WV58MR. Redundant rotary encoder with CANopen Safety interface extension User manual 307/17

Transcription

1 WV58MR Redundant rotary encoder with CANopen Safety interface extension User manual 307/17

2 General Information Inhaltsverzeichnis 1 General Information Documentation Definitions Intended use Communication via CAN-Bus (CANopen and CANopen Safety) Safety data exchange Transfer of safety-relevant data objects (SRDO) Transmission of Service Data Objects (SDO) Example of change of a configuration Directory of objects Overview of objects Object description h: SRDO1 communication parameters h: SRDO2 communication parameters h: SRDO1 mapping parameters h: SRDO2 mapping parameters FEh: Safety configuration FFh: Safety configuration signature (checksum) h: Safety configuration parameters of position h: Safety configuration parameters of speed h: Safety position value h: Safety inverted position value h: Safety speed value h: Safety inverted speed value FEh: Safety application configuration FFh: Safety configuration signature (checksum) WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 2 von 24

3 General Information 1 General Information 1.1 Documentation The following documents are associated with this product: Data sheet; it describes the technical data, the dimensions, the pin assignments, the accessories and the order key. Mounting instructions; they describe the mechanical and electrical installation with all safety-relevant conditions and the associated technical specifications. User manual ; for commissioning the sensor and integrating it into a fieldbus system. EDS file (electronic data sheet); this file enables integration and configuration in a CANopen network by means of commercial CANopen configurators. These documents can also be found at Definitions Decimal values are given as numbers without addition (e.g. 1234), except when indicated in direct connection with binary or hexadecimal values, in which case the extension d will be used (e.g. 1234d). Binary values are identified by adding b (e.g. 1011b) to the figures whereas hexadecimal values are extended by h (e.g. 280h). 2 Intended use The WV58MR consists of two encoders, which collect redundantly absolute travel information. By means of the CANopen protocol and CANopen Safety protocol, both encoders can be configured and read out via the CAN interface. The evaluation and assessment of the data must occur in the superordinate control unit. Both encoders are equipped with each 3 LEDs (yellow, red, green), which indicate error or status information for diagstic purposes. The rotary encoder WV58MR is designed for redundant position and speed detection. It can be used for applications up to Performance Level D (PLd) in the overall system. For this purpose an overriding safe encoder evaluation device is required. Since the encoder is incapable with its encoder-internal diagstic function to initiate actions such as obtaining a safe state on its own. Increased demands are placed on the electrical and mechanical connection of the rotary encoder. WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 3 von 24

4 Fig. 1: Block diagram 3 Communication via CAN-Bus (CANopen and CANopen Safety) The CANopen communication profile CiA DS-301 V4.2, the Device profile for Encoders CiA DS- 406 V4.02 as well as the indicator specification CiA DS-303 Part 3 V1.4.0 for CAN diagsis form the basis for the WV58MR. The CANopen Safety protocol EN is additionally implemented for safety-relevant applications. Safety-relevant applications as well as safety-n-relevant applications can be operated on a CAN bus. The WV58MR supports device class C3. The details required for a better understanding of safety-relevant operation are included in this documentation. If more in-depth information is required, we recommend reading the applicable technical literature on CANopen Safety. For fundamental information on CANopen communication refer to the WV58MR CANopen manual. WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 4 von 24

5 3.1 Safety data exchange Transfer of safety-relevant data objects (SRDO) Safety-relevant data objects (SRDO) serve the cyclic exchange of safe data in the Operational NMT state. An SRDO consists always of 2 messages with different COB-IDs and bit-by-bit inverted data. A maximum of 8 bytes of user data can be transferred in an SRDO. The WV58MR supports the Safety Transmit services SRDO1for the position value (4 bytes) and SRDO2 for speed (2 bytes) according to EN and CiA DS-406. The transmit behavior of SRDO is determined via the objects 1301h, 1381h and 6100h. SRDO is determined via the objects 1302h, 1382h and 6101h. Mapping is static and cant be changed. COB-ID SRDO1 COB-ID FFh + 2*Node-ID SRDO1 COB-ID h + 2*Node-ID Data in binary code Byte 0 (LSB) Position value Byte 1 Byte 2 Byte 3 (MSB) Bit-inverted position value Table 1: SRDO1 message COB-ID SRDO2 COB-ID Fh + 2*Node-ID SRDO2 COB-ID h + 2*Node-ID Data in binary code Byte 0 (LSB) Byte 1 speed value Bit-inverted speed value Table 2: SRDO2 message Transmission of Service Data Objects (SDO) All safety concerning service data objects for device configuration are addressed in expedited Request/Response All changes to safety concerning service data objects are monitored via a checksum CRC-16- CCITT and can only be executed in the Pre-Operational NMT state. The polymial is g(x) = x 16 +x 12 +x Procedure of changing the configuration data in the objects 1301h, 1302h, 6100h and 6101h: Change values Enter the new valid checksum (sub-index of the relevant object 13FFh or object 61FFh). Switch the relevant configuration to valid via object 13FEh or 61FEh. WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 5 von 24

