TP1/TH1 CANopen Gebrauchsanleitung
TP1/TH1 CANopen user manual
NOVOtechnik
SIEDLE GRUPPE
Version 01 2016/06Änderungen vorbehalten / Specifications subject to change 9
1.4 Explanations to Object Library
1.4.1 Object 0x6300 Encoder Cams
Encoder cams are used to indicate if a position falls below or exceeds a defined value.
1.4.2 Cam state registers
Cam active: the current position value is between the higher and lower cam-limit
Cam inactive: the current position value is not between the higher and lower cam-limit.
The values for low limit (0x631x) and high limit (0x632x) regard the values for preset (0x6010) and measuring steps
(0x6005). The value of hysteresis (0x633x) is added in direction of motion.
Note: The cam high limit value can have a lower value than the cam low limit
Note: For operation with two position markers the cam function is only usable for the position marker
which is further away from the connector flange.
A change in cam state causes an EMCY message.
The cam state objects (0x6300) are able to be mapped to the TPDOs.
1.4.3 Object 0x6400 Work Area
It is possible for encoders to define a so-called user defined working area.
The main purpose for a work area is to get a high-priority information (via EMCY message) when the transducer’s po-
sition leaves its predefined working area.
The actual work area information with work area low limit and work area high limit may be stored in object 0x6401 and
0x6402. This way, the area state object (0x6400) may also be used as software limit switches.
1.4.3.1 Work Area Supervision
Each work area channel is fixedly linked to a position channel:
1.4.3.2 Work Area State
Position < Work Area Low Limit
Position >= Work Area Low Limit
Position > Work Area High Limit
Position <= Work Area High Limit
Position <= Preset Value or Position >= Sensor length
otherwise
The values for low limit (0x6401) and high limit (0x6402) regard the values for preset (0x6010) and scaling (0x6501,
0x6502).
A change in work area state causes an EMCY message.
The work area state objects (0x6400) are able to be mapped to the TPDOs.
1.5 LSS / Layer Setting Service
To configure the encoder via the LSS (according CiA DS 305) the encoder is handled as a slave, the
PLC must have a LSS master functionality.
