Pepperl+Fuchs ENA58IL-R***-CANopen Owner's manual

Absolute Rotary Encoder

with CANopen Interface

FACTORY AUTOMATION

MANUAL

With regard to the supply of products, the current issue of the following document is ap-

plicable: The General Terms of Delivery for Products and Services of the Electrical Indus-

try, published by the Central Association of the Electrical Industry (Zentralverband

Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the

supplementary clause: "Expanded reservation of proprietorship"

Absolute Rotary Encoder

3

1 Introduction................................................................................. 8

1.1 Content of this Document ................................................................... 8

1.2 Target Group, Personnel...................................................................... 8

1.3 Symbols Used ...................................................................................... 8

2 Declaration of conformity ........................................................ 10

2.1 CE conformity..................................................................................... 10

3 Safety ......................................................................................... 11

3.1 Symbols relevant to safety................................................................ 11

3.2 Intended Use ...................................................................................... 11

3.3 General safety instructions ............................................................... 11

4 General Information on System Integration ........................... 12

4.1 Using this Manual .............................................................................. 12

4.2 General CANopen Information .......................................................... 12

5 Installation of Photoelectric Absolute Rotary Encoder ........ 14

5.1 Signal Assignment of Terminal Block .............................................. 14

5.2 Signal Assignment of Connector and Cable Variants .................... 16

5.3 Activation of the Terminator.............................................................. 17

5.4 Installation Hints for Cabling ............................................................ 17

5.5 Setting of Node Number and Baud Rate in the Bus Cover ............ 17

5.6 Status of the Bus Cover LEDs........................................................... 19

6 Installation of Magnetic Absolute Rotary Encoder ............... 21

6.1 Signal Assignment of Connector and Cable Variants .................... 21

6.2 Activation of Terminator .................................................................... 21

6.3 Setting of Node Number and Baud Rate.......................................... 21

6.4 Status of the LEDs.............................................................................. 22

4

Absolute Rotary Encoder

7 Quick Start Guide ..................................................................... 23

7.1 Configure the Absolute Rotary Encoder for Integration

into a CAN Network ............................................................................23

7.2 Configure application-specific encoder Parameters ......................25

8 Configuration ............................................................................ 29

8.1 Operating Modes ................................................................................29

8.1.1 General............................................................................................. 29

8.1.2 Mode: Pre-operational...................................................................... 29

8.1.3 Mode: Start - Operational ................................................................. 29

8.1.4 Mode: Stopped................................................................................. 29

8.1.5 Reinitialization of the Rotary Encoder............................................... 29

8.2 Normal Operating ...............................................................................30

8.3 Storing Parameter............................................................................... 31

8.3.1 List of storable Parameters............................................................... 31

8.3.2 Storing Procedure ............................................................................ 31

8.4 Restoring Parameters ........................................................................32

8.5 Usage of Layer Setting Services (LSS) ............................................32

9 Programmable Parameters...................................................... 34

9.1 Programming example: Preset Value ...............................................35

9.1.1 Set Encoder Preset Value................................................................. 35

9.2 Communication Profile DS301 specific objects

from 1000h – 1FFFh ........................................................................... 36

