Class C2 contains numerous extended functions, which must either be supported by encoders of this class (Mandatory) or which are optional. Class 2 devices thus contain all C1 and C2 mandatory functions, as well as additional optional functions dependent on the manufacturer. An address range is also defined in the profile to which the manufacturer’s own special functions can be assigned. 1.4 Objectives of LSS CiA DSP 305 CANopen Layer Setting Service and Protocol (LSS) services and protocols were created to enable the following parameters to be read and changed through the network: 1. The CANopen Node ID 2. The CAN baud rate 3. The LSS address This increases the “plug–and-play” capabilities of devices on CANopen networks as preconfiguration of the network is less restrictive. The LSS Master is responsible for configuring these parameters on one or more LSS Slaves on a CANopen network. 1.5 Data transmission With CANopen data are transferred via two different communication types (COB=Communication Object) with different properties: • Process Data Objects (PDO – real-time capable) • Service Data Objects (SDO)

R60712.0002 EN - 8 The Process Data Objects (PDO) provide high-speed exchange of real-time data (e.g. encoder position, speed, comparative position status) with a maximum length of 8 byte. These data are transmitted with a high priority (low COB-Identifier). PDOs are broadcast messages and provide their real-time data simultaneously to all desired receivers. PDOs can be mapped, i.e. 4 byte of position and 2 byte of speed can be combined in one 8 byte data word. The Service Data Objects (SDO) form the communication channel for the transfer of device parameters (e.g. encoder resolution programming). As these parameters are transmitted acyclically (e.g. only once during boot-up of the network), the SDO objects have a low priority (high COB- Identifier). 1.6 Objects and Function Code in the Predefined Connection Set For easier management of the Identifiers CANopen uses the „Predefined Master/Slave Connection Set“, where all identifiers are defined with standard values in the object dictionary. These identifiers can however be changed and customized via SDO access. The 11-bit Identifier is made up of a 4-bit function code and a 7-bit node-ID number. The higher the value of the COB-Identifier, the lower is its priority! Broadcast (network-wide) Objects Figure 2 Peer-To Peer (device-to-device) Objects Figure 3

R60712.0002 EN - 9 Restricted, reserved Objects Figure 4 1.7 Transmission of Process Data With the CANopen encoder three PDO services PDO1 (tx) ,PDO2 (tx) and PDO3(tx) and a Receive- PDO are available. A PDO transmission can be triggered by a variety of events (see Object Dictionary Index 1800h): • asynchronously (event driven) by an internal cyclic device timer or by a change in the process value of the sensor data • synchronously as a response to a SYNC telegram; (a SYNC command will cause all CANopen nodes to store their values synchronously, • after which they are transferred in succession to the bus according to their set priority) • as a response to an RTR-Telegram (per Remote Frame=recessive RTR-bit, exactly that message with the communicated ID will be requested) The PDO messages could have the following structure Figure 5

R60712.0002 EN - 10 1Flags Status byte of the Working-area Object 6400h 2Speed 16-bit word Signed 3Acceleration 16-bit word Signed Transmit PDO 1 is made up (mapped) from the 32-bit position value state of the Working area registers (6400h). Transmit PDO 2 is made up from the 32-bit position values, 16-bit speed and 16-bit acceleration. Transmit PDO 3 consists of the position as SYNC PDO. All other PDO combinations with other objects are possible, as long as the maximum 8 byte data length is not exceeded.

R60712.0002 EN - 11 2. Electrical installation and CAN bus 2.1 Supply voltage (Power supply) Connect the Supply voltage to the lead 1 and 2 (0V) and (+ VDC). Figure 6 2.2 CANbus lines Connect the CANBUS Input-lines to lead 4 and 5 (CAN_H) and ( CAN_L) and for outgoing lines to lead 7 and 8. Figure 7

R60712.0002 EN - 12 2.3 Bus Termination If the device represents the final station on the bus, then the looped-through CANbus must be terminated at both ends with a bus termination resistor between CAN_H and CAN_L. At closed housings it is necessary to order with termination adjusted the right way, otherwise it is mandatory to adapt an external resistor. Connect the Termination resistor (120 Ohm) to lead 7 and 8 (CAN_H) and (CAN_L). Figure 8

