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CANopen Application and Installation information

1. INTRODUCTION 2
1.1 CANopen communication model 2
1.2 Profile overview 2
1.3 References 3

2. FUNCTIONAL OVERVIEW 3
2.1 Default Identifiers 3
2.2 Boot-up message 4
2.3 Encoder functionality 4

3. SCALING FUNCTION 5
3.1 Overview 5
3.2 Scaling formulas 6

4. PRESET VALUE 6
4.1 Overview 6
4.2 Preset formula 7

5. INSTALLATION 7
5.1 Bus installation 7
5.2 Address setting 7
5.3 Baudrate setting 8
5.4 EDS and DCF files 8
5.5 Parameter settings 8
5.6 Cables and connectors 9

6. MANUFACTURER SPECIFIC FUNCTIONS 10

6.1 Object 5000h - Transmission rate 10
6.2 Object 5001h - Node number 11
6.3 Object 5002h – Address offset 12

7. ENCODER SETUP EXAMPLE 13

APPENDIX A, HISTORY 14
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1. Introduction
This document contains application and installation information on the Leine &
Linde CANopen Encoders RXA 5X7 based on the CiA CANopen Encoder
Profile DS 406. The Encoders support all functions of the profile.

1.1 CANopen communication model

The CANopen communication profile is based on the CAN Application Layer
(CAL) specification from the CiA (CAN in Automation). CANopen comprises a
concept to configure and communicate real-time data using both synchronous
and asynchronous messages. Four types of message (objects) are distinguished:
1. Administrative messages (Layer Management, Network Management and
Identifier Distribution Messages)
2. Service Data Messages (SDO)
3. Process Data Messages (PDO)
4. Pre-defined Messages (Synchronisation-, Time-stamp-, Emergency
Messages)
For further information please see the CANopen specification.

1.2 Profile overview

The Encoder Profile defines the functionality of encoders connected to
CANopen. The operating functions are divided in two device classes:
- Class 1, the Mandatory class with a basic range of functions that all Encoders
must support. The class 1 encoder can optionally support selected class 2
functions, these functions must however be implemented according to the
profile.
- Class 2, where the Encoder must support all class 1 functions and all functions
defined in class 2. The full class 2 functionality includes:
• Absolute position value transfer using either polled, cyclic or sync mode.
• Change of code sequence
• Preset value settings
• Scaling of the encoder resolution
Advanced diagnostics including:
• Encoder identification
• Operating status
• Operating time
• Alarms and warnings

All programming and diagnostic parameters are accessible through SDOs. The
output position value from the encoder is presented in binary format.
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1.3 References
http://www.can-cia.de
CAN Application Layer, DS 201 …207 CiA
CAL Based Communication Profile, DS 301 CiA
Device Profile for Encoders, DS 406 CiA
CAN Specification Version 2.0 A Robert Bosch Gmbh
CANary CAN controller Atmel

2. Functional overview

2.1 Default Identifiers

In order to reduce configuration effort a default identifier allocation scheme is
defined for CANopen devices. This ID-allocation scheme consists of a
functional part, which determines the object priority and a module-ID-part,
which is equal to the node number (1 to 127). Broadcasting of non-confirmed
services (NMT, SYNC and node guarding) is indicated by a module-ID of zero.
In CANopen the 11 bit identifier is build as follows:

Bit-Nr. 10 9 8 7 6 5 4 3 2 1 0

Function Code Node Number

The following broadcast objects with default identifiers are available in the
encoder:

Object Function Code Resulting Identifier Priority group

(binary) (COB-ID)
NMT 0000 0 0
SYNC 0001 128 0

The following Peer-to-Peer objects with default identifiers are available in the
encoder:

Object Function Code Resulting Identifier Priority group

(binary) (COB-ID)
EMERGENCY 0001 129 – 255 0, 1
PDO1 (tx) 0011 385 – 511 1, 2
PDO2 (tx) 0101 641 – 767 2, 3
SDO (tx) 1011 1409 – 1535 6
SDO (rx) 1100 1537 – 1663 6, 7
Nodeguard 1110 1793 – 1919 -
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2.2 Boot-up message

The encoder sends a Boot-up message after power-on and initialisation. This
message uses the default emergency identifier and has no data bytes. With this
message the user can retrieve the sending node directly from the used identifier
(COB-ID) as it is a function of the node number, see 2.1.

2.3 Encoder functionality

The figure below gives an overview of the Encoder functions.
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3. Scaling function

3.1 Overview
With the scaling function the Encoder internal numerical value is converted in
software to change the physical resolution of the Encoder.
The parameters ”Measuring units per revolution” and ”Total measuring range in
measuring units” are the scaling parameters set to operation with the scaling
function control bit.
NOTE! When scaling a singleturn encoder the parameter “Total measuring
range in measuring units” does not need to be set as it is equal to the Measuring
units per revolution.
The data type for both scaling parameters is unsigned 32 with a value range
from 1 to 232 limited by the encoder resolution. For a 13 bit encoder the
permissible value for the ”Measuring units per revolution” is between 1 and 213
(8192).
The scaling parameters are securely stored in case of voltage breakdown and
reloaded at each start-up.

