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CiA 406 DS V3.2 CANopen device profile for encoder(IGCO_406_v03020001)(英文原版协议).pdf

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    CiA Draft Standard 406 CANopen Device profile for encoders Version: 3.2 18 December 2006  CAN in Automation (CiA) e. V.
    HISTORY Date 1997-05-05 1998-05-11 2002-05-17 2003-12-20 2006-12-18 2 Device profile for encoders Changes Publication of Version 1.0 Publication of Version 2.0 Publication of version 3.0 The version 3.0 of this specification has been re-chaptered. In addition, all object descriptions and entry descriptions have been reviewed and edited in accordance to CiA DS-301 version 4.01. In particular, all Array objects have been reviewed. Type error corrections and other editorial changes (mostly clarifications and rewordings) are not listed in detail, only changes with technical content are recorded in the following table: Error behavior TPDO Object 1029h definitions have been added. The event timer of the TPDO 1 shall be hard-wired with the cyclic timer (object 6200h). They may be used alternatively. The TPDO 2 is now compliant to CiA DS-301 version 4.01 meaning that this PDO shall use 1801h PDO communication parameter set object and 1A01h PDO mapping parameter set. This TPDO shall be transmitted when the device enters the Operational state. Additional parameter definition Additional parameter definition New object: offset values for multi-sensor device TPDO 1 Object 6000h Object 6500h Object 65C0h Publication of version 3.1 The version 3.1 of this specification includes besides some minor editorial clarifications the following changes: Object 6000h Object 6005h Object 6008h Object 6009h Object 6010h Object 6020h Object 6040h Object 6050h Object 6502h Object 6510h Publication of version 3.2 Measuring direction definition included Sub-objects for acceleration and jerk step settings added High precision position value object added High precision preset value added Data type changed to Integer32 Data type changed to Integer32 Acceleration value object added Jerk value object added Value definition for 0 included Number of high precision revolutions object added - - Detailed PDO specification Editorial changes  CiA 2008 – All rights reserved
    Device profile for encoders General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specification, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. © CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org  CiA 2008 – All rights reserved 3
    Device profile for encoders CONTENTS 1 Scope ............................................................................................................................... 6 2 Normative references........................................................................................................ 6 3 Abbreviations and definitions ............................................................................................ 6 4 Operating principle............................................................................................................ 6 4.1 General ................................................................................................................... 6 4.2 C1 encoders ............................................................................................................ 6 4.3 C2 encoders ............................................................................................................ 7 4.4 Diagnostic area ....................................................................................................... 7 4.5 Functional overview................................................................................................. 7 5 Error handling ................................................................................................................... 7 5.1 General ................................................................................................................... 7 5.2 Error behavior.......................................................................................................... 7 5.3 Additional error code meanings ............................................................................... 7 6 Pre-defined communication objects................................................................................... 8 6.1 General ................................................................................................................... 8 6.2 Object 1000h: Device type ....................................................................................... 8 6.3 Object 1001h: Error register ..................................................................................... 8 6.4 Object 1029h: Error behaviour.................................................................................. 9 6.5 Process data objects ............................................................................................... 9 6.5.1 General ....................................................................................................... 9 6.5.2 TPDO 1 ....................................................................................................... 9 6.5.3 TPDO 2 ..................................................................................................... 11 6.5.4 TPDO 3 ..................................................................................................... 13 7 Application object definitions........................................................................................... 15 7.1 General ................................................................................................................. 15 7.2 Overview on encoder application objects ............................................................... 15 7.3 Encoder parameters .............................................................................................. 17 7.3.1 General ..................................................................................................... 17 7.3.2 Object 6000h: Operating parameters .......................................................... 17 7.3.3 Object 6001h: Measuring units per revolution............................................. 