Pepperl+Fuchs Absolute Rotary Encoder Manual de usuario

Absolute Rotary Encoder

with CANopen Interface

FACTORY AUTOMATION

MANUAL

With regard to the supply of products, the current issue of the following document is ap-

plicable: The General Terms of Delivery for Products and Services of the Electrical Indus-

try, published by the Central Association of the Electrical Industry (Zentralverband

Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the

supplementary clause: "Expanded reservation of proprietorship"

Absolute Rotary Encoder

1 Introduction................................................................................. 8

1.1 Content of this Document ................................................................... 8

1.2 Target Group, Personnel...................................................................... 8

1.3 Symbols Used ...................................................................................... 8

2 Declaration of conformity ........................................................ 10

2.1 CE conformity..................................................................................... 10

3 Safety ......................................................................................... 11

3.1 Symbols relevant to safety................................................................ 11

3.2 Intended Use ...................................................................................... 11

3.3 General safety instructions ............................................................... 11

4 General Information on System Integration ........................... 12

4.1 Using this Manual .............................................................................. 12

4.2 General CANopen Information .......................................................... 12

5 Installation of Photoelectric Absolute Rotary Encoder ........ 14

5.1 Signal Assignment of Terminal Block .............................................. 14

5.2 Signal Assignment of Connector and Cable Variants .................... 16

5.3 Activation of the Terminator.............................................................. 17

5.4 Installation Hints for Cabling ............................................................ 17

5.5 Setting of Node Number and Baud Rate in the Bus Cover ............ 17

5.6 Status of the Bus Cover LEDs........................................................... 19

6 Installation of Magnetic Absolute Rotary Encoder ............... 21

6.1 Signal Assignment of Connector and Cable Variants .................... 21

6.2 Activation of Terminator .................................................................... 21

6.3 Setting of Node Number and Baud Rate.......................................... 21

6.4 Status of the LEDs.............................................................................. 22

Absolute Rotary Encoder

7 Quick Start Guide ..................................................................... 23

7.1 Configure the Absolute Rotary Encoder for Integration

into a CAN Network ............................................................................23

7.2 Configure application-specific encoder Parameters ......................25

8 Configuration ............................................................................ 29

8.1 Operating Modes ................................................................................29

8.1.1 General............................................................................................. 29

8.1.2 Mode: Pre-operational...................................................................... 29

8.1.3 Mode: Start - Operational ................................................................. 29

8.1.4 Mode: Stopped................................................................................. 29

8.1.5 Reinitialization of the Rotary Encoder............................................... 29

8.2 Normal Operating ...............................................................................30

8.3 Storing Parameter...............................................................................31

8.3.1 List of storable Parameters............................................................... 31

8.3.2 Storing Procedure ............................................................................ 31

8.4 Restoring Parameters ........................................................................ 32

8.5 Usage of Layer Setting Services (LSS) ............................................32

9 Programmable Parameters...................................................... 34

9.1 Programming example: Preset Value ............................................... 35

9.1.1 Set Encoder Preset Value................................................................. 35

9.2 Communication Profile DS301 specific objects

from 1000h –1FFFh ...........................................................................36