9.3 Manufacturer specific objects from 2000h – 5FFFh........................37

9.4 Application specific objects from 6000h – 67FEh...........................38

Absolute Rotary Encoder

5

9.5 Object Descriptions ........................................................................... 39

9.5.1 Object 1000h: Device Type .............................................................. 39

9.5.2 Object 1001h: Error Register ........................................................... 39

9.5.3 Object 1003h: Pre-Defined Error Field ............................................. 39

9.5.4 Object 1005h: COB-ID Sync ............................................................ 40

9.5.5 Object 1008h: Manufacturer Device Name ...................................... 40

9.5.6 Object 1009h: Manufacturer Hardware Version ............................... 40

9.5.7 Object 100Ah: Manufacturer Software Version ................................ 40

9.5.8 Object 100Ch: Guard Time .............................................................. 41

9.5.9 Object 100Dh: Life Time Factor ....................................................... 41

9.5.10 Object 1010h: Store Parameters ...................................................... 41

9.5.11 Object 1011h: Restore Parameters.................................................. 41

9.5.12 Object 1012h: COB-ID Time Stamp Object...................................... 42

9.5.13 Object 1013h: High Resolution Time Stamp .................................... 42

9.5.14 Object 1014h: COB-ID Emergency Object....................................... 42

9.5.15 Object 1016h: Consumer Heartbeat Time ....................................... 42

9.5.16 Object 1017h: Producer Heartbeat Time ......................................... 43

9.5.17 Object 1018h: Identity Object .......................................................... 43

9.5.18 Object 1020h: Verify Configuration .................................................. 43

9.5.19 Object 1029h: Error Behavior........................................................... 43

9.5.20 Object 1800h: 1st Transmit PDO Communication Parameter........... 44

9.5.21 Object 1801h: 2nd Transmit PDO Communication Parameter ......... 44

9.5.22 Object 1A00h: 1st Transmit PDO Mapping Parameter ..................... 45

9.5.23 Object 1A01h: 2nd Transmit PDO Mapping Parameter .................... 45

9.5.24 Object 1F50h: Download Program Area .......................................... 46

9.5.25 Object 2000h: Position Value ........................................................... 46

9.5.26 Object 2100h: Operating Parameters............................................... 46

9.5.27 Object 2101h: Resolution per Revolution......................................... 47

9.5.28 Object 2102h: Total Resolution ........................................................ 47

9.5.29 Object 2103h: Preset Value ............................................................. 48

9.5.30 Object 2104h: Limit Switch, min....................................................... 48

9.5.31 Object 2105h: Limit Switch, max...................................................... 48

9.5.32 Object 2160h: Customer Storage..................................................... 49

9.5.33 Object 2200h: Cyclic Timer PDO ..................................................... 49

9.5.34 Object 2300h: Save Parameter with Reset ....................................... 49

9.5.35 Object 2600h: High-Resolution Postion Value ................................. 50

9.5.36 Object 3000h: Node Number ........................................................... 50

9.5.37 Object 3001h: Baud Rate................................................................. 51

6

Absolute Rotary Encoder

9.5.38 Object 3002h: Terminator ................................................................. 51

9.5.39 Object 3003h: Auto Baud Detection ................................................. 51

9.5.40 Object 3005h: Auto Boot up ............................................................. 52

9.5.41 Object 3010h: Speed Control........................................................... 53

9.5.42 Object 3011h: Speed Value.............................................................. 53

9.5.43 Object 3020h: Acceleration Control.................................................. 53

9.5.44 Object 3021h: Acceleration Control.................................................. 53

9.5.45 Object 3030h: Backward Compatible Mode ..................................... 54

9.5.46 Object 3040h: Life Cycle Counter..................................................... 55

9.5.47 Object 3050h: Time Stamp Position Value........................................ 55

9.5.48 Object 4000h: Bootloader Control.................................................... 55

9.5.49 Object 4010h: PPR Incremental Encoder......................................... 56

9.5.50 Object 4020h: A/B Phase Shift ......................................................... 56

9.5.51 Object 6000h: Operating Parameters ............................................... 56

9.5.52 Object 6001h: Measuring Units per Revolution ................................ 57

9.5.53 Object 6002h: Total Measuring Range in Measuring Units ............... 57

9.5.54 Object 6003h: Preset Value.............................................................. 57

9.5.55 Object 6004h: Position Value ........................................................... 57

9.5.56 Object 6008h: High Resolution Position Value ................................. 58

9.5.57 Object 6030h: Speed Value.............................................................. 58

9.5.58 Object 6040h: Acceleration Value .................................................... 59

9.5.59 Object 6200h: Cyclic Timer .............................................................. 59

9.5.60 Object 6300h: Cam State Register ................................................... 60

9.5.61 Object 6301h: Cam Enable Register ................................................ 60

9.5.62 Object 6302h: Cam Polarity Register................................................ 60

9.5.63 Object 6400h: Area State Register ................................................... 63

9.5.64 Object 6401h: Work Area Low Limit ................................................. 63

9.5.65 Object 6402h: Work Area High Limit ................................................ 64

9.5.66 Object 6500h: Operating Status ....................................................... 64

9.5.67 Object 6501h: Singleturn Resolution................................................ 64

9.5.68 Object 6502h: Number of Distinguishable Revolutions..................... 64

9.5.69 Object 6503h: Alarms....................................................................... 65

9.5.70 Object 6504h: Supported Alarms ..................................................... 65

9.5.71 Object 6505h: Warnings................................................................... 65

9.5.72 Object 6506h: Supported warnings .................................................. 66

9.5.73 Object 6507h: Profile and Software Version ..................................... 66

9.5.74 Object 6508h: Operating Time ......................................................... 67

9.5.75 Object 6509h: Offset Value............................................................... 67

Absolute Rotary Encoder

7

9.5.76 Object 6509h: Module identification................................................. 67

9.5.77 Object 650Bh: Serial Number .......................................................... 67

10 Troubleshooting........................................................................ 68

10.1 What to Do in Case of a Fault............................................................ 68

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Absolute Rotary Encoder

Introduction

1Introduction

1.1 Content of this Document

This document contains information that you need in order to use your product throughout the

applicable stages of the product life cycle. These can include the following:

