Page 164 - Keubler Motion Sensors

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Absolute encoders - singleturn

Compact
magnetic Sendix M3658 / M3678 (shaft / hollow shaft) CANopen
Interface www.HydroSanatSharif.com
Interface characteristics CANopen
Resolution 1 ... 16384 (14 bit), scalable Baud rate 10 ... 1000 kbit/s
default: 16384 (14 bit) software conﬁgurable
Code binary Node address 1 ... 127
software conﬁgurable
Interface CAN high-speed acc. to ISO 11898,
Basic- and Full-CAN, Termination software conﬁgurable
CAN speciﬁcation 2.0 B
LSS protocol CIA LSS protocol DS305,
Protocol CANopen proﬁle DS406 V3.2 global command support for node
with manufacturer-speciﬁc add-ons, address and baud rate,
LSS-Service DS305 V2.0 selective commands via attributes of
the identity object

General information about CANopen CANopen encoder proﬁle DS406 V3.2
The CANopen encoders support the latest CANopen communication proﬁle The following parameters can be programmed:
according to DS301 V4.2 . • Event mode.
In addition, device speciﬁc proﬁles like the encoder proﬁle DS406 V3.2 are • 1 work area with upper and lower limit and the corresponding output states.
available.
• Variable PDO mapping for position, speed, work area status.
The following operating modes may be selected: Polled Mode, Cyclic Mode,
Sync Mode. Moreover, scale factors, preset values, limit switch values and many • Extended failure management for position sensing.
other additional parameters can be programmed via the CANbus. • User interface with visual display of bus and failure status 1 LED two colours.
When switching the device on, all parameters are loaded from an EEPROM, • Customer-speciﬁc memory - 16 Bytes.
where they were saved previously to protect them against power-failure. • Customer-speciﬁc protocol.
The following output values may be combined in a freely variable way as PDO • “Watchdog controlled” device.
(PDO mapping): position, speed as well as the status of the working area.
The encoders are available with a connector or a cable connection. LSS protocol proﬁle DS305 V2.0
The device address and baud rate can be set/modiﬁed by means of the software. • Global command support for node ID and baud rate conﬁguration.
The two colour LED located on the back indicates the operating or fault status of • Selective protocol via identity object (1018h).
the CANbus, as well as the status of the internal diagnostics.
CANbus connection
CANopen communication proﬁle DS301 V4.02 The CANopen encoders are equipped with a bus trunk line in various lengths and
Among others, the following functionality is integrated. can be terminated in the device.
Class C2 functionality: The devices do not have an integrated T-coupler nor they are looped internally
and must therefore only be used as end devices.
• NMT slave.
• Heartbeat protocol. If possible, drop lines should be avoided, as in principle they lead to signal
• Identity object. reﬂections. As a rule the reﬂections caused by the drop lines are not critical,
• Error behaviour object. if they have completely decayed before the point in time when the scanning
• Variable PDO mapping self-start programmable (power on to operational), occurs.
3 sending PDO’s. The sum of all the drop lines should not, for a particular baud rate, exceed the
• Node address, baud rate and CAN bus / programmable termination. maximum length Lu.
Lu < 5 m [16.40‘] cable length for 125 Kbit.
Lu < 2 m [6.56‘] cable length for 250 Kbit.
Lu < 1 m [3.28‘] cable length for 1 Mbit.
When used as a drop line, the termination resistor should not be activated.
For a network with 3 encoders and 250 Kbit the maximum length of the drop line/
encoder must not exceed 70 cm.

Terminal assignment

Type of connection Cable (isolate unused wires individually before initial start-up) Top view of mating side, male contact base
Signal: +V 0 V CAN_GND CAN_H CAN_L
C 2, B 2
Cable colour: BN WH GY GN YE
3 5 1
Interface Type of connection M12 connector, 5-pin 4
Signal: +V 0 V CAN_GND CAN_H CAN_L M12 connector, 5-pin
C 4
Pin: 2 3 1 4 5

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