Bei-sensors THK4 Manual de usuario

www.beisensors.com page 1/57 THM4 – THK4 Main Features - Compact and heavy-duty industrial design - Interface: CANopen (DS406) CANope

www.beisensors.com page 10/57 Mechanical Data Housing Nickel-plated iron housing Flange Aluminium Shaft Stainless steel Lifetime Dependent on

www.beisensors.com page 11/57 4. Configuration The purpose of this chapter is to describe the configuration parameters of the absolute rotary enco

www.beisensors.com page 12/57 NN: node number It is possible to set all nodes (Index 0) or a single node (Index NN) to stop mode. 4.1.2 Reinitial

www.beisensors.com page 13/57 4.3 Storing Parameter 4.3.1 List of storable Parameter Object Index Object Description 1005h COB-ID Sync 100Ch

www.beisensors.com page 14/57 they can be transferred in one burn cycle to the E2PROM by the parameter memory transfer. The stored parameters are

www.beisensors.com page 15/57 5. Programmable Parameters Objects are based on the CiA 406 DS V3.2: CANopen profile for encoders (www.can-cia.org)

www.beisensors.com page 16/57 5.1 Programming example: Preset Value If a CANopen device is connected and configured with the right baudrate and al

www.beisensors.com page 17/57 5.2 Communication Profile DS301 specific objects from 1000h - 1FFFh In this manual we refer to the communication pro

www.beisensors.com page 18/57 5.3 Manufacturer specific objects 2000h – 5FFFh Object Description Page Hand-Book 2000h Position Value 31 2100h

www.beisensors.com page 19/57 6301h Cam enable register 41 32 6302h Cam polarity register 41 33 6400h Area state register 44 6401h Work area

www.beisensors.com page 2/57 Table of Contents Main Features...1 Mechanical Structure...

www.beisensors.com page 20/57 Object 1001h: Error Register This object is used by the device to display internal faults. When a fault is detected,

www.beisensors.com page 21/57 Object 1005h: COB-ID Sync This object contains the synchronization message identifier. Subindex Description Data

www.beisensors.com page 22/57 Object 100Ch: Guard Time This object contains the guard time in milliseconds. Subindex Description Data Type Def

www.beisensors.com page 23/57 Object 1011h: Restore Parameters This object is used to restore device and CANopen related parameters to factory set

www.beisensors.com page 24/57 Object 1014h: COB-ID Emergency Object This object contains the EMCY emergency message identifier. Subindex Descrip

www.beisensors.com page 25/57 Object 1018h: Identity Object This object contains the device information. Subindex Description Data Type Defaul

www.beisensors.com page 26/57 Object 1800h: 1st Transmit PDO Communication Parameter This object contains the communication parameter of the 1st t

www.beisensors.com page 27/57 252 X X Receive SYNC message and send PDO on Remote Request 253 X Update data and send PDO on Remote Request

www.beisensors.com page 28/57 Object 1A01h: 2nd Transmit PDO Mapping Parameter This object contains the mapping parameter of the 2nd transmit PDO.

www.beisensors.com page 29/57 Object 2000h: Position Value This object contains the position value. Subindex Description Data Type Default Val

www.beisensors.com page 3/57 Object 2300h: Save Parameter with Reset...33 Object 3000h: Node Number ...33 Obj

www.beisensors.com page 30/57 Object 2101h: Resolution per Revolution This object contains the desired steps per revolution of the encoder. Subin

www.beisensors.com page 31/57 If the desired resolution per revolution is less than the really physical resolution per revolution of the encoder,

www.beisensors.com page 32/57 The limit switch, Min sets Bit 30=1 with the next message telegram, if the process value reaches or passes under the

www.beisensors.com page 33/57 2h Customer Storage2 Unsigned 32 rw 3h Customer Storage3 Unsigned 32 rw 4h Customer Storage4 Unsigne

www.beisensors.com page 34/57 Object 3001h: Baudrate This object contains the baudrate of the device. Subindex Description Data Type Default V

www.beisensors.com page 35/57 Object 3020h: Acceleration Control This object contains the acceleration control. The acceleration measurement is di

www.beisensors.com page 36/57 Object 6000h: Operating parameters This object shall indicate the functions for code sequence, commissioning diagnos

www.beisensors.com page 37/57 Object 6001h: Measuring units per revolution This object shall indicate the number of distinguishable steps per rev

www.beisensors.com page 38/57 Object 6030h: Speed Value This object contains the speed value of the encoder. Subindex Description Data Type De

www.beisensors.com page 39/57 Object 6300h: Cam state register This object contains the cam state register. The subindices 1h to FEh contain the c

www.beisensors.com page 4/57 General Security Advise Important Information Read these instructions carefully, and look at the equipment to become

www.beisensors.com page 40/57 6312h Cam3 low limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam3 low limit ch

www.beisensors.com page 41/57 6326h Cam7 high limit rw 0h VAR Highest sub-index supported U8 ro 0x1 1h VAR Cam7 high limit ch

www.beisensors.com page 42/57 Object 6400h: Area state register This object contains the area state register The object provides the actual area s

www.beisensors.com page 43/57 Object 6401h: Work area low limit This object indicates the position value, at which bit 2 of the according work are

www.beisensors.com page 44/57 Object 6501h: Single-turn resolution The object contains the physical measuring steps per revolution of the absolute

www.beisensors.com page 45/57 Object 6504h: Supported alarms The object shall provide the supported alarms of the device. Please refer to the bit

www.beisensors.com page 46/57 Object 6506h: Supported warnings The object provides the supported warnings of the device. Please refer to the bit s

www.beisensors.com page 47/57 Object 6509h: Offset value This object contains the offset value. It is been calculated by the preset function and

www.beisensors.com page 48/57 6. Diagnosis 6.2 Troubleshooting 6.2.1 Power on – Encoder doesn’t respond Problem: The bus is active but the inst

www.beisensors.com page 49/57 7. Mechanical Drawings Synchro Flange (S) Cable exit or 5 pin male M12 Connector Clamp flange (C) Cable exit or

www.beisensors.com page 5/57 1. Introduction This manual explains how to install and configure the MAGNETOCODE absolute rotary encoder with CANop

www.beisensors.com page 50/57 Hollow hollow shaft (B) Cable exit or 5 pin male M12 Connector Mounting instructions The clamp ring may only be

5 pin male M12 Connector Flange and housing dimensions from Synchro Flange

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www.beisensors.com page 53/57 Appendix A: History

www.beisensors.com page 54/57 Appendix B: Glossary A Address Number, assigned to each node, irrespective of whether it is a master or slave. The

www.beisensors.com page 55/57 F FAQ Frequently Asked Questions FC Function code. Determines the type of message sent via the CA

www.beisensors.com page 56/57 SDO Communication object, with a low priority for messaging (configuration, error handling, diagnostics). Slave Bu

www.beisensors.com page 57/57 Appendix C: List of tables Tab.1 Signal Assignment Connector / Cable...

www.beisensors.com page 6/57  Polled mode: The position value is only sent on request.  Cyclic mode: The position value is sent cyclically (r

www.beisensors.com page 7/57 2. Installation 2.1 Electrical Connection 5 pin male M12 connector RJ45 Connector Tab.1 S

www.beisensors.com page 8/57 Setting Node Number via SDO Objects The node number has to be adjusted via SDO objects. The default node number is 3

www.beisensors.com page 9/57 3. Technical Data In the following section you will find general technical data about absolute rotary encoders with C