■

Product identification

■

Delivery, transport, and storage

■

Mounting and installation

■

Commissioning and operation

■

Maintenance and repair

■

Troubleshooting

■

Dismounting

■

Disposal

The documentation consists of the following parts:

■

Present document

■

Datasheet

Additionally, the following parts may belong to the documentation, if applicable:

■

EU-type examination certificate

■

EU declaration of conformity

■

Attestation of conformity

■

Certificates

■

Control drawings

■

Additional documents

1.2 Target Group, Personnel

Responsibility for planning, assembly, commissioning, operation, maintenance, and

dismounting lies with the plant operator.

Only appropriately trained and qualified personnel may carry out mounting, installation,

commissioning, operation, maintenance, and dismounting of the product. The personnel must

have read and understood the instruction manual and the further documentation.

Prior to using the product make yourself familiar with it. Read the document carefully.

1.3 Symbols Used

This document contains symbols for the identification of warning messages and of informative

messages.

Warning Messages

You will find warning messages, whenever dangers may arise from your actions. It is mandatory

that you observe these warning messages for your personal safety and in order to avoid

property damage.

Depending on the risk level, the warning messages are displayed in descending order as

follows:

Note!

For full information on the product, refer to the further documentation on the Internet at

www.pepperl-fuchs.com.

Absolute Rotary Encoder

Introduction

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Informative Symbols

Action

This symbol indicates a paragraph with instructions. You are prompted to perform an action or

a sequence of actions.

Danger!

This symbol indicates an imminent danger.

Non-observance will result in personal injury or death.

Warning!

This symbol indicates a possible fault or danger.

Non-observance may cause personal injury or serious property damage.

Caution!

This symbol indicates a possible fault.

Non-observance could interrupt the device and any connected systems and plants, or result in

their complete failure.

Note!

This symbol brings important information to your attention.

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Absolute Rotary Encoder

Declaration of conformity

2 Declaration of conformity

2.1 CE conformity

This product was developed and manufactured under observance of the applicable European

standards and guidelines.

Note!

A declaration of conformity can be requested from the manufacturer.

Absolute Rotary Encoder

Safety

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3Safety

3.1 Symbols relevant to safety

3.2 Intended Use

Absolute rotary encoders detect the rotation angle -and, in the case of a multiturn absolute

rotary encoder, the revolutions of the rotary encoder shaft- with high precision and resolution.

The absolute position value derived from this is provided by the rotary encoder via the

CANopen interface in accordance with the standard DS406. The rotary encoder is to be

integrated into a CANopen network and should be used only in this way. Typical applications

include positioning tasks and length measurement, for example for cranes, construction

machinery, elevators, and packaging machines.

Read through these instructions thoroughly. Familiarize yourself with the device before

installing, mounting, or operating.

Always operate the device as described in these instructions to ensure that the device and

connected systems function correctly. The protection of operating personnel and plant is only

guaranteed if the device is operated in accordance with its intended use.

3.3 General safety instructions

Responsibility for planning, assembly, commissioning, operation, maintenance, and

dismounting lies with the plant operator.

Installation and commissioning of all devices may only be performed by trained and qualified

personnel.

User modification and or repair are dangerous and will void the warranty and exclude the

manufacturer from any liability. If serious faults occur, stop using the device. Secure the device

against inadvertent operation. In the event of repairs, return the device to your local

Pepperl+Fuchs representative or sales office.

Danger!

This symbol indicates an imminent danger.

Non-observance will result in personal injury or death.

Warning!

This symbol indicates a possible fault or danger.

Non-observance may cause personal injury or serious property damage.

Caution!

This symbol indicates a possible fault.

Non-observance could interrupt the device and any connected systems and plants, or result in

their complete failure.

Note!

