SKB IS

Absolute rotary encoder with

interface

Technical Manual

Ver. 1.03 011/4/2008

SKB IS SKB IS 195009, Russia, St. Petersburg, Kondratievski av. 2, liter А Tel. +7 (812) 540-03-09, Fax +7 (812) 540-29-33 E-mail: [email protected] www.skbis.ru, www.skbis-lir.ru 12

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Contents 1

INTRODUCTION ........................................................................................................................................................... 4

2

DEFINITIONS................................................................................................................................................................. 4

3

SAFETY AND OPERATION INSTRUCTION............................................................................................................ 5

4

CANOPEN COMMUNICATION AND PROFILE ...................................................................................................... 6 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.7.1 4.7.2

5

ENCODER PROFILE................................................................................................................................................... 17 5.1 5.2

6

GENERAL INFORMATION ........................................................................................................................................... 6 CANOPEN MESSAGE STRUCTURE .............................................................................................................................. 7 TRANSFER OF PROCESS DATA .................................................................................................................................... 8 SERVICE DATA COMMUNICATION (PARAMETER SETTING). ...................................................................................... 10 EMERGENCY SERVICE. ............................................................................................................................................ 11 NETWORK INITIALIZATION AND SYSTEM BOOT-UP. ................................................................................................. 13 NODE AND LIFE GUARDING. ................................................................................................................................... 15 Node Guarding Protocol.................................................................................................................................... 15 The Heartbeat protocol. ..................................................................................................................................... 16

OVERVIEW OF THE ENCODER OBJECTS DICTIONARY ................................................................................................ 17 DETAILED OBJECT DICTIONARY. ............................................................................................................................. 20

TECHNICAL DATA..................................................................................................................................................... 33 6.1 6.2

MECHANICAL .......................................................................................................................................................... 33 ELECTRICAL............................................................................................................................................................ 33

7

MECHANICAL MOUNTING ..................................................................................................................................... 34

8

ELECTRICAL CONNECTIONS AND SETTINGS.................................................................................................. 35 8.1 8.2

TERMINALS AND SWITCHERS. ................................................................................................................................. 35 CABLE CONNECTION. .............................................................................................................................................. 36

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1 Introduction This technical manual describes the software, parameter setting and initial operation of the shaft encoders with CAN interface produced at SKB IS. This manual describes how to use encoder and must be completed with the passport for actual device that is essential part of documentation for the encoder. This manual is intended as a supplement to already existing documentation (catalogues, product information, passport, etc.)

2 Definitions Abbreviations used: CAL

CAN Application Layer

CAN

Controller Area Network

CiA

CAN in Automation. International users and manufacturers group of CAN products

COB

Communication Object

COB ID

COB identifier

DS

Draft standard

LSB

Least significant bit/byte

MSB

Most significant bit/byte

NMT OD

Network Management. CAL service element for initialization, configuration, and error recovery within the network. Object Dictionary

PDO

Process Data Object. Object for the exchange of process data.

RTR

Remote Transmission Request

SDO

Service Data Object. Communication object provides access to entries of a device OD. Synchronization message. Used to synchronize tasks network-wide.

SYNC

For additional information refer to documents: • BOSCH CAN specification 2.0 • CiA draft standard DS 301, CAN Application Layer and Communication Profile • CiA draft standard DS 406, CANopen Device Profile for Encoders CiA • CiA draft standard DS 306, Electronic data sheet specification for CANopen

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3 Safety and operation instruction This manual must be read before initial commissioning of the encoder. The encoder is a precision measurement device. It is used to determine angular positions and revolutions, and to prepare and supply measured values as electrical output signals for the appropriate systems. The encoder may only be used for this purpose. The encoder may only be installed and assembled by suitably qualified personal. Observe the operating instructions of the machine manufacturer. Prior to commissioning the equipment, check all electrical connections. Encoder must only be operated within the specified limited values. The maximum operating voltage must not be exceeded. Only transport or store device in its original package. Never drop encoder or expose it to major vibrations. Avoid impact or shocks on the housing and shaft. Avoid any twist or torsion on the housing. Never make rigid connection between the encoder shaft and drive shaft. Don’t open encoder to make any mechanical changes to it.* Don’t make any electrical changes at the encoder. Completely shield the encoder housing and connection cable. Connect the encoder to protective earth conductor using shielded cable. For connecting cables only use signal cables with twisted wire pairs (CAN+ with CAN- and 0V with +24V). Never plug or unplug the electrical connections when encoder is working.

*

User must only open the cover till making connections and setting address and baudrate.

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4 CANopen communication and profile 4.1 General information The CAN bus (Controller Area Network) was originally developed by BOSCH and Intel as a means of fast, low-cost data transmission in automotive application. Today CAN bus uses in all spheres of industrial automation applications. The CAN bus is a field bus for high-reliability data exchange by serial line in broadcast mode. CAN uses short messages (telegrams), maximum 94 bits. CAN doesn’t use explicit address. Contents of messages consists addresses of source and receiver implicitly. Receiver reacts only for messages meant for it. CAN bus characteristics: • Baudrate up to 1Mbit/s with network expansion 40m. • Real-time capability, defined maximum waiting time for high-priority messages. Really