9.3 Manufacturer specific objects from 2000h –5FFFh........................37

9.4 Application specific objects from 6000h –67FEh...........................38

Absolute Rotary Encoder

9.5 Object Descriptions ........................................................................... 39

9.5.1 Object 1000h: Device Type .............................................................. 39

9.5.2 Object 1001h: Error Register ........................................................... 39

9.5.3 Object 1003h: Pre-Defined Error Field ............................................. 39

9.5.4 Object 1005h: COB-ID Sync ............................................................ 40

9.5.5 Object 1008h: Manufacturer Device Name ...................................... 40

9.5.6 Object 1009h: Manufacturer Hardware Version ............................... 40

9.5.7 Object 100Ah: Manufacturer Software Version ................................ 40

9.5.8 Object 100Ch: Guard Time .............................................................. 41

9.5.9 Object 100Dh: Life Time Factor ....................................................... 41

9.5.10 Object 1010h: Store Parameters ...................................................... 41

9.5.11 Object 1011h: Restore Parameters.................................................. 41

9.5.12 Object 1012h: COB-ID Time Stamp Object...................................... 42

9.5.13 Object 1013h: High Resolution Time Stamp .................................... 42

9.5.14 Object 1014h: COB-ID Emergency Object....................................... 42

9.5.15 Object 1016h: Consumer Heartbeat Time ....................................... 42

9.5.16 Object 1017h: Producer Heartbeat Time ......................................... 43

9.5.17 Object 1018h: Identity Object .......................................................... 43

9.5.18 Object 1020h: Verify Configuration .................................................. 43

9.5.19 Object 1029h: Error Behavior........................................................... 43

9.5.20 Object 1800h: 1st Transmit PDO Communication Parameter........... 44

9.5.21 Object 1801h: 2nd Transmit PDO Communication Parameter ......... 44

9.5.22 Object 1A00h: 1st Transmit PDO Mapping Parameter ..................... 45

9.5.23 Object 1A01h: 2nd Transmit PDO Mapping Parameter .................... 45

9.5.24 Object 1F50h: Download Program Area .......................................... 46

9.5.25 Object 2000h: Position Value ........................................................... 46

9.5.26 Object 2100h: Operating Parameters............................................... 46

9.5.27 Object 2101h: Resolution per Revolution......................................... 47

9.5.28 Object 2102h: Total Resolution ........................................................ 47

9.5.29 Object 2103h: Preset Value ............................................................. 48

9.5.30 Object 2104h: Limit Switch, min....................................................... 48

9.5.31 Object 2105h: Limit Switch, max...................................................... 48

9.5.32 Object 2160h: Customer Storage..................................................... 49

9.5.33 Object 2200h: Cyclic Timer PDO ..................................................... 49

9.5.34 Object 2300h: Save Parameter with Reset....................................... 49

9.5.35 Object 2600h: High-Resolution Postion Value ................................. 50

9.5.36 Object 3000h: Node Number ........................................................... 50

9.5.37 Object 3001h: Baud Rate................................................................. 51

Absolute Rotary Encoder

9.5.38 Object 3002h: Terminator ................................................................. 51

9.5.39 Object 3003h: Auto Baud Detection ................................................. 51

9.5.40 Object 3005h: Auto Boot up ............................................................. 52

9.5.41 Object 3010h: Speed Control........................................................... 53

9.5.42 Object 3011h: Speed Value.............................................................. 53

9.5.43 Object 3020h: Acceleration Control.................................................. 53

9.5.44 Object 3021h: Acceleration Control.................................................. 53

9.5.45 Object 3030h: Backward Compatible Mode ..................................... 54

9.5.46 Object 3040h: Life Cycle Counter..................................................... 55

9.5.47 Object 3050h: Time Stamp Position Value........................................ 55

9.5.48 Object 4000h: Bootloader Control .................................................... 55

9.5.49 Object 4010h: PPR Incremental Encoder......................................... 56

9.5.50 Object 4020h: A/B Phase Shift ......................................................... 56

9.5.51 Object 6000h: Operating Parameters ............................................... 56

9.5.52 Object 6001h: Measuring Units per Revolution ................................ 57

9.5.53 Object 6002h: Total Measuring Range in Measuring Units ............... 57

9.5.54 Object 6003h: Preset Value.............................................................. 57

9.5.55 Object 6004h: Position Value ........................................................... 57

9.5.56 Object 6008h: High Resolution Position Value ................................. 58

9.5.57 Object 6030h: Speed Value.............................................................. 58

9.5.58 Object 6040h: Acceleration Value .................................................... 59

9.5.59 Object 6200h: Cyclic Timer .............................................................. 59

9.5.60 Object 6300h: Cam State Register ................................................... 60

9.5.61 Object 6301h: Cam Enable Register ................................................ 60

9.5.62 Object 6302h: Cam Polarity Register................................................ 60

9.5.63 Object 6400h: Area State Register ................................................... 63

9.5.64 Object 6401h: Work Area Low Limit ................................................. 63

9.5.65 Object 6402h: Work Area High Limit ................................................ 64

9.5.66 Object 6500h: Operating Status ....................................................... 64

9.5.67 Object 6501h: Singleturn Resolution ................................................ 64

9.5.68 Object 6502h: Number of Distinguishable Revolutions..................... 64

9.5.69 Object 6503h: Alarms....................................................................... 65

9.5.70 Object 6504h: Supported Alarms ..................................................... 65

9.5.71 Object 6505h: Warnings................................................................... 65

9.5.72 Object 6506h: Supported warnings .................................................. 66

9.5.73 Object 6507h: Profile and Software Version ..................................... 66

9.5.74 Object 6508h: Operating Time ......................................................... 67

9.5.75 Object 6509h: Offset Value............................................................... 67

Absolute Rotary Encoder

9.5.76 Object 6509h: Module identification................................................. 67

9.5.77 Object 650Bh: Serial Number .......................................................... 67

10 Troubleshooting........................................................................ 68

10.1 What to Do in Case of a Fault............................................................ 68

2017-04

Absolute Rotary Encoder

Introduction

1Introduction

1.1 Content of this Document

This document contains information that you need in order to use your product throughout the

applicable stages of the product life cycle. These can include the following:

■

Product identification

■

Delivery, transport, and storage

■

Mounting and installation

■

Commissioning and operation

■

Maintenance and repair

■

Troubleshooting

■

Dismounting

■

Disposal

The documentation consists of the following parts:

■

Present document

■

Datasheet

Additionally, the following parts may belong to the documentation, if applicable:

■

EU-type examination certificate

■

EU declaration of conformity

■

Attestation of conformity

■

Certificates

■

Control drawings

■

Additional documents

1.2 Target Group, Personnel

Responsibility for planning, assembly, commissioning, operation, maintenance, and

dismounting lies with the plant operator.

Only appropriately trained and qualified personnel may carry out mounting, installation,

commissioning, operation, maintenance, and dismounting of the product. The personnel must

have read and understood the instruction manual and the further documentation.

Prior to using the product make yourself familiar with it. Read the document carefully.

1.3 Symbols Used

This document contains symbols for the identification of warning messages and of informative

messages.

Warning Messages

You will find warning messages, whenever dangers may arise from your actions. It is mandatory

that you observe these warning messages for your personal safety and in order to avoid

property damage.

Depending on the risk level, the warning messages are displayed in descending order as

follows:

Note!

For full information on the product, refer to the further documentation on the Internet at

www.pepperl-fuchs.com.

Absolute Rotary Encoder

Introduction

2017-04

Informative Symbols

Action

This symbol indicates a paragraph with instructions. You are prompted to perform an action or

a sequence of actions.

Danger!

This symbol indicates an imminent danger.

Non-observance will result in personal injury or death.

Warning!

This symbol indicates a possible fault or danger.

Non-observance may cause personal injury or serious property damage.

Caution!

This symbol indicates a possible fault.

Non-observance could interrupt the device and any connected systems and plants, or result in

their complete failure.

Note!

This symbol brings important information to your attention.

2017-04

Absolute Rotary Encoder

Declaration of conformity

2 Declaration of conformity

2.1 CE conformity

This product was developed and manufactured under observance of the applicable European

standards and guidelines.

Note!

A declaration of conformity can be requested from the manufacturer.

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