Руководство по эксплуатации Hengstler ACURO CANopen (EN)

email: sales@impulseautomation.co.uk web: www.impulseautomation.co.uk Information shown in these data sheets are for guidance purposes only, no liability is accepted for any errors or omissions. The designer or user is solely responsible for the safe and proper use of these parts, assemblies or equipment described. GENERAL INFORMATION FIELD OF APPLICATION Basics of Absolute Encoders ACURO CANopen The AC 58 is an absolute shaft encoder By means of a special filter methods, the (encoder, angle encoder). The version station only accepts the relevant messa- described in this technical manual sends its ges.

The identifier transmitted with the current position to another station via the message is the basis for the decision as to "CAN-bus" transmission medium (physi- whether the message will be accepted or cally: screened and twisted two-wire line). not. The serial bus system CAN (Controller Area The bus coupler is standardised according to Network), which had been originally deve- the international standard ISO-DIS 11898 loped by Bosch/ Intel for automotive uses, (CAN High Speed) standard and allows data is gaining ground in industrial automation to be transferred at a maximum rate of 1 technology. The system is multimaster- MBit/ s. The most significant feature of the compatible, i.e.

several CAN- stations are CAN-protocol is its high level of transmis- able to request the bus at the same time. sion reliability (Hamming distance = 6). The message with the highest priority (determined by the identifier) will be received The CAN-Controller Intel 82527 used in immediately. the encoder is basic as well as full-CAN compatible and supports the CAN-specifi- The data transfer is regulated by the mes- cation 2.0 part B (standard protocol with sage's priority. Within the CAN system, 11-bit- identifier as well as extended proto- there are no transport addresses, but mes- col with 29-bit identifier). Up to now, only 11- sage identifiers.

The message which is bit identifiers have been used for CANopen. being sent can be received by all stations at the same time (broadcast). In systems, where the position of a drive or of any other part of a machine has to be recorded and signalled to the control system, the AC 58 can assume this function. The AC 58 can resolve, for instance, positio- ning tasks by sending the check-back signal concerning the present drive position via the CAN bus to the positioning unit. Doc No: EP0004 Rev: 001 Impulse Automation Limited United Kingdom Company Registration 665193 Page 2015-03-10 1

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Information shown in these data sheets are for guidance purposes only, no liability is accepted for any errors or omissions. The designer or user is solely responsible for the safe and proper use of these parts, assemblies or equipment described. CANOPEN COMMUNICATION MODEL AND PROFILE Basics of Absolute Encoders ACURO CANopen Layer 1 (Physical Layer): ISO-DIS 11898 (CAN High Speed) Layer 2 (Data Link Layer): ISO-DIS 11898 (CAN High Speed) Layer 7 (Application Layer): CiA DS 301 (CANopen CAL-based Communication Profile) + Device profile CiA DS 4xx (CANopen Device Profile for xx) For the following devices, profiles already exist::

• CiA Draft Standard Proposal 401 for Input/Output Modules • CiA Draft Standard Proposal 402 for Drives and Motion Control • CiA Work Item 403 for Human-Machine Interfaces • CiA Work Draft 404 for Closed-Loop Controllers and Transformers • CiA Work Item 405 for IEC-1131 Interfaces • CiA Draft Standard Proposal 406 for Encoders • CiA Work Item 407 for Public Transport • CiA Work Item 408 for Fork-Lifts Doc No: EP0004 Rev: 001 Impulse Automation Limited United Kingdom Company Registration 665193 Page 2015-03-10 2

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Information shown in these data sheets are for guidance purposes only, no liability is accepted for any errors or omissions. The designer or user is solely responsible for the safe and proper use of these parts, assemblies or equipment described. THE CANOPEN PROFILE THE ENCODER DEVICE PROFILE (CIA DSP 406) Basics of Absolute Encoders ACURO CANopen About two and a half years after the CiA, the CANopen allows for: association of the user and manufacturer of • auto configuration of the network, CAN products, had adopted the CAN • comfortable access to all device Application Layer (CAL), CANopen and the parameters.

respective device profiles paved the way • synchronisation of the devices, for the development of open systems. • cyclical and event-controlled process CANopen has been developed under the data processing, technical direction of the Steinbeis • simultaneous data input and output. Transfer Centre for Automation (STA Reutlingen; Germany) on the basis of the CANopen uses four communication objects layer 7 CAL specification. (COB) with different features: Compared with CAL, CANopen only provi- • Process Data Objects (PDO) for des the functions needed for this special real-time data purpose.