Scaling parameter format:

Byte 3 2 1 0
Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 - 224 223 - 216 215 - 28 27 - 20

Object 6001h - Measuring units per revolution

Byte 3 2 1 0
Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 - 224 223 - 216 215 - 28 27 - 20

Object 6002h - Total measuring range in measuring units

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3.2 Scaling formulas

The scaling function used in the CAN encoder gateway is limited to a singleturn
resolution within one step. After downloading new scaling parameters the
preset function should be used to set the encoder starting point to the required
starting point.
NOTE! Changing the scaling function parameters should only be used at
encoder standstill.
In the following formula a 13 bit singleturn encoder is used as an example.

Formula for the singleturn scaling function:

Output_position = measuring_units_per_revolution * singleturn_position / 8192

where:
singleturn_position = The Absolute position value of the encoder singleturn
disk.

4. Preset value

4.1 Overview
The preset function supports adaptation of the encoder zero point to the
mechanical zero point of the system. The preset function sets the actual position
of the encoder to the preset value. The preset function is used after the
scaling function which means that the preset value is given in the current
measuring units.
A preset is handled by the encoder in the following way:
The encoder reads the current position value and calculates an offset value from
the preset value and the read position value. The position value is shifted with
the calculated offset value. The offset value can be read with the diagnostic
function (Object 6509h) and is securely stored in case of voltage breakdown and
reloaded at each start-up.
NOTE! The preset function should only be used at encoder standstill.

Preset value format:

Byte 3 2 1 0
Bit 31 - 24 23 - 16 15 - 8 7 - 0

Data 231 - 224 223 - 216 215 - 28 27 - 20

Object 6003h - Preset Value

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4.2 Preset formula

An offset_value is calculated when the encoder receives the preset_value, see
setup calculation below. The offset_value is then used during runtime to shift
the current position to get the required output position, see runtime calculation
below.
NOTE! In the formulas below the current_position is the Absolute position of
the encoder disk after the scaling function. The calculations are made with
signed values.

Setup calculation:
offset_value = preset_value - current_position
NOTE! A previously set offset_value is not included in the current position.

Runtime calculation:
output_position = current_position + offset_value

5. Installation
This section handles the installation issues of the CANopen Encoder.

5.1 Bus installation

When the encoder is used as the first or last station on the BUS, the cable must
be terminated with a terminating resistor (120 ohm) between CAN_L and
CAN_H. There is no terminating resistor inside the encoder.
Installation:
1. Connect the CAN bus to the encoder terminals/cables marked CAN_L and
CAN_H. Make sure that the same conductor is always connected to the same
terminal/cable (e.g. green conductor always connected to CAN_H, yellow
conductor always connected to CAN_L).
2. Install the terminating resistor if this is the first or last station on the bus.

5.2 Address setting

The physical address (node number) of the encoder can be set in two ways:
- Hardware address setting with address offset. The hardware addresses (1 –
15) are set through binary coded pins/wires separately grounded (connected
to 0V) to get the desired address (Open = 1, Grounded = 0). The address
offset (0 - 112) are set through object 5002h, for information see the
manufacturer specific functions below. The encoder address are the
hardware address + address offset. If all pins/wires are left open and the
address offset are 0, the Encoder gets the address 15.
- Software address setting from the CANopen master (1 - 127) through Object
5001h, for information see the manufacturer specific functions below.
The encoder reads the address switch only at power-up.

NOTE! The selected address (node number) affects the default identifier
allocation, see section 2 for further information.
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5.3 Baudrate setting

The transmission rate of the gateway must be set with the manufacturer specific
object 5000h from the CANopen master, for further information see the
manufacturer specific functions below.
The default baudrate is 125kbit/s.

5.4 EDS and DCF files

An EDS-file (Electronic Data Sheet) is delivered together with the CANopen
Encoders. The EDS file describes:
• The communication functionality and objects as defined in the CANopen
communication profile DS-301.
• The device specific objects as defined in the Encoder Profile DS-406.
• Manufacturer specific objects.

The EDS file serves as a template for different configurations of one device
type. A DCF-file (Device Configuration File) is generated from the EDS-file
describing a specific configuration of the device including object values,
selected baudrate and module-Id.
CANopen configuration tools are available to support CANopen network
configuration and device configuration via the CAN bus. The information about
the device is obtained from the EDS-file.
NOTE! The EDS Installation procedure depends on your configuration tool,
please consult your tool supplier if you run into problems.
Installation example for PRO-CANopen:
1. Copy the EDS file into the EDS directory created by PRO-CANopen.
2. Select the type of device to be configured, a list of EDS-files is displayed,
select the required EDS-file.
3. An empty DCF file is created and the configuration of the device can start.