18 7.3.4 Object 6002h: Total measuring range in measuring units............................ 19 7.3.5 Object 6003h: Preset value ........................................................................ 19 7.3.6 Object 6004h: Position value...................................................................... 20 7.3.7 Object 6005h: Linear encoder measuring step settings............................... 20 7.3.8 Object 6008h: High precision position value ............................................... 22 7.3.9 Object 6009h: High precision preset value ................................................. 22 7.3.10 Object 6010h: Preset values for multi-sensor devices ................................ 22 7.3.11 Object 6020h: Position values for multi-sensor devices .............................. 24 7.3.12 Object 6030h: Speed value ........................................................................ 25 7.3.13 Object 6040h: Acceleration value ............................................................... 26 7.3.14 Object 6050h: Jerk value............................................................................ 27 7.3.15 Object 6200h: Cyclic timer ......................................................................... 28 7.4 Encoder Cams ....................................................................................................... 29 7.4.1 General ..................................................................................................... 29 7.4.2 Object 6300h: Cam state register ............................................................... 30 7.4.3 Object 6301h: Cam enable register ............................................................ 32  CiA 2008 – All rights reserved 4
    Device profile for encoders 7.4.4 Object 6302h: Cam polarity register ........................................................... 33 7.4.5 Object 6310h: Cam 1 low limit .................................................................... 34 7.4.6 Object 6311h: Cam 2 low limit .................................................................... 35 7.4.7 Object 6312h: Cam 3 low limit .................................................................... 36 7.4.8 Object 6313h: Cam 4 low limit .................................................................... 37 7.4.9 Object 6314h: Cam 5 low limit .................................................................... 38 7.4.10 Object 6315h: Cam 6 low limit.................................................................... 39 7.4.11 Object 6316h: Cam 7 low limit.................................................................... 40 7.4.12 Object 6317h: Cam 8 low limit.................................................................... 41 7.4.13 Object 6320h: Cam 1 high limit .................................................................. 42 7.4.14 Object 6321h: Cam 2 high limit .................................................................. 43 7.4.15 Object 6322h: Cam 3 high limit .................................................................. 44 7.4.16 Object 6323h: Cam 4 high limit .................................................................. 45 7.4.17 Object 6324h: Cam 5 high limit .................................................................. 46 7.4.18 Object 6325h: Cam 6 high limit .................................................................. 47 7.4.19 Object 6326h: Cam 7 high limit .................................................................. 48 7.4.20 Object 6327h: Cam 8 high limit .................................................................. 49 7.4.21 Object 6330h: Cam 1 hysteresis................................................................. 50 7.4.22 Object 6331h: Cam 2 hysteresis................................................................. 51 7.4.23 Object 6332h: Cam 3 hysteresis................................................................. 52 7.4.24 Object 6333h: Cam 4 hysteresis................................................................. 54 7.4.25 Object 6334h: Cam 5 hysteresis................................................................. 55 7.4.26 Object 6335h: Cam 6 hysteresis................................................................. 56 7.4.27 Object 6336h: Cam 7 hysteresis................................................................. 57 7.4.28 Object 6337h: Cam 8 hysteresis................................................................. 58 7.5 Work area supervision ........................................................................................... 59 7.5.1 General ..................................................................................................... 59 7.5.2 Object 6400h: Area state register ............................................................... 59 7.5.3 Object 6401h: Work area low limit .............................................................. 61 7.5.4 Object 6402h: Work area high limit............................................................. 62 7.6 Encoder diagnostics .............................................................................................. 63 7.6.1 General ..................................................................................................... 63 7.6.2 Object 6500h: Operating status .................................................................. 63 7.6.3 Object 6501h: Single-turn resolution and Measuring step ........................... 64 7.6.4 Object 6502h: Number of distinguishable revolutions ................................. 65 7.6.5 Object 6503h: Alarms ................................................................................. 65 7.6.6 Object 6504h: Supported alarms ................................................................ 66 7.6.7 Object 6505h: Warnings ............................................................................. 67 7.6.8 Object 6506h: Supported warnings............................................................. 68 7.6.9 Object 6507h: Profile and software version ................................................ 69 7.6.10 Object 6508h: Operating time..................................................................... 70 7.6.11 Object 6509h: Offset value......................................................................... 70 7.6.12 Object 650Ah: Module identification ........................................................... 71 7.6.13 Object 650Bh: Serial number ..................................................................... 72 7.6.14 Object 650Ch: Offset values for multi-sensor devices................................. 73 7.7 Object 6510h: Number of high precision revolutions ............................................... 74 7.7.1 Object 67FFh: Device type ......................................................................... 75  CiA 2008 – All rights reserved 5
