Page 286 - Keubler Motion Sensors

Absolute encoders – multiturn

Compact
electronic multiturn, optical Sendix F3668 / F3688 (shaft / hollow shaft) CANopen
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General information about CANopen LSS layer setting services DS305 V2.0
The CANopen encoders support the latest CANopen communication profile • Global support of node-ID and baud rate.
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 CANopen communication profile DS301 V4.02
Mode. Moreover, scale factors, preset values, limit switch values and many other
additional parameters can be programmed via the CANbus. When switching the Among others, the following functionality is integrated. (Class C2 functionality):
device on, all parameters, which have been saved on a flash memory to protect • NMT Slave.
them against power failure, are loaded again.
• Heartbeat Protocol.
The following output values may be combined in a freely variable way as PDO • Identity Object.
(PDO mapping): position, speed as well as the status of the working area.
• Error Behaviour Object.
The encoders are available with a connector or a cable connection.
• Variable PDO Mapping self-start programmable
The device address and baud rate can be set/modified by means of the software. (Power on to operational), 3 Sending PDO’s.
The two-colour LED located on the back indicates the operating or fault status of • Node address, baud rate and CANbus / programmable termination.
the CAN-bus, as well as the status of the internal diagnostics.
CANopen encoder profile DS406 V3.2
CANbus connection
The CANopen encoders are equipped with a bus trunk line in various lengths and The following parameters can be programmed:
can be terminated in the device. • Event mode.
The devices do not have an integrated T-coupler nor they are looped internally • 1 work area with upper and lower limit and the corresponding output states.
and must therefore only be used as end devices.
• Variable PDO mapping for position, speed, work area status.
If possible, drop lines should be avoided, as in principle they lead to signal • Extended failure management for position sensing.
reflections. As a rule the reflections caused by the drop lines are not critical,
if they have completely decayed before the point in time when the scanning • User interface with visual display of bus and failure status 1 LED two colours.
occurs. • Customer-specific memory - 16 Bytes.
The sum of all the drop lines should not, for a particular baud rate, exceed the • Customer-specific protocol.
maximum length Lu. • “Watchdog controlled” device.
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.

Universal scaling function
At the end of the physical resolution of an encoder, when scaling is active, an
error appears if the division of the physical limit (GP_U) by the programmed total
resolution (TMR) does not produce an integer.
The universal scaling function remedies this problem.

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, U
Cable colour: BN WH GY GN YE

284 www.kuebler.com © Fritz Kübler GmbH, subject to errors and changes. 02/2015