5.5 Parameter settings

The parameters are usually set from the configuration tool when the device is in
the Pre-Operational state using the objects obtained from the EDS-file. The
parameters can also be changed during runtime (Operational state), please be
careful as the position data is directly effected by some parameters and will
change directly following such parameter message. Therefore changing the
scaling function parameters and the code sequence should only be used at
encoder standstill.

NOTE! The parameterisation procedure depends on your configuration tool,

please consult your tool supplier if you run into problems.
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5.6 Cables and connectors

Cable with hardware addressing: 12x0.25mm, shielded.

Function: Colour:
+E Volt Red
0 Volt Blue
CAN_H Green
CAN_L Yellow
CAN_GND Grey/Pink
Address bit 0 White
Address bit 1 Brown
Address bit 2 Grey
Address bit 3 Pink
Address 0 Volt Red/Blue
NC Black
NC Violet
Case Shield

Pin assignment for 8 Pin Male PT connector.

Pin No. Signal Meaning

A Address bit 0 Device address bit 0
B Address bit 1 Device address bit 1
C Address bit 2 Device address bit 2
D Address bit 3 Device address bit 3
G CAN_H Receive/Transmit Data
H CAN_L Receive/Transmit Data
F 0V Supply Voltage -
E +E V Supply Voltage +

External shield is on housing of coupling or flange socket.

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6. Manufacturer specific functions

6.1 Object 5000h - Transmission rate

Nine transmission rates are supported by the encoders. The selection of the
transmission rate can be done by Object 5000h. The transmission rate will be
valid after next power-up (next initialisation sequence).

OBJECT DESCRIPTION
INDEX 5000 H
Name Transmission rate
Object Code VAR
Data Type Unsigned 8

VALUE DESCRIPTION
Object Class Manufacturer specific
Access Rw
PDO Mapping No
Value Range Unsigned8
Mandatory No
Range
Default Value 3 = 125kbit/s

STRUCTURE OF PARAMETER
Value Function
2 50 kBit/s
3 125 kBit/s
4 250 kBit/s
5 500 kBit/s
6 800 kBit/s
7 1.000 kBit/s
8 100 kBit/s
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6.2 Object 5001h - Node number

The selection of the node number can be done either with Object 5001h or by
hardware (e.g.: dip-switches, pins or wires). By setting the value FFh the
encoder gets the node number by hardware. Changing to Software mode is done
by writing the desired node number to Object 5001h. The node number can be
set in the range 1 – 127.
The node number will be valid after next power-up (initialisation sequence).

OBJECT DESCRIPTION
INDEX 5001 H
Name Node number
Object Code VAR
Data Type Unsigned 8

VALUE DESCRIPTION
Object Class Manufacturer specific
Access Rw
PDO Mapping No
Value Range 1 – 127, FFh
Mandatory No
Range
Default Value FFh = Hardware settings

STRUCTURE OF PARAMETER
Bit Function
0 Node number
1 Node number
2 Node number
3 Node number
4 Node number
5 Node number
6 Node number
7 Hardware switching
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6.3 Object 5002h – Address offset

The Address offset are used together with the address pins / wires to set the
encoder hardware address.

When Node number = FFh (Hardware settings):

Encoder address (1 - 127) = Hardware address (0 - 15) + Address offset (0 -
112)

OBJECT DESCRIPTION
INDEX 5002 H
Name Address offset
Object Code VAR
Data Type Unsigned 8

VALUE DESCRIPTION
Object Class Manufacturer specific
Access Rw
PDO Mapping No
Value Range 0 – 112
Mandatory No
Range
Default Value 0
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7. Encoder setup example

This example shows a simple setup of the Encoder for cyclic transmission of the
Position value. Read section 2 of this Application note before proceeding.

1. Set the physical address (Node Number) of the Encoder if Hardware

addressing is used, see section 5.2 for further information.

2. Set the baudrate of your CAN network to the baudrate of the encoder (125
kbit if the Encoder still is using the default baudrate). See section 6.1 for
further information.

3. Power up the encoder.

4. The encoder will send a Boot-up message on the default emergency

identifier (ID = 128 + encoder address), the message has no data bytes.

5. The encoder is now ready for configuration through the SDO message. To
set a cyclic transmission of the position value with 10ms repetition rate we
need to send an SDO request message (ID = 1536 + encoder address) to the
cyclic timer object (Object 6200h) with the data below. The encoder will
confirm with the SDO response message (ID = 1408 + encoder address).

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

0x22 0x00 0x62 0x00 0x0A 0x00 0x00 0x00

6. To get the encoder in operation we need to send an NMT “start remote

node” message, ID = 0, two data bytes with the following contents:

Byte 0 Byte 1
0x01 The encoder address (Node Number)

7. The encoder has now entered the operational state and the position message
(ID = 384 + encoder address) is transferred with a 10ms repetition rate. If an
error occur the encoder will send an emergency message (ID = 128 +
encoder address).
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Appendix A, History

Revision Date Changes

Rev. 1.0 04-08-17 First release