R60712.0002 EN - 13 3. Grounding and equipotential bonding Effective grounding and equipotential bonding are very important for the interference immunity of CANbus networks. Grounding and bonding is thus primarily to ensure correct functioning of CANbus, and not for safety reasons. Proper grounding of the cable shield ensures that electrostatic interference is reduced, so minimizing pickup. Equipotential bonding ensures that the ground or earth potential is the same across the network. This, in turn, prevents ground currents flowing through the CANbus cable shield. The following information provides general guidance for the installation of grounding and equipotential bonding. At the CANbus station Connect the CANbus cable shield to the equipotential bonding at every CANbus station. The CANbus connector, where used, provides connection for the cable shield. However, this requires a properly made the shield connection in the connector. Figure 9

R60712.0002 EN - 14 4. Quick Start Guide - Default settings on delivery 4.1 Encoders with cable outlet Description Setting Switch Software Baud rate 250 Kbit/s Switch setting 5 Object 2100h = 5h Node address 63 Switch setting 3Fh Object 2100h = 3Fh Termination off Switch setting off Object 2100h = 01h Figure 10 4.2 Communication parameter Index (hex) Name Standard value 1005h COB-ID Sync 80h 100Ch Guard Time 0 100Dh Life Time Factor 0 1012h COB-ID Time stamp 100h 1013h High Resolution time stamp 0 1017h Producer heartbeat time 0 1029h Error Behaviour 0 = Comm Error 1 = Device specific 1 = Manufacturer Error 1800h TPD01 Communication Parameter 01h COB-ID 180h + Node number 02h Transmission Type 255 (asynch) 03h Inhibit Time 0 [steps in 100µs] 05h Event Timer 0 [steps in ms] 1801h TPD02 Communication Parameter 01h COB-ID 280h + Node number 02h Transmission Type 01 (asynch) 03h Inhibit Time 0 [steps in 100µs] 05h Event Timer 0 [steps in ms] 1802h TPD03 Communication Parameter 01h COB-ID 380h + Node number

R60712.0002 EN - 15 02h Transmission Type 255 / 0xFFh (synch) 03h Inhibit Time 0 [steps in 100µs] 05h Event Timer 0 [steps in ms] 1A00h TPD01 Mapping 01h 1. Mapped Object 0x60040020 1A01h TPD02 Mapping 01h 2. Mapped Object 0x60300110 1A02h TPD03 Mapping 01h 3. Mapped Object 0x60040020 Figure 11 4.3 Encoder profile Figure 12 The original Standard Values (default values on delivery) can be reloaded again by means of Object 1011h (restore parameters). In order to ensure that parameter changes are saved in the event of power failure, then these must without fail be transferred to the EEPROM by means of Object 1010h (store parameters). This will cause all data already present in the EPROM to be over-written! If errors have occurred during programming of the objects and if these parameters are then saved in the EEPROM, it will not be possible to address the encoder next time it is switched on (the encoder will send only Emergency messages). This error can be cleared only by means of a general Reset of the encoder.

R60712.0002 EN - 16 The default setting for the Mapping of the Transmit PDO: Figure 13 The CANopen encoder supports variable mapping on all 3 Transmit PDOs.

R60712.0002 EN - 17 5. Emergency Objects Emergency Objects arise with error situations within a CAN network and are triggered depending on the event and transmitted over the bus with a high priority. Important: an Emergency Object is only triggered once per “Event”. No new object is generated while the error still exists. Once the error is eliminated, then a new Emergency Object with the content 0 (Error Reset or No Error) is generated and transmitted over the bus. Error Codes supported The Error Codes are highlighted in orange Figure 13

R60712.0002 EN - 18 6. Heartbeat Protocol Figure 15 Nowadays as an alternative to Node Guarding the modern Heartbeat Protocol should be used. The protocol is activated if a value > 0 is written to Object 1017h Producer Heartbeat Time. A “Heartbeat–Producer” cyclically transmits this Heartbeat message. One or more “Heartbeat- Consumer(s)” can receive this Heartbeat message. If the cyclic transmission of this Heartbeat message is missing, then a “Heartbeat Event” is generated. The behavior in the case of an error is defined in Object 1029h Subindex 1 “Communication Error”.

