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メディア・コンバーター Avtron HS6MのPDF 取扱説明書をオンラインで閲覧またはダウンロードできます。Avtron HS6M 16 ページ。 Hollow shaft 6-15mm

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CANOpen Protocol "C"

The CANOpen protocol provides a set of data bits inside a CANOpen

message that represent the encoder position (in turns and within 1

turn).

CANOpen may be wired in several different configurations, but the

most common is a "Trunk and Drop Line" configuration. The trunk

message cable must be terminated at each end with 120 ohm

resistors. Note that CANOpen also offers the option to carry device

power to each encoder through an additional cable pair of wires.

Preferred cable: Twisted pair with individual pair and overall shields.

Communication pair: 24 AWG, copper conductor, capacitance of

50 pF/meter (15 pF/foot) terminated in a 120 Ohm resistive load.

Power pair: 22AWG copper conductor, 17ohms/1000 ft [55 ohms/

km]. Note that resistive losses in long cables may decrease actual

voltage (+Vs) available at the encoder; larger conductors can be

used or the encoder can be powered locally and signal GND brought

through the cable. Maximum transmission speed is limited by cable

length and number of devices as shown in the figures below.

Nidec-Avtron recommends the use of a simple no-cost debugging

tool such as PCAN View.

For more details on CANOpen, consult the CiA, CANOpen in

Automation:

www.can-cia.org

Network

Baud

500K

250K

Rate

Max.

325

800

Length

[20]

[100]

[250]

Max.

Single

Tap

[0.3]

[5]

Length

Max.

100

200

Total Tap

[1.5]

[30]

[60]

Length

Min. Tap

to Tap

[-]

[6]

Length

125K

50K

20K

Units

1600

3250

8200

[500]

[1000]

[2500]

[m]

200

500

[5]

[60]

[150]

[m]

400

1000

2500

[120]

[300]

[750]

[m]

240

600

[6]

[72]

[180]

[m]

HS6M

Setting Node Number, Baud Rate & Termination Resistor

NOTE: Units with hardware connection caps cannot accept

software-commanded address, baud rate or termination resistor

changes. These must be made using the switches in the connection

cap. Before commencing any changes, check for a connection cap.

It is secured to the rear of the encoder with 2 or 3 screws and due

to snug fit will require a strong pull to remove it after removing the

screws.

NOTE: Any changes to baud rate, node number, or resistor will not

take effect until the encoder is reset (typically power cycled).

Power-Up Sequence

The encoder will power-up in the pre-operational mode.

The message it will issue is:

ID: 0x07nn 0x00

nn=node number, typically:

0x01 for units with connection cap including hardware node and

baud rate selection. (software commands will not change node)

0x20 is the factory default for units with software-selectable

addressing. (software commands can change node number)

Setting Node Number:

To set the node number: write SDO object 0x3000 using command

0x22. The encoder internally adds 1 to the written value.

Example, encoder at node 20, change node address to 02:

ID: 0x620 0x22 0x00 0x30 0x00 0x01 0x00 0x00 0x00

Setting Baud Rate:

To set the baud rate: write the baud code to SDO object 0x3001.

Example, encoder at node 20, change baud rate to 125K = 0x03

ID: 0x620 0x22 0x01 0x30 0x00 0x03 0x00 0x00

Network

Baud

500K

250K

Rate

Baud

07h

05h

04h

Code

To enable the termination resistor: write 01 to SDO object 3002h.

Ensure any devices on the bus power up at least 700mS after the

encoder with the termination resistor activated.

Saving Changes (Required):

To save baud rate/node/resistor changes, write 0x55 0xAA 0xAA

0x55 to SDO object 0x2300

Example, encoder at node 20, store changes

ID: 0x620 0x22 0x00 0x23 0x00 0x55 0xAA 0xAA 0x55

Cycle power after saving changes.

Measuring Position, Speed, and Acceleration

To read position and speed feedback into your device (Acceleration

measurement is not supported.): Following the instructions for your

master/scanner module for the CANOpen network, load the encoder

EDS file into your configuration. Assign it to the correct node

number. Store the configuration to the scanner module.

All of the position data and other parameters will be read by

the scanner module and placed in registers identified in the

configuration package.

Reading data without using the EDS file:

To read position: read SDO object 0x2000 (32 bit unsigned) or SDO

object 0x6004.

125K

50K

20K

03h

01h

00h