CANopen is thus a part of CAL • Service Data Objects (SDO) for the which has been optimised for application transfer of parameters and programs purposes and allows for a simpler system • Network Management (NMT, structure as well as for simpler devices. Life-Guarding) CANopen has been optimised for a quick • predefined objects (for synchronisation, transfer of data in real-time systems and time stamp, emergency message) has been standardised for different device profiles. All device parameters are stored in an The CAN in Automation (CiA) association of object directory.

The object directory users and manufacturers is responsible for contains the description, data type and the establishing and the standardisation of structure of the parameters as well as their the respective profiles. addresses (index). The directory consists of three parts: com- The RA58 with CANopen meets the require- munication profile parameters, device pro- ments laid down in the communication pro- file parameters and manufacturer specific file (CiA DS 301) and in the device profile for parameters. encoders.

This profile describes a binding, but manu- • the extended category C2 contains a facturer-independent definition of the inter- variety of additional functions which face for encoders. The profile not only defi- either have to be supported by nes which CANopen functions are to be category C2 shaft encoders used, but also how they are to be used. This (mandatory) or which are optional. standard permits an open and manufactu- Category C2 devices thus contain all rer-independent bus system. C1 and C2 mandatory functions as well as, depending on the manufacturer, The device profile consists of two object further optional functions.

categories • the standard category C1 describes all Furthermore, an addressable area is the basic functions the shaft encoder defined in the profile, to which, depending must contain on the manufacturer, different functions can be assigned. Doc No: EP0004 Rev: 001 Impulse Automation Limited United Kingdom Company Registration 665193 Page 2015-03-10 3

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Information shown in these data sheets are for guidance purposes only, no liability is accepted for any errors or omissions. The designer or user is solely responsible for the safe and proper use of these parts, assemblies or equipment described. DATA TRANSFER COB IDENTIFIER NODE NUMBER Basics of Absolute Encoders ACURO CANopen In CANopen, the data is transferred by The process data objects (PDO) serve the means of two different communication highly dynamic exchange of real-time data types (COB = Communication Object) with (e.g. position of the shaft encoder) with a different features: maximum length of 8 Byte.

This data is transferred with high priority (low COB • Process Data Objects (PDO) identifier). PDOs are broadcast messages • Service Data Objects (SDO) and put their information simultaneously at the disposal of all desired receivers. The priority of the message objects is deter- mined by the COB identifier. The service data objects (SDO) form the communication channel for the transfer of device parameters (e.g. programming of the shaft encoders' resolution). Since these parameters are transferred acyclically (e.g. only once when running up the network), the SDO objects have a low priority (high COB identifier).

For an easier administration of the identifiers, CANopen uses the "Predefined master/Slave Connection Set"). In this case, all identifiers with standard values are defined in the object directory. However, these identifiers can be modified according to the customers' needs via SDO access. The 11-bit identifier consists of a 4 Bit function code and a 7 Bit node number. Bit-No. 10 9 8 7 6 5 4 3 2 1 0 Type Function code Node number Assignment 1 x x x x 0 0 x x x x x 1 x = binary value can be selected freely 0 or 1); 0 = 0 value is fixed The higher the value of the COB identifier, the lower the identifier’s priority!

The 7-bit node number is set by means of the hardware via the 5 DIP switches on the encoder’s back. Doc No: EP0004 Rev: 001 Impulse Automation Limited United Kingdom Company Registration 665193 Page 2015-03-10 4 Bit-No. 10 9 8 7 6 5 4 3 2 1 0 Type Function code Node number Assignment 1 x x x x 0 0 x x x x x

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