6 3.1.3 Example of change of a configuration In the following example, the direction of information is to be changed from valid to invalid for SRDO2 while maintaining he configuration of SRDO1. Changing the direction of information: COB-ID 600h + Node-ID User data Command Index L Index H Data 0 Data 1 Data 2 Data 3 2Fh 02h 13h 01h 00h For the checksum, the default value 0000h is entered. Therefore, both checksums must be indicated for the first change even if only one configuration is changed. COB-ID 600h + Node-ID 600h + Node-ID User data Command Index L Index H Data 0 Data 1 Data 2 Data 3 2Bh FFh 13h 01h F1h BAh - - 2Bh FFh 13h 02h 9Ch 17h - - Enable the configuration for SRDO1 and SRDO2. During activation, the configuration is monitored by means of the checksum in object 13FFh sub-indexes 01h and 02h. The configurations can only be enabled with the correct checksums. COB-ID 600h + Node-ID User data Command Index L Index H Subindex Subindex Subindex Data 0 Data 1 Data 2 Data 3 2Fh FEh 13h 00h A5h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 6 von 24

7 3.2 Directory of objects Overview of objects The following table offers an overview of the safety objects of the device. Name see page 1301h: SRDO1 communication parameter 1302h: SRDO2 communication parameter 1381h: SRDO1 mapping parameter 1382h: SRDO2 mapping parameter 13FEh: Safety configuration 13FFh: Safety configuration signature (checksum) 6100h: Safety configuration parameters of position 6101h: Safety configuration parameters of speed SRDO1 communication parameter 8 SRDO2 communication parameter 9 SRDO1 transmit mapping parameter 10 SRDO2 transmit mapping parameter 12 Activate the safety configuration for SRDO1 and SRDO2 Signatures (checksums) for SDRO1 and SDRO2 configurations Safety configuration of the position parameters 16 Safety configuration of the speed parameters h: Safety position value Safety position value (offset with calibration and offset value) 6121h: Safety inverted position value Safety inverted position value (offset with calibration and offset values) 6124h: Safety speed value Safety speed value h: Safety inverted speed value 61FEh: Safety application configuration 61FFh: Safety configuration signature (checksum) Table 3: Overview of objects Safety inverted speed value 21 Activate the safety configuration for SRDO1 and SRDO2 Signatures (checksums) for safety configuration of position and speed WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 7 von 24

8 3.2.2 Object description h: SRDO1 communication parameters The communication behavior of SRDO1 can be determined via object 1301h. 00h indicates the largest supported sub-index 6h 01h Direction of information rw 1 Data content 0: SRDO1 is t valid 1: SRDO1 is TX and valid 02h refresh time rw 25 Data content h transmission type 254 WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 8 von 24

9 05h COB-ID1 rw FFh + 2*Node ID Data content Only odd numbers are allowed. 06h COB-ID2 rw h + 2*Node ID Data content Only even numbers are allowed h: SRDO2 communication parameters The communication behavior of SRDO2 can be determined via 1302h. 00h indicates the largest supported sub-index 6h 01h Direction of information rw 1 Data content 0: SRDO2 is t valid 1: SRDO2 is TX and valid 02h refresh time WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 9 von 24

10 rw 25 Data content h transmission type h COB-ID1 rw Fh + 2*Node ID Data content Only odd numbers are allowed. 06h COB-ID2 rw h + 2*Node ID Data content Only even numbers are allowed h: SRDO1 mapping parameters Object 1381h determines the objects that are mapped in the first Transmit SRDO (SRDO1). 00h indicates the largest supported sub-index ro WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 10 von 24

11 8h 01h 1 st object of the SRDO1 message with the COB ID1 (data byte 0) h (position value object 6120h, sub-index 01h, 8bit) 02h 1 st object of the SRDO1 message with the COB ID2 (data byte 0) h (inverted position value object 6121h, sub-index 01h, 8bit) 03h 2 nd object of the SRDO1 message with the COB ID1 (data byte 1) h (position value object 6120h, sub-index 02h, 8bit) 04h 2 nd object of the SRDO1 message with the COB ID2 (data byte 1) h (inverted position value object 6121h, sub-index 02h, 8bit) 05h 3 rd object of the SRDO1 message with the COB ID1 (data byte 2) WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 11 von 24

