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CANOpen Specification V1.1 - DSP-406.pdf
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CiA Draft Standard Proposal 406 - CANOpen Device Profile for Encoders
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CANopen
Device Profile for Encoders
CiA Draft Standard Proposal 406
- not recommended for implementation, may be changed without notification -
Version 2.0
Date: 11th May 1998
May 1998, Version 2.0 CiA DSP-406
2 CANopen Device Profile for Encoders
TABLE OF CONTENTS
1 SCOPE ..................................................................................................................................... 5
2 REFERENCES .......................................................................................................................... 6
3 DEFINITIONS, ACRYOMS AND ABBRIVIATIONS...................................................................... 7
4 OPERATING PRINCIPLE .......................................................................................................... 8
4.1 Introduction ........................................................................................................................... 8
4.2 Standardisation Via Profiling................................................................................................. 8
4.3 The Object Dictionary ......................................................................................................... 10
4.3.1 Index and Sub-Index Usage........................................................................................... 11
5 ENCODER PROFILE............................................................................................................... 12
5.1 Class C1............................................................................................................................... 12
5.2 Class C2............................................................................................................................... 12
5.3 Diagnostic Area ................................................................................................................... 12
5.4 Functional Overview............................................................................................................ 12
6 EMERGENCY MESSAGES ..................................................................................................... 13
6.1 Principle.............................................................................................................................. 13
6.2 Error Code Meanings ........................................................................................................... 13
7 THE COMMUNICATION PROFILE ........................................................................................... 14
7.1 1
st
Transmit PDO (asynchronous transmission) ..................................................................... 14
7.2 2
nd
Transmit PDO (synchronous transmission) ....................................................................... 15
7.3 Standard Objects................................................................................................................. 16
7.4 Detailed Specification Communication specific Objects.................................................... 17
8 STANDARDIZED ENCODER PROFILE AREA.......................................................................... 19
8.1 Encoder Parameters ............................................................................................................ 21
8.1.1 Object 6000
h
- Operating Parameters ............................................................................ 21
8.1.2 Object 6001
h
- Measuring units per revolution ............................................................... 23
8.1.3 Object 6002
h
- Total measuring range in measuring units ............................................. 24
8.1.4 Object 6003
h
- Preset value ........................................................................................... 25
8.1.5 Object 6004
h
- Position value ........................................................................................ 26
8.1.6 Object 6005
h
- Linear encoder measuring step settings ................................................. 27
8.1.7 Object 6010
h
- Preset values for multi-sensor devices.................................................... 29
CiA DSP-406 May 1998, Version 2.0
CANopen Device Profile for Encoders 3
8.1.8 Object 6020
h
- Position values for multi-sensor devices ................................................. 31
8.1.9 Object 6030
h
- Speed value .......................................................................................... 33
8.1.10 Object 6200
h
- Cyclic timer ......................................................................................... 35
8.2 Encoder Cams ..................................................................................................................... 36
8.2.1 Object 6300
h
- Cam state register .................................................................................. 37
8.2.2 Object 6301
h
- Cam enable ........................................................................................... 39
8.2.3 Object 6302
h
- Cam polarity .......................................................................................... 41
8.2.4 Object 6310
h
- Cam 1 low limit...................................................................................... 43
8.2.5 Object 6311
h
- Cam 2 low limit...................................................................................... 45
8.2.6 Object 6312
h
- Cam 3 low limit...................................................................................... 47
8.2.7 Object 6313
h
- Cam 4 low limit...................................................................................... 49
8.2.8 Object 6314
h
- Cam 5 low limit...................................................................................... 51
8.2.9 Object 6315
h
- Cam 6 low limit...................................................................................... 53
8.2.10 Object 6316
h
- Cam 7 low limit.................................................................................... 55
8.2.11 Object 6317
h
- Cam 8 low limit.................................................................................... 57
8.2.12 Object 6320
h
- Cam 1 high limit .................................................................................. 59
8.2.13 Object 6321
h
- Cam 2 high limit .................................................................................. 61
8.2.14 Object 6322
h
- Cam 3 high limit .................................................................................. 63
8.2.15 Object 6323
h
- Cam 4 high limit .................................................................................. 65
8.2.16 Object 6324
h
- Cam 5 high limit .................................................................................. 67
8.2.17 Object 6325
h
- Cam 6 high limit .................................................................................. 69
8.2.18 Object 6326
h
- Cam 7 high limit .................................................................................. 71
8.2.19 Object 6327
h
- Cam 8 high limit .................................................................................. 73
8.2.20 Object 6330
h
- Cam 1 hysteresis .................................................................................. 75
8.2.21 Object 6331
h
- Cam 2 hysteresis .................................................................................. 77
8.2.22 Object 6332
h
- Cam 3 hysteresis .................................................................................. 79
8.2.23 Object 6333
h
- Cam 4 hysteresis .................................................................................. 81
8.2.24 Object 6334
h
- Cam 5 hysteresis .................................................................................. 83
8.2.25 Object 6335
h
- Cam 6 hysteresis .................................................................................. 85
8.2.26 Object 6336
h
- Cam 7 hysteresis .................................................................................. 87
8.2.27 Object 6337
h
- Cam 8 hysteresis .................................................................................. 89
8.3 Work Area Supervision ......................................................................................................... 91
8.3.1 Object 6400
h
- Area state register .................................................................................. 91
8.3.2 Object 6401
h
- Work area low limit................................................................................. 93
8.3.3 Object 6402
h
- Work area high limit ............................................................................... 95
8.4 Encoder Diagnostics............................................................................................................ 97
8.4.1 Object 6500
h
- Operating status ..................................................................................... 97
8.4.2 Object 6501
h
- SingleTurn resolution (rotary), Measuring step (linear) ........................... 98
8.4.3 Object 6502
h
- Number of distinguishable revolutions ................................................. 100
8.4.4 Object 6503
h
- Alarms.................................................................................................. 101
May 1998, Version 2.0 CiA DSP-406
4 CANopen Device Profile for Encoders
8.4.5 Object 6504
h
- Supported alarms................................................................................. 102
8.4.6 Object 6505
h
- Warnings .............................................................................................. 103
8.4.7 Object 6506
h
- Supported warnings ............................................................................. 104
8.4.8 Object 6507
h
- Profile and software version ................................................................. 105
8.4.9 Object 6508
h
- Operating time..................................................................................... 106
8.4.10 Object 6509
h
- Offset value........................................................................................ 107
8.4.11 Object 650A
h
- Module identification ........................................................................ 108
8.4.12 Object 650B
h
- Serial number.................................................................................... 110
8.5 Other Objects..................................................................................................................... 111
CiA DSP-406 May 1998, Version 2.0
CANopen Device Profile for Encoders 5
1 SCOPE
This document represents the CANopen device profiles for incremental and absolute, linear
and rotary encoders. Besides position and velocity output possibility complete cam
functionalilty is covered. In addition it is possible to handle multi sensors through one CANopen
device.
All the above devices use communication techniques which conform to those described in the
CiA Draft Standard DS-301 (CANopen Communication Profile for industrial systems based on
CAL). This document should be consulted in parallel to this profile.
Changes to version 1.0:
In difference to the version 1.0 the objects 6100h and 6101h are removed.
In object 6508h the time period to store the operating time of the device will not longer be
defined.
The version 1.0 is extended by objects for covering multi-sensor devices. Additional outputs for
preset values, velocity, module identification are included.
An extra chapter ã8.2 encoder camsÒ is included covering the complete definition of
functionalities for cams in encoders.
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