Disposal

Electronic waste is hazardous waste. When disposing of the equipment, observe the current

statutory requirements in the respective country of use, as well as local regulations.

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Absolute Rotary Encoder

General Information on System Integration

4 General Information on System Integration

4.1 Using this Manual

This manual explains how to install and configure the photoelectric and magnetic absolute

rotary encoders with CANopen interface applicable for industrial applications with CANopen

interface.

Magnetic absolute rotary encoders are fully compliant with standard DS406.

Photoelectric absolute rotary encoders are fully compliant with following CiA standards:

■

DS301V402 CANopen Application Layer

■

DR303-1 Cabeling and connector pin assignment

■

DR303-3 CANopen indicator specification

■

DS305V200 CANopen Layer Setting Service

■

DS306V1R3 Electronic datasheet specification

■

DS406V32 Device Profile for Encoders

Measuring System for Photoelectric Absolute Rotary Encoders

The measuring system consists of a light source, a code disc pivoted in a precision ball bearing

and an opto-electronic scanning device. A LED is used as a light source which shines through

the code disc and onto the screen behind. The tracks on the code disk are evaluated by an

optoarray behind the reticle.

With every position another combination of slashes in the reticle is covered by the dark spots

on the code disk and the light beam on the photo transistor is interrupted. That way the code on

the disc is transformed into electronic signals. Fluctuations in the intensity of the light source

are measured by an additional photo transistor and another electronic circuit compensates for

these. After amplification and conversion the electronic signals are available for evaluation.

Measuring System for Magnetic Absolute Rotary Encoders

Magnetic rotary encoder determine positions using the Hall effect sensor technology

developed for the automotive mass market. A permanent magnet fixed to the shaft generates a

magnetic field that is sampled by the Hall sensor, which translates the measured value into a

unique absolute position value.

To register revolutions even when no voltage is applied, energy from the turning of the shaft

must suffice for proper operation. An innovative, patented technology makes this feasible even

at low rotational speeds and through long standstill periods – a Wiegand wire ensures that the

magnetic field can only follow the turning of the shaft in discrete steps. A coil wound on the

Wiegand wire receives only brief, strong voltage spikes, which prompt the reliable recognition

of each revolution.

4.2 General CANopen Information

CANopen system is used in industrial applications. It is a multiple access system (maximum:

127 participants), which means that all devices can access the bus. In simple terms, each

device checks whether the bus is free, and if it is the device is able to send messages. If two

devices try to access the bus at the same time, the device with the higher priority level (lowest

ID number) has permission to send its message.

Note!

Further information on technical data, mechanical data, connection layouts, and available

connection lines for the relevant absolute rotary encoder types can be found in the

corresponding datasheet.

Absolute Rotary Encoder

General Information on System Integration

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13

Devices with the lowest priority level must delay their data transfer and wait before retrying to

send their message. Data communication is carried out via messages. These messages

consist of 1 COB-ID followed by a maximum of 8 bytes of data. The COB-ID, which determines

the priority of the message, consists of a function code and a node number. The node number

corresponds to the network address of the device. It is unique on a bus. The function code

varies according to the type of message being sent:

■

Management messages (LMT, NMT)

■

Messaging and service (SDOs)

■

Data exchange (PDOs)

■

Layer Setting Services (LSS)

■

Predefined messages (synchronization, emergency messages)

The absolute rotary encoder supports the following operating modes:

■

Polled mode: The position value is only sent on request.

■

Cyclic mode: The position value is sent cyclically (regular, adjustable interval) on the bus.

■

SYNC mode: The position value is sent after a synchronization message (SYNC) is

received. The position value is sent every n SYNCs (n . 1).

Other functions (offset values, resolution, etc) can be configured. The absolute rotary encoder

corresponds to the class 2 encoder profile (DS 406 in which the characteristics of encoder with

CANopen interface are defined). The node number and speed in bauds are determined by

their corresponding object dictionary entries.

The transmission speed can range from 20 kBaud up to 1Mbaud (30 m cable for a maximum

speed of 1Mbaud, 1000 m cable for a maximum speed of 20 kbaud). Various software tools for

configuration and parameter-setting are available from different suppliers. It is easy to align and

program the rotary encoders using the EDS (electronic data sheet) configuration file provided

on the Pepperp+Fuchs internet page www.pepperl-fuchs.com

Further Information is available at:

CAN in Automation (CiA) International Users and Manufacturers Group e.V.