R60712.0002 EN - 19 7. Objects of Encoder Profile DS 306 7.1 Object 6000h Operating Parameters Bit 0: Code sequence: 0 = increasing when turning clockwise (cw) 1 = increasing when turning counter-clockwise (ccw) Default: Bit = 0 Bit 2: Scaling Function: 0 = disable, 1 = enable; Standard: Bit = 1 (s. Object 6001,6002) Default: Bit = 1 Bit13: Speed Format: 0 = RPM, 1 = Units /second Default Bit = 0 Bit14: Startup Mode: 0 = after Bootup Pre-Operational, 1 = after Bootup Operational mode Default Bit = 0 Bit15: Event Mode: 0 = Position output acc. to TPDO 1800h, 1 = output on each change of position Default Bit = 0 Bit Function Bit = 0 Bit = 1 C1 C2 0 Code sequence CW CCW M M 1 Commissioning Diagnostic Control Disabled Enabled O O 2 Enable scaling Disabled Enabled O M 3 Measuring direction Forward Reverse O O 4 … 11 Reserved for further use 12 Manufacturer specific parameter N.A. N.A. O O 13 Speed Format RPM Unit/sec O O 14 Sartup automatic in OP-Mode Disabled Enabled O O 15 Event Mode Position* Disabled Enabled O O Figure 16 * set this mode in Transmission Type in TPDO to 254 M = Function must be supported O = optional

R60712.0002 EN - 20 7.2 Object 6001h: measuring steps per revolution (Resolution) This parameter configures the desired resolution per revolution. The encoder itself then internally calculates the appropriate scale factor. The calculated scaling factor MUR (by which the physical position value will be multiplied) is worked out according to the following formula: MURF = Measuring steps per revolution (6001h) / phys. resolution Singleturn (6501h) Data content: Range of values: 1....maximum physical resolution (65536) 16-bit Default setting: 8192 (13-bit) 7.3 Object 6002h: Total number of measuring steps This parameters configures the total number Singleturn and Multiturn measuring steps. A factor will be applied to the maximum physical resolution. The factor is always < 1 . After the stated number of measuring steps, the encoder will reset itself to zero. Data content: Range of values: 1....maximum physical resolution (268435456) 28-bit Default setting: 33554432 (25-bit) Example: Input 200000h The physical position value will be multiplied by a factor of 0. XXXXXX and output as the final position. 7.4 Object 6003h: Preset Value The position value of the encoder will be set to this preset value. This allows, for example, for the encoder’s zero position to be compared with the machine’s zero position. Data content: Range of values: 1.... maximum physical resolution (268435456) 28-bit Default setting: 0

R60712.0002 EN - 21 7.5 Object 6004h: Position Value The encoder transmits the current position value (adjusted possibly by the scaling factor) Data content: Range of values: 1.... maximum physical resolution (268435456) 28-bit 7.6 Object 6030h: Speed Value The encoder outputs the current calculated speed (possibly with scaling factor) as a 16-bit value. The speed is dependent on the settings of Object 2130h. These values affect the calculation and the result. Data content: Range of values: 0....maximum speed 15000 RPM With values greater than 12000 RPM a warning message will be sent and the Warning Bit “Overspeed Bit 0” in the Object Warnings 6505h will be set. Parameters that may also effect this Object are mentioned in 2130h. 7.7 Object 6040h: Acceleration Value The encoder outputs the current calculated acceleration (correctly signed) as a signed 16-bit value. The acceleration is calculated from the changes in speed and is thus also indirectly dependent on the settings of Object 2130h. These values affect the calculation and the result. Data content: Range of values: 0.... +/- maximum acceleration Negative values signify a negative acceleration (the speed drops) An average acceleration a is the time change of the speed v and can thus be described formally as the derivative speed with respect to time t; here an average acceleration is calculated from the difference of the speeds Δv at 2 different points in time Δt (t2-t1). a = Δv /Δt or a = v2- v1 / t2-t1

