Bei-sensors THK5 Manual de usuario descargar pdf (Pagina 2)

POSI+ CANOPEN USER MANUAL

Page 2 Version 1.02

BEI IDEACOD SAS

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B.P. 70044 Schiltigheim

F 67013 Strasbourg Cedex

Tél : +33 (0)3 88 20 80 80

Fax : +33 (0)3 88 20 87 87

Mail : info@bei-ideacod.com

Web : www.bei-ideacod.com

CONTENTS

1. Introduction.............................................................................................................................................3

1.1 Absolute rotary encoder......................................................................................................................3

1.2 CANopen technology..........................................................................................................................3

1.3 CAN Communication Reference Model............................................................................................5

1.4 Definitions..............................................................................................................................................6

1.5 Troubleshooting ....................................................................................................................................7

2. Device Configuration.............................................................................................................................8

2.1. CANopen Data Transmission..............................................................................................................8

Data Transmission - COB-ID

2.2. Service data communication ............................................................................................................9

Request for parameter – Parameter to the encoder - Index / Sub-index - SDO examples:

Request of a value by the master from the slave

Writing of a value by the master into the slave

2.3 Process data communication...........................................................................................................11

Synchronous- Cyclical (asynchronous) - Response to an RTR message -Transmission of the current

position

3. Operational mode................................................................................................................................12

Init - Pre-operational mode - Operational mode - Stopped mode - Reset of the absolute rotary

encoder

4.Communication objects 1000h to 1FFFh (DS 301)..............................................................................14

Object 1010h: Store parameters

Object 1011h: Restore Default parameters

Object 1800h: 1st Transmit PDO communication Parameter

Transmission mode

COB-ID Structure

Inhibit Time (Sub-index 3)

Event Timer (Sub-index 5)

Object 1801h: 2nd Transmit PDO communication Parameter

5. Manufacturer-specific Objects 2000h to 5FFFh.................................................................................20

Object 2002h: Speed

Object 2005h: PDO type

Object 2100h: Transmission Rate

Object 2101h: Node Number

6. Encoder-specific objects 6000h to 9FFFh (DS 406)............................................................................22

Object 6000h: Operating Parameters

Object 6001h: Measuring Units per revolution

Object 6002h: Total measuring range in measuring units

Object 6003h: Preset Value

Object 6004h: Position Value

Object 6200h: Cyclic Timer

Object 6500h: Operating Status

Object 6501h: Singleturn Resolution (Rotary)

Object 6502h: Number of Distinguishable Revolutions

Object 6503h: Alarms

Object 6504h: Supported Alarms

Object 6505h: Warnings

Object 6506h: Supported Warnings

Object 6507h: Profile and Software Version

Object 650Ah: Module identification

Object 650Bh: Serial Number

Appendix: Compatibility with with the old encoders SHM5/SHU9/CHU9/MHM5..............................31

1 2 3 4 5 6 7 ... 33 34

POSI+ CANOPEN USER MANUAL 1

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