BEI Sensors THK5 - Manual (Page 4)

POSI+ CANOPEN USER MANUAL
Page 4 Version 1.02
BEI IDEACOD SAS
Espace Européen de l’Entreprise
9, rue de Copenhague
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 : [email protected]
Web : www.bei-ideacod.com
CANopen
Transmission Technology:
Two-core cable
Baud rates: 10 kBaud up to 1 MBaud
Participants: maximum 127
Cable Length: 30 m for 1 MBaud
1000 m for 20 kBaud
The data communication is done via message telegrams. In general, telegrams can be split in a
COB-Identifier and up to 8 following bytes. The COB-Identifier, which determines the priority of the
message, is made from the function code and the node number.
The node number is uniquely assigned to each user. The function code varies according to the
type of message transmitted:
- Administrative messages (LMT, NMT)
- Service data objects (SDOs)
- Process data Objects (PDOs)
- pre-defined messages (synchronization, emergency messages)
PDOs (Process Data Objects) are needed for real time data exchange. Since this messages
possess a high priority, the function code and therefore the identifier are low. SDOs (service data
objects) are necessary for the bus node configuration (e.g. transfer of device parameters).
Because these message telegrams are tranferred acyclicly (usually only while powering up the
network), the priority is low.
BEI IDEACOD rotary encoders with CANopen interface support all CANopen functions. The
following operating modes can be programmed:
- Response to a RTR message (Polled mode):
The position value is only given upon request
- Cyclic Mode:
The position value is written cyclically (interval adjustable) to the bus
- Sync mode:
After receiving a sync message by the host, the encoder answers with the current
process value. If a node is not required to answer after each sync message, a parameter
sync counter can be programmed to skip a certain number of sync messages before
answering again
Further functions (direction of rotation, resolution,etc..) can be parameterized. BEI IDEACOD
rotary encoders correspond with the class 2 profile for encoder (
DS 301 V4.0.2, DS 406 V3.1) ,
whereby the characteristics of rotary encoders with CANopen interface are defined. For
configuration and parameterization various software tools are available from different providers.
With the help of the provided EDS file (electronic datasheet) simple line-up and programming are
possible.