R60712.0002 EN - 22 7.8 Object 6200h: Cyclic Timer Defines the cycle time, with which the current position will be output by means of PDO 1 (see Object 1800h).The timer-controlled output becomes active, as soon as a cycle time >0 is entered. This Object is only present for reasons of compatibility with earlier profile versions. Instead of this Object, please use the Event Timer Sub index (05h) in the current Transmit PDO. Data content: Range of values: 0 ... FFFFh (65535) gives a cycle time in milliseconds Standard value = 0h 7.9 Object 6500h: Display Operating Status This Object displays the status of the programmed settings of Object 6000h. Data content: Data content: see Object 6000h 7.10 Object 6502h: Number of Multiturn revolutions This Object shows the number of revolutions, which the multiturn encoder should count. The value depends on the encoder type and any value between 4096 (12 Bit) and 65535 (16 Bit) could occur. This predefined value only affects the number of revolutions. It does not affect the resolution. Data content: Range of values: 4096 to 65535 Default setting 1000h corresponds to 4096

R60712.0002 EN - 23 7.11 Object 6503h: Alarms In addition to the errors that are signalled via emergency messages, Object 6503h provides for further error messages. The corresponding error bit is set to 1 for as long as the error condition applies. Data content: Figure 17 If an error occurs, then in both cases an emergency message (ID=80h+node number) with the error code 1000h (Generic error) is sent. 7.12 Object 6504h: Supported Alarms This Object is used to display which alarm messages are supported by the encoder (see Object 6503h). Data content: Range of values: see Object 6503h The alarm message is supported when the bit is set to 1 Example: Bit 0 = 1 Position error display is supported 7.13 Object 6505h: Warnings Warning messages show that tolerances of internal encoder parameters have been exceeded. With a warning message – unlike with an alarm message or emergency message – the measured value can still be valid. The corresponding warning bit will be set to 1 for as long as the tolerance is exceeded or the warning applies. Data content:

R60712.0002 EN - 24 Figure 18 When Bit 2 or 3 is active then simultaneously an emergency message (ID=80h+node number) with the Error code 5200h (Device Hardware) is sent. 7.14 Object 6506h: Supported Warnings This Object is used to display which warning messages are supported by the encoder (see Object 6505h). Data content: Range of values: see Object 6505h The warning is supported when the bit is set to 1. 7.15 Object 6400h: Working Area State Register 2 values This Object contains the current state of the encoder position with respect to the programmed limits. The flags are either set or reset depending on the position of both limit values. The comparison with both limit values takes place in "real time" and can be used for real-time positioning or for limit switching. Figure 1910 Range of values 8-bit Data content see Bit 0...7 Both limit values Object 6401h and 6402h must be checked to ensure that the output signals are correctly activated:

R60712.0002 EN - 25 Object 6401h: Working Area Low Limit 2 values Object 6402h: Working Area High Limit 2 values These two parameters configure the working area. The state inside and outside this area can be signaled by means of Flag bytes (Object 6400h Working Area State). These area markers can also be used as software limit switches. Data content: Range of values: 1....maximum physical resolution (268435456) 28-bit Default setting: 33554432 (25-bit) Working Area High Limit 0 Working Area Low Limit 7.16 Object 2100h: Baud rate This Object is used to change the baud rate via software. The default setting is FFh, which means that the hardware setting for the baud rate has priority. If the value is set between 1..9 and the parameter saved, then on the next Power ON or with a reset node, the device will boot up with the modified baud rate. After changing the baudrate it is necessary to save the parameters with object 2105h permanently in the EEprom. Data content: Range of values 1 ...8 ( see Table Hardware switches : CANopen Baudrate) Default setting: 0x05 7.17 Object 2101h: Node address This Object is used to change the node address via software. The default setting is 0xFFh, which means that the hardware setting for the node address has priority. After changing the node address it is necessary to save the parameters with object 2105h permanently in the EEprom. Data content: Range of values 1 ...127 or 1..7Fh Default setting: FFh The node number 0 is reserved and may not be used by any node. The resulting node numbers lie in the range 1...7Fh hexadecimal or (1...127)

