Ifm-electronic RN7003 Manuel d'utilisateur

Device manualEncoder with CANopeninterfaceRM7xxxRN7xxx704434/01 08 / 2010UK

CANopen encoder10Shield4.7 To achieve the highest possible noise immunity and electromagnetic compatibility the bus and power supply cables must alway

UKCANopen encoder11The position data is directly affected by some parameters and changes directly after such a parameter message� Only change scaling

CANopen encoder12Status LED4.10.2 The status LED is a two-colour LED with two functions; a green LED (run status) and a red LED (error status)�LED Dis

UKCANopen encoder13Alarms and warnings ●All programming and diagnostic parameters can be accessed via SDOs� The output position value of the encoder

CANopen encoder14The following broadcast objects with default identifiers are available in the encoder:Object Function code (binary)Resulting identifi

UKCANopen encoder15Operating parameters 6.4 Object 6000h, operating parameters, controls the functions for code sequence and scaling� Bit Function Bit

CANopen encoder16Format of the singleturn scaling parametersByte 3 2 1 0Bit 31 - 24 23 - 16 15 - 8 7 - 0Data 231 - 224223 - 216215 - 2827 - 20object 6

UKCANopen encoder17The encoder reads the current position value and calculates an offset value from the preset value and the read position value� The

CANopen encoder18Zero setting6.7 Two methods can be used for zero setting�Setting via softwareIf the preset object is used and the preset value is set

UKCANopen encoder19The structure of the entries of the object "transmit PDO mapping parameter" in subindices 1���3 is as follows:Byte MSB By

CANopen encoder2Contents1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 41�1

CANopen encoder20PDO conguration example6.9.2 The following chapter shows how to map PDO1 with position and speed (the address of the encoder is 0x0F

UKCANopen encoder21To save the PDO mapping in the EEPROM transmit:ID Data Note60F 23 10 10 02 73 61 76 65 Save all communication parameters by trans-m

CANopen encoder22Bit Parameter1 no indication2 scaling function control3���14 no indication 15 read position at SYNCOperating parameters (object 0x600

UKCANopen encoder23Bit Supported warnings 3���15Warnings (object 0x6504/0x6503)Manufacturer-specific objects7 Object 0x5003, speed type7.1 The object

CANopen encoder24Object 0x5A03, serial number 27.2 The object 0x5A03 is a manufacturer-specific object where the serial number can be read� Example en

UKCANopen encoder25

UKCANopen encoder36�11�1 Diagnosis of the encoder � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 226�11�2 Operating status � � �

CANopen encoder4Preliminary note1 Symbols used1.1 ► Instruction> Reaction, result[…] Designation of pushbuttons, buttons or indications→ Cross-refe

UKCANopen encoder5General information3 Absolute encoders3.1 For an absolute encoder each angular position is assigned a coded position value� This is

CANopen encoder6Abbreviations3.3.1 CAN Controller Area NetworkCiA CAN in AutomationCAL CAN Application LayerEDS Electronic Data SheetDCF

UKCANopen encoder7supply +U6: Bzero set button7: screw terminals for bus and power supply connection8: Node address4.2 The node address of the device

CANopen encoder8Settings baud rate switchBaud rate [kbits] Baud rate switch10 020 150 2125 3250 4500 5800 61000 7400 8Electrical connection of the enc

UKCANopen encoder9The (+) terminal is used for the connection to the +UB line (9���36 V DC)� The (-) terminal is used for the connection to the 0 V li