Page 332 - Keubler Motion Sensors

Absolute encoders – multiturn

Standard
mechanical multiturn, optical Sendix 5868 / 5888 (shaft / hollow shaft) CANopen/CANopenLift
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General information about CANopen / CANopenLift CANopen communication profile DS301 V4.02
The CANopen encoders support the latest CANopen communication profile Among others, the following functionality is integrated.
according to DS301 V4.02 . In addition, device specific profiles such as encoder • Class C2 functionality.
profile DS406 V3.2 and DS417 V1.1 (for lift applications) are available • NMT slave.
The following operating modes may be selected: Polled Mode, Cyclic Mode, Sync • Heartbeat protocol.
Mode. Moreover, scale factors, preset values, limit switch values and many other • High resolution sync protocol.
additional parameters can be programmed via the CAN bus. • Identity object.
When switching the device on, all parameters are loaded from an EEPROM, • Error behaviour object.
where they were saved previously to protect them against power-failure. • Variable PDO mapping.
The following output values may be combined in a freely variable way as PDO • Self-start programmable (power on to operational).
(PDO mapping): position, speed, acceleration as well as the status of the working • 3 Sending PDO’s.
area. • Node address, baud rate and CANbus.
• Programmable termination.
As competitively priced alternatives, encoders are also available with a con-
nector or a cable connection, where the device address and baud rate can be
changed and configured by means of the software. The models with bus termi- CANopen Encoder Profile DS406 V3.2
nal cover and integrated T-coupler allow for extremely simple installation: the
bus and power supply can be easily connected via M12 connectors. The device The following parameters can be programmed:
address can be set via 2 rotary hex switches. Furthermore, another DIP switch • Event mode.
-1
allows for the setting of the baud rate and switching on a termination resistor. • Units for speed selectable (steps/sec or min ).
Three LEDs located on the back indicate the operating or fault status of the CAN • Factor for speed calculation (e.g. circumference of measuring wheel).
bus, as well as the status of an internal diagnostic. • Integration time for the speed value from 1 ... 32.
• 2 working areas with 2 upper and lower limits and the
corresponding output states.
Universal Scaling Function • Variable PDO mapping for position, speed, work area status.
• Extended failure management for position sensing with integrated
At the end of the physical resolution of an encoder, when scaling is active, an temperature control.
error appears if the division of the physical limit (GP_U) by the programmed total • User interface with visual display of bus and failure status - 3 LED’s.
resolution (TMR) does not produce an integer.
• Optional - 32 CAMs programmable.
The Universal Scaling Function remedies this problem. • Customer-specific memory - 16 Bytes.

CANopen Lift Profile DS417 V1.1
Among others, the following functionality is integrated:
• Car position unit.
• 2 virtual devices.
• 1 virtual device delivers the posititon in absolute measuring steps (steps).
• 1 virtual device delivers the posititon as an absolute travel information in mm.
• Lift number programmable.
• Independent setting of the node address in relation with the CAN identifier.
• Factor for speed calculation (e.g. measuring wheel periphery).
• Integration time for speed value of 1...32.
• 2 work areas with 2 upper and lower limits and the corresponding
output states.
• Variable PDO mapping for position, speed, acceleration, work area status.
• Extended failure management for position sensing with integrated
temperature control.
• User interface with visual display of bus and failure status - 3 LED’s.
• “Watchdog controlled” device.
All profiles stated here: Key-features
The object 6003h “Preset” is assigned to an integrated key, accessible from the
outside.

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