R60712.0002 EN - 26 The acceptance of a new node number only becomes effective when the encoder is rebooted (Reset/Power-on) or by means of an NMT Reset Node command. All other settings within the object table are however retained. 7.18 Object 2102h: CAN bus termination OFF/ON This Object can be used to set the bus termination via software. By default the value is set to 0, which means that the hardware setting for the bus termination has priority. After changing the node address it is necessary to save the parameters with object 2105h permanently in the EEprom. Data content: Range of values 0..1 Default setting: 0 *Termination on at Encoders with cable outlet and one M12-Connector Please note that when software termination is selected, then the hardware settings are non-operative and vice versa. 7.19 Object 2103h: Firmware flash version This object is used to display the current firmware version as a 16-bit hexadecimal value. This value serves to verify that the device is to the latest revision. Data content: Range of values: to FFFFh Example: 4FA6h current firmware 7.20 Object 2105h: Save All Bus Parameters This object stores all bus parameters (Objekt 2100h, 2101h, 2102h) permanently in an EEprom. Using the command "save" (save all Parameters) causes all the parameters to be stored. This process requires ca. 200ms. In order to prevent an inadvertent save, the instruction will only be executed if the string "save" is entered as a codeword into this Sub-Index. A read access to the index shows 0xFFFFFFFF. Byte 3: 73h (ASCII-Code for "s") Byte 2: 61h (ASCII-Code for "a") Byte 1: 76h (ASCII-Code for "v")

R60712.0002 EN - 27 Byte 0: 65h (ASCII-Code for "e") value range: „save“ in hexadecimal 0x65766173 7.21 Objekt 2110h: Sensor Configuration Data This Object is used to get information about the configuration of the sensor. The default is downloaded as a factory default, which means that normally no change will be necessary. value range : 0… FF,FFh… 7.22 Objekt 2120,4h: Actual temperature Position-Sensor * This Object can be used to read out the actual temperature. Every 6 minutes the temperature currently occurring in the device will be stored under Object 2150,sub1 Last Stored Temperature. The maximum and minimum temperatures are stored under Object 2130,sub2 and sub 3. The maximum range of values is 1...256. value range 00…FFh Example: 0x59 means ca. 25°C Following temperature values are adjusted reference values: -20°C means 0x2Ch 0°C means 0x40h 100°C means 0xA4h Example: Selected value 0x71h from Object 2120,4h 0x71h – 0x40h = 0x31h correspond to 49°C decimal This object could be mapped to the PDO information. The accuracy of the measuring value averages to �} 6°C, as measured by the internal sensor logic.

R60712.0002 EN - 28 7.23 Objekt 2120,2h: Actual temperature lower limit Position- Sensor 7.24 Objekt 2120,3h: Actual temperature upper limit Position- Sensor These two parameters configure the temperature working area. The state outside this area can be signalled by means of an Emergency Message. These area markers can also be used as a kind of temperature limit switches. value range 00…FFh example: 0x20 correspond to ca. -32°C Following temperature values are adjusted reference values: -20°C means 0x2Ch 0°C means 0x40h 100°C means 0xA4h Value range: 0x20h .. 0xACh Default settings: 0xA2h Temperature High Limit 0x20h Temperature Low Limit 7.25 Object 2130h: Encoder Measuring Step Using the parameter Object 2130,sub1 Speed Calculation Multiplier it is possible, for example, to specify the circumference of a measuring wheel so that the position can be read out in mm . This Object is used to adjust how the speed output occurs. Under Object 2130,sub2 Speed Calculation Divisor , a parameter is provided as the divisor for a unit factor. Under Object 2130,sub3 Speed Average Value, the number of measured values required to create the moving average is entered. The maximum range of values is 1...32. These parameters have only influence at units per second. Range of values : see table

R60712.0002 EN - 29 2130h Sub 1 Speed Calculation Multiplier Default setting: 10 2130h Sub 2 Speed Calculation Divisor Defautl setting: 10 2130h Sub 3 Speed Avarage Calc Value Defautl setting: 10 7.26 Object 2140h: Customer Memory (16 Bytes) These 4 parameters constitute a memory area for the user. 4 data words with a maximum of 4 bytes can be stored. This area is not checked for content, which means in effect that any format can be filed. Data content: Range of values: Numeric, alphanumeric Default setting: 0 7.27 Object 2150h: Temperature History This Object can be used to read out the temperature. Every 6 minutes the temperature currently occurring in the device will be stored under Object 2150,sub1 Last Stored Temperature. The maximum and minimum temperatures are stored under Object 2130,sub2 and sub 3. The maximum range of values is 1...256. Data content: A value of 0x50 corresponds to ca. 20°C A value of 0x40 corresponds to ca. 0°C A value of 0x90 corresponds to ca. 85°C 2150h Sub 1 Last Stored Temperature Default setting :0x50 2150h Sub 2 Temperature maximum Val Default setting: 0x50 2150h Sub 3 Temperature minimum Val Default setting: 0x50 2150h Sub 4 Flag Byte Default setting: 0 Object 1029h: Error Behaviour If a serious error is detected, then the device should automatically switch to Pre-Operational mode. The settings in this Object can be used to determine how the device is to behave when an error arises. The following error classes are covered. 1029h,Subindex 1 Communication Errors