Kontumazgarten 3

DE-90429 Nurenberg

(*) Reference: CAN Application Layer for Industrial Applications

CAL-based Communication Profile for Industrial Systems

■

CiA Draft Standard 301

■

CiA Draft Standard 305 Layer Setting Services

■

CiA Draft Standard 406 Device Profile for Encoders

Note!

All datasheets and manuals can be downloaded for free from our website www.pepperl-

fuchs.com

We do not assume responsibility for technical inaccuracies or omissions. Specifications are

subject Note to change without notice.

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Absolute Rotary Encoder

Installation of Photoelectric Absolute Rotary Encoder

5 Installation of Photoelectric Absolute Rotary Encoder

The following chapter describes all aspects helpful for installation of photoelectric absolute

rotary encoders with bus cover. Depending on the rotary encoder model there are the following

connection variants:

■

Rotary encoder with bus cover equipped with cable glands

■

Rotary encoder with bus cover equipped with a cable exit

■

Rotary encoder with bus cover equipped with one or two M12x1 connectors, 5-pin

Bus cover features like node number adressing, baud rate setting and activation of termination

resistor are identical for all these variants.

5.1 Signal Assignment of Terminal Block

The rotary encoder is connected with two or three cables depending on whether the power

supply is integrated into the bus cable or connected separately. If the power supply is

integrated into the bus cable, one of the cable glands can be fitted with a plug. The cable

glands are suitable for cable diameters from 6.5 up to 9 mm.

Figure 5.1

Te r m i na l Description

Ground

+24 V Supply Voltage

-0 V Supply Voltage

GCAN Ground

LCAN Low (Bus In)

HCAN High (Bus In)

G* CAN Ground

L* CAN Low (Bus Out)

H* CAN High (Bus Out)

Table 5.1 * are not connected, if terminator is ON

ON

T

G

H

-+ G

x10Bd x1

LLH

8

7

2

654

3

0

9 1 8

7

2

654

3

0

9 1 8

7

2

654

3

0

9 1

R

Te r m i n a t o r

Bus In Bus Out

RS 485 Interface

Absolute Rotary Encoder

Installation of Photoelectric Absolute Rotary Encoder

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Bus Connection

The bus cover fulfills the function of a T-coupler. From there the wiring must be done according

to figure you find before. Please note the assignment of incoming and outgoing bus signals.

Caution!

Activated bus termination separates "Bus in" and "Bus out"

Non-observance of separation of "Bus in" and "Bus out" causes interferences on the CANopen

bus.

If you activate the bus termination on the rotary encoder ensure that the rotary encoder is the

last CANopen bus participant in the bus line.

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Absolute Rotary Encoder

Installation of Photoelectric Absolute Rotary Encoder

5.2 Signal Assignment of Connector and Cable Variants

The rotary encoders with cable- and connector-exit were designed in accordance to CiA

normative DR303-1 cabeling and connector pin assignment. They also have a removable bus

cover with all possibilities to set node number, baud rate and acitvate terminator.

Figure 5.2

The following table shows an assignment of the different connecting types (cable, connectors)

to the terminals of the bus cover.

Te r m i na l Description Cable M12 plug, 5-pin M12 socket, 5-pin

(-) - Power supply 1 3 3

(+) + Power supply 2 2 2

LCAN Low (Bus In) 3 5

HCAN High (Bus In) 4 4

GCAN Ground 5 1

L* CAN Low (Bus Out) 6 5

H* CAN High (Bus Out) 7 4

G* CAN Ground 8 1

Ground connection of

encoder housing

green/

yellow

Table 5.2 * are not connected, if terminator is ON

ON

T

G

H

-+ G

x10Bd x1

LLH

8

7

2

654

3

0

9 1 8

7

2

654

3

0

9 1 8

7

2

654

3

0

9 1

R

Te r m i n a t o r

Bus In Bus Out

RS 485 Interface

1

3

4

5

2

1

5

3

2

4

Absolute Rotary Encoder

Installation of Photoelectric Absolute Rotary Encoder

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17

5.3 Activation of the Terminator

There is a terminator provided in the bus cover, which must be used as a line termination on the

last device. The terminator is switched on when the switch is in the "ON position" (see figure

before).

