Page 178 - Keubler Motion Sensors

Absolute encoders - singleturn

Compact
optical Sendix F3658 / F3678 (shaft / hollow shaft) CANopen
www.HydroSanatSharif.com
General information about CANopen LSS layer setting services DS305 V2.0
The CANopen encoders support the latest CANopen communication profile • Global command support for node ID and baud rate configuration.
according to DS301 V4.02. In addition, device-specific profiles like the encoder • Selective protocol via identity object (1018h).
profile DS406 V3.2 and DS305 (LSS) are available.
The following operating modes may be selected: Polled Mode, Cyclic Mode, Sync
Mode. Moreover, scale factors, preset values, limit switch values and many other CANbus connection
additional parameters can be programmed via the CANbus. When switching the The CANopen encoders are equipped with a Bus trunk line in various lengths and
device on, all parameters, which have been saved on a flash memory to protect can be terminated in the device. The devices do not have an integrated T-coupler
them against power failure, are loaded again. nor they are looped internally and must therefore only be used as end devices.
The following output values may be combined in a freely variable way as PDO If possible, drop lines should be avoided, as in principle they lead to signal
(PDO mapping): position, speed as well as the status of the working area. reflections. As a rule the reflections caused by the drop lines are not critical,
The encoders are available with a connector or a cable connection. if they have completely decayed before the point in time when the scanning
occurs.
The device address and baud rate can be set/modified by means of the software.
The sum of all the drop lines should not, for a particular baud rate, exceed the
The two-colour LED located on the back indicates the operating or fault status of maximum length Lu.
the CAN bus, as well as the status of the internal diagnostics.
Lu < 5 m [16.40‘] cable length for 125 Kbit
Lu < 2 m [6.56‘] cable length for 250 Kbit
CANopen communication profile DS301 V4.02 Lu < 1 m [3.28‘] cable length for 1 Mbit
When used as a drop line, the termination resistor should not be activated.
Among others, the following functionality is integrated. Class C2 functionality:
For a network with 3 encoders and 250 Kbit the maximum length of the drop line/
• NMT slave.
encoder must not exceed 70 cm.
• Heartbeat protocol.
• Identity object.
• Error behaviour object.
• Variable PDO mapping self-start programmable
(Power on to operational), 3 sending PDO’s.
• Node address, baud rate and CANbus / Programmable termination.
CANopen encoder profile DS406 V3.2
The following parameters can be programmed:
• Event mode.
• 1 work area with upper and lower limit and the corresponding output states.
• Variable PDO mapping for position, speed, work area status.
• Extended failure management for position sensing.
• User interface with visual display of bus and failure status – 1 LED two colours.
• Customer-specific memory 16 Bytes.
• Customer-specific protocol.
• “Watchdog controlled” device.

Terminal assignment
Interface Type of connection Cable (isolate unused wires individually before initial start-up)
Signal: +V 0 V CAN_GND CAN_H CAN_L
2 1, 3, F
Cable colour: BN WH GY GN YE

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