R60712.0002 EN - 30 • Bus Off state of the CAN interface • Life guarding event has occurred • Heartbeat monitoring has failed 1029h,Subindex 2 Device Profile Specific • Sensor error and Controller error • Temperature error 1029h,Subindex 3 Manufacturer Profile Specific • internal Controller error The value of the Object classes is put together as follows: Range of values: 8-bit • 0 Pre-Operational Mode (only if Operational Mode was active before) • 1 no change of mode • 2 Stopped Mode • 3…127 reserved Objects not mentioned All Objects not mentioned here serve as additional information and can be found in the Encoder profile DS 406 V3.1.

R60712.0002 EN - 31 8. Network Management The encoder supports the simplified Network Management as defined in the profile for "minimum capability devices" (minimum boot up). The following function state diagram acc. to DS 301 shows the various node states and the corresponding network commands (controlled by the Network Master via NMT services): (1) At Power on the NMT state initialisation is entered autonomously (2) NMT state Initialisation finished - enter NMT state Pre-operational automatically (3) NMT service start remote node indication or by local control (self-starting) (4), (7) NMT service enter pre-operational indication (5), (8) NMT service stop remote node indication (6) NMT service start remote node indication (9), (10), (11) NMT service reset node indication (12), (13), (14) NMT service reset communication indication Initialization: This is the initial state after the power supply is applied, following a device Reset or Power ON. The node automatically enters the Pre-operational state once it has run through the Reset and Initialization routines. The LEDs display the momentary status. Pre-operational: The CAN node can now be addressed via SDO messages or with NMT commands under the standard identifier. Then follows the programming of the encoder or communication parameters. Operational: The node is active. Process values are transmitted over the PDOs. All NMT commands can be evaluated. Prepared or Stopped: In this state the node is no longer active, which means that neither SDO nor PDO communications are possible. The node can be set to either the Operational or Pre-operational state by means of NMT commands.

R60712.0002 EN - 32 9. NMT Commands NMT Commands All NMT commands are transferred as an unconfirmed NMT Object. Because of the broadcast (network-wide) communication model, the NMT commands are recognized by each station. An NMT Object is structured as follows: COB-ID = 0 Byte 0 = Command byte Byte 1 = Node number The COB-ID of the NMT Object is always 0 The node is addressed via the node numbers. With node number 0 all nodes are addressed. Figure 20 1 On Power ON all the parameters in the whole Object Dictionary will have their values set. 2 On Power ON only the parameters in the section Communication Profile of the Object Dictionary will have their values set.

10. Glossary Baud rate: The baud rate is the transmission rate. It is related with the nominal bit timing. The maximum possible baud rate depends on many factors that influence the signal propagation time on the bus. There is a substantial link between the maximum baud rate and the bus length and cable type. Various baud rates are defined between 10 kbit/s and 1 Mbit/s in CANopen. CANopen: CANopen is a CAN-based protocol developed originally for industrial control systems. The specifications include various device profiles as well as the framework for specific applications. CANopen networks are also used in off-road vehicles, marine electronics, medical appliances and trains. The very flexible application layer and the many optional features are ideal for customized solutions. A wide range of configuration tools is moreover available. The user can define on this basis application-specific device profiles. Further information about CANopen can be found in the Internet at the address www.can-cia.org. EDS file: The EDS (Electronic Data Sheet) file is provided by the manufacturer of a CANopen device. It has a standardized format for the description of devices. The EDS file contains information about: • File description (name, version, date of creation etc.) • General device information (manufacturer name and code) • Device name and type, version, LMT address • Supported baud rates and boot-up ability • Description of the supported objects through their attributes. Node number: Within a CanOpen network, every device is defined by its node number (node ID). The permissible node numbers are in the range of 1-127 and can only be used once within a network.

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