5.4 Installation Hints for Cabling

Cable Connection with Cable Gland

1. Remove screw, sealing and cone from the cable gland.

Figure 5.3

2. Remove 55 mm of the sheath and 50 mm of the shielding. About 5 mm of the wires should

be de-isolated.

3. Put screw and sealing on the cable.

4. The cone should be mounted under the shielding according to the figure before. Put the

whole cable into the cable gland and tighten the screw.

Minimization of Signal Interferences

Both the cable shielding and the metal housings of rotary encoders and subsequent

electronics have a shielding function. The housing must have the same potential and be

connected to the main signal ground over the machine chassis or by means of a separate

potential compensating line. Potential compensating lines should have a minimum cross

section of 6 mm

2

.

Do not lay signal cable in the direct vicinity of interference sources (air clearance > 100 mm (4

in.))

A minimum spacing of 200 mm (8 in.) to inductors is usually required, for example in switch-

mode power supplies.

Configure the signal lines for minimum length and avoid the use of intermediate terminals.

Shielded fieldbus cables shall be used! The shield must be grounded according to EMI rules!

In metal cable ducts, sufficient decoupling of signal lines from interference signal transmitting

cable can usually be achieved with a grounded partition.

5.5 Setting of Node Number and Baud Rate in the Bus Cover

Caution!

Activated bus termination separates "Bus in" and "Bus out".

Non-observance of separation of "Bus in" and "Bus out" causes interferences on the CANopen

bus.

If you activate the bus termination on the rotary encoder ensure that the rotary encoder is the

last CANopen bus participant in the bus line.

Note!

Setting of node number and baud rate has to be done via software if Bd rotary switch is set to 9.

SDO objects and Layer Setting Services (LSS) are provided for this purpose.

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Absolute Rotary Encoder

Installation of Photoelectric Absolute Rotary Encoder

Setting Node Number

The setting of the node number is done by turning the BCD coded rotary switches x10 and x1

in the bus cover. Possible (valid) addresses lie between 0 and 89 whereby every address can

only be used once.

Figure 5.4

Possible device address 0 ... 89.

Addresses 90 ... 99 are reserved.

Setting Baud Rate

The setting of the baud rate is done by turning the Bd rotary switch in the bus cover. The

following baud rates are possible:

BCD coded rotary switch Description

x1 single digits of address

X10 tens of address

ON

T

G

H

-+ G

x10Bd x1

LLH

8

7

2

654

3

0

9 1 8

7

2

654

3

0

9 1 8

7

2

654

3

0

9 1

R

Te r m i n a t o r

Bus In Bus Out

RS 485 Interface

Note!

Internally the CANopen rotary encoder adds 1 to the adjusted device address.

BCD coded rotary switch Baudrate in kBit/s

020

150

2100

3125

4250

5500

6800

71000

8reserved

9Sets SDO and LSS mode

Absolute Rotary Encoder

Installation of Photoelectric Absolute Rotary Encoder

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5.6 Status of the Bus Cover LEDs

The LED behaviour was designed in accordance to the CiA normative DR 303-3 CANopen

indicator specification.

Figure 5.5

CAN Run LED State Description

Flickering AutoBitrate / LSS Auto-bitrate detection is in progress or LSS

services are in progress

Blinking PRE-OPERATIONAL The encoder is in state PRE-OPERATIONAL

Single flash STOPPED The encoder is in state STOPPED

Double flash reserved

Triple flash Program / Firmware

download

A software download is running on the encoder

On OPERATIONAL The encoder is in state OPERATIONAL

Err LED State Description

Off No error The encoder is in working condition

Flickering AutoBitrate / LSS Auto-bitrate detection is in progress or LSS

services are in progress

Blinking Invalid configuration General configuration error

Single flash Warning limit reached At least one of the error counters of the CAN

controller has reached or exceeded the warning

level (too many error frames)

Double flash Error control event A guard event (NMT-slave or NMT-master) or a

heartbeat event (heartbeat consumer) has

occured

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Absolute Rotary Encoder

Installation of Photoelectric Absolute Rotary Encoder

Triple fla sh Sync. error The sync. message has not been received within

the configured communication cycle period time

out (see objekt 1006h)

Quadruple flash Error, event-timer An expected PDO has not been received before

the even-timer elapsed

On Bus off The CAN controller is bus off

Err LED State Description

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Pepperl+Fuchs ENA58IL-R***-CANopen Owner's manual

Pepperl+Fuchs ENA58IL-R***-CANopen Owner's manual

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