    1 Scope Device profile for encoders This document represents the CANopen device profile for incremental and absolute, linear and rotary encoders. Besides position, velocity, acceleration, and jerk output possibility complete cam functionality is covered. In addition, it is possible to handle multi-sensors through one CANopen device. All the above mentioned devices use communication techniques, which conform to those described in the CANopen application layer and communication profile specification /CiA301/. This document should be consulted in parallel to this profile. 2 Normative references /CiA301/ CiA 301, CANopen application layer and communication profile 3 Abbreviations and definitions Class 1 Class 2 Clock wise C1 C2 CW CCW Counter Clock wise Abbreviations and definitions defined in /CiA301/ apply for this document too. 4 Operating principle 4.1 General The purpose of encoders is to detect positions of any kind of machine tools. Encoders detect positions and transmit the position values across the CANopen network. Optionally the encoder may provide speed, acceleration, and jerk values. The encoder may receive configuration information via SDO, e.g. conversion parameters for calculating an - to the application adapted - position value. In the NMT state operational, the position value may be transmitted by synchronous PDO. Additionally, the encoders may transmit asynchronously a PDO scheduled by the elapsing of the event timer. The CANopen device profile defines two encoder classes, a standard device class 1 (C1) and an extended device class 2 (C2). The standard device C1 specifies basic functionality, which shall be provided by each device. The C2 extended device provides a variety of features with mandatory and optional functions. The mandatory functions of both, C1 and C2, are necessary to ensure non-manufacturer specific operations of a device. By defining mandatory device characteristics in C1, basic network and encoder operation is guaranteed. By defining extended C2, a degree of defined flexibility may be built in. By leaving ‘hooks’ for optional and manufacturer-specific functionality, the device developer will not be constrained to an out-of-date standard. 4.2 C1 encoders C1 is the mandatory class with a basic range of functions that all encoders shall support. The C1 encoders may optionally support C2 functions, however these functions shall be implemented according to the profile. 6  CiA 2008 – All rights reserved
    4.3 C2 encoders Device profile for encoders C2 encoders support all C1 functions and extended functions defined in C2. 4.4 Diagnostic area In addition to the classes C1 and C2, there are pre-defined areas and reserved parameters for manufacturer-specific functions in this device profile. 4.5 Functional overview The functional overview is shown in Figure 1. Class C1 Class C2 Class C2 Physical position Basic function Absolute position Scaling function Preset function Output position value Figure 1 – Class C1 and class C2 functions 5 Error handling 5.1 General Emergency messages are triggered by internal errors in the device and they are assigned the highest possible priority to ensure that they get access to the bus without latency. By default, the emergency messages contain the error field with pre-defined error numbers and additional information. 5.2 Error behavior If a serious device failure is detected the module shall enter by default autonomously the pre- operational state. If object 1029h is implemented, the device may be configured to enter alternatively the NMT stopped state or remain in the current NMT state in case of a device failure. Device failures include the following communication errors: • Bus-off conditions of the CAN interface • Life guarding event with the state ‘occurred’ • Heartbeat event with state ‘occurred’ Severe device errors also may be caused by device internal failures. The value definition as well as the object description and the entry description are specified in /CiA301/. 5.3 Additional error code meanings Additional error codes are defined in Table 1.  CiA 2008 – All rights reserved 7
    Device profile for encoders Table 1 – Additional error codes Error Code 2110h 3110h 5100h Meaning Input current too high Input voltage out of range Hardware memory error 6 Pre-defined communication objects 6.1 General This chapter defines the content of pre-defined communication objects. 6.2 Object 1000h: Device type The object at index 1000h describes the type of device and its functionality. It is composed of a 16-bit field, which describes the device profile that is used and a second 16-bit field, which gives information on the type of encoder. The object structure is specified in Figure 2. The value definition is specified in Table 2 and Table 3. Object description and entry description are specified in /CiA301/. 31 MSB Encoder type 16 15 Device type 0 LSB Figure 2 – Object structure Table 2 – Value definition for device type Value 196h Device profile number Description Other values shall be reserved. Table 3 – Value definition for encoder type Definition Single-turn absolute rotary encoder Multi-turn absolute rotary encoder Single-turn absolute rotary encoder with electronic turn-count Incremental rotary encoder Incremental rotary encoder with electronic counting Incremental linear encoder Incremental linear encoder with electronic counting Absolute linear encoder Absolute linear encoder with cyclic coding Multi-sensor encoder interface Reserved Value 0001h 0002h 0003h 0004h 0005h 0006h 0007h 0008h 0009h 000Ah 0000h; 000Bh to FFFEh 6.3 Object 1001h: Error register The device profile specific bit shall be reserved. 8  CiA 2008 – All rights reserved
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