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Absolute encoders – multiturn
Compact
electronic multiturn, magnetic Sendix M3668 / M3688 (shaft / hollow shaft) CANopen
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Interface characteristics CANopen
Resolution singleturn 1 ... 16384 (14 bit), scalable Power-ON time < 1200 ms
default: 8192 (13 bit)
SDO timeout < 1000 ms
Absoulte accuracy 1) ±1° Baud rate 10 ... 1000 kbit/s
Repeat accuracy ±0.2° software configurable
Number of revolutions (multiturn) max. 16.777.216 (24 bit) Node address 1 ... 127
scalable only via the total resolution software configurable
Total resolution 1 ... 274.877.906.944 (38 bit), scalable Termination software configurable
default: 33.554.432 (25 bit)
LSS protocol CIA LSS protocol DS305,
Code binary global command support for node
Interface CAN high-speed acc. to ISO 11898, address and baud rate,
Basic- and Full-CAN, selective commands via attributes of
CAN specification 2.0 B the identity object
Protocol CANopen profile DS406 V4.0 Bootloader configuration management
with manufacturer-specific add-ons, CIA DS 302-3
LSS-Service, bootloader
General information about CANopen CANopen communication profile DS301 V4.2
The CANopen encoders support the latest CANopen communication profile Among others, the following functionality is integrated. (Class C2 functionality): Absolute encoders
according to DS301 V4.02 . In addition, device-specific profiles like the encoder • NMT Slave.
profile DS406 V3.2, DS305 (LSS) and DS302 (Bootloader) are available. • Heartbeat Protocol. multiturn
The following operating modes may be selected: Polled Mode, Cyclic Mode, Sync • Identity Object.
Mode. Moreover, scale factors, preset values, limit switch values and many other • Error Behaviour Object.
additional parameters can be programmed via the CANbus. When switching the • Variable PDO Mapping self-start programmable
device on, all parameters, which have been saved on a flash memory to protect (Power on to operational), 3 Sending PDO’s.
them against power failure, are loaded again. • Node address, baud rate and CANbus / programmable termination.
The following output values may be combined in a freely variable way as PDO
(PDO mapping): position, speed, acceleration as well as the status of the CANopen encoder profile DS406 V4.0
working area.
The following parameters can be programmed:
The encoders are available with a connector or a cable connection.
• Event mode, start optional.
The device address and baud rate can be set/modified by means of the software. • 1 work area with upper and lower limit and the corresponding output states.
The two-colour LED located on the back indicates the operating or fault status of • Variable PDO mapping for position, speed, work area status, error and
the CAN-bus, as well as the status of the internal diagnostics. acceleration.
• Extended failure management for position sensing.
• User interface with visual display of bus and failure status 1 LED two colours.
CANbus connection • Customer-specific protocol.
The CANopen encoders are equipped with a bus trunk line in various lengths or a • “Watchdog controlled” device.
M12 connector and can be terminated in the device.
The devices do not have an integrated T-coupler nor they are looped internally Bootloader functionality DS302-3
and must therefore only be used as end devices.
Configuration Management:
• Program download.
LSS layer setting services DS305 V2.0
• Program start.
• Global support of node-ID and baud rate. • Program erase.
• Selective protocol via identity object (1018h).
1) Over the whole temperature range.
© Fritz Kübler GmbH, subject to errors and changes. 02/2015 www.kuebler.com 273