12 h (position value object 6120h, sub-index 03h, 8bit) 06h 3 rd object of the SRDO1 message with the COB-ID2 (data byte 2) h (inverted position value object 6121h, sub-index 03h, 8bit) 07h 4 th object of the SRDO1 message with the COB ID1 (data byte 3) h (position value object 6120h, sub-index 04h, 8bit) 08h 4 th object of the SRDO1 message with the COB ID2 (data byte 3) h (inverted position value object 6121h, sub-index 04h, 8bit) h: SRDO2 mapping parameters Object 1382h determines the objects that are mapped in the second Safety Transmit SRDO (SRDO2). 00h indicates the largest supported sub-index ro 4h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 12 von 24

13 01h 1 st object of the SRDO2 message with the COB ID1 (data byte 0) h (speed value object 6124h, sub-index 01h, 8bit) 02h 1 st object of the SRDO2 message with the COB ID2 (data byte 0) h (inv. speed value object 6125h, sub-index 01h, 8bit) 03h 2 nd object of the SRDO2 message with the COB ID1 (data byte 1) h (speed value object 6124h, sub-index 02h, 8bit) 04h 2 nd object of the SRDO2 message with the COB ID2 (data byte 1) h (inv. speed value object 6125h, sub-index 02h, 8bit) FEh: Safety configuration The SRDO configuration can be switched to valid by means of object 13FEh. 00h This parameter will be switched to invalid automatically after changing a parameter in object 1301h or 1302h and must be switched valid again via this object. Switching to valid is only enabled if the correct signatures are entered in object 13FFh. rw WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 13 von 24

14 Data content 0h A5h: SRDO1 and SRDO2 configuration valid 00h A4h and A6h FFh: SRDO1 and SRDO2 configuration invalid FFh: Safety configuration signature (checksum) This object 13FFh receives the signatures (checksums) via the CANopen Safety parameters of SRDO1 and SRDO2. Only a checksum which is valid at that time can be transmitted. The checksum is checked anew before switching the configuration to valid. Any change to the configuration will be valid only after passing,. 00h indicates the largest supported sub-index ro 2h 01h SRDO1 signature (checksum) rw Data type UNSIGNED 16 Data content 0000h The checksum CRC-16-CCITT is calculated via the content of the two objects 1301h and 1381h. Object 1301h 1381h Subindex Name Extent Value SRDO1 communication parameter 01h Direction of information 1 byte Object 1301h sub-index 01h 02h Refresh time 2 bytes Object 1301h sub-index 02h 05h COB ID 1 4 bytes Object 1301h sub-index 05h 06h COB ID 2 4 bytes Object 1301h sub-index 06h SRDO1 mapping parameters 00h Highest sub-index 1 byte 08h 01h 1 byte 01h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 14 von 24

15 01h Position value 1 st byte 4 bytes h 02h 1 byte 02h 02h Inverted position value 1 st byte 4 bytes h 03h 1 byte 03h 03h Position value 2 nd byte 4 bytes h 04h 1 byte 04h 04h Inverted position value 2 nd byte 4 bytes h 05h 1 byte 05h 05h Position value 3 rd byte 4 bytes h 06h 1 byte 06h 06h Inverted position value 3 rd byte 4 bytes h 07h 1 byte 07h 07h Position value 4 th byte 4 bytes h 08h 1 byte 08h 08h Inverted position value 4 th byte 4 bytes h 02h SRDO2 signature (checksum) rw Data type UNSIGNED 16 Data content 0000h The checksum CRC-16-CCITT is calculated via the content of the two objects 1302h and 1382h. Object 1302h 1382h Subindex Name Extent Value SRDO2 communication parameter 01h Direction of information 1 byte Object 1302h sub-index 01h 02h Refresh time 2 bytes Object 1302h sub-index 02h 05h COB ID 1 4 bytes Object 1302h sub-index 05h 06h COB ID 2 4 bytes Object 1302h sub-index 06h SRDO2 mapping parameters 00h Highest sub-index 1 byte 04h 01h 1 byte 01h 01h speed value 1 st byte 4 bytes h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 15 von 24

16 02h 1 byte 02h 02h Inverted speed value 1 st byte 4 bytes h 03h 1 byte 03h 03h speed value 2 nd byte 4 bytes h 04h 1 byte 04h 04h Inverted speed value 2 nd byte 4 bytes h h: Safety configuration parameters of position Via object 6100h, settings for the position and its transmission can be made. 00h indicates the largest supported sub-index 2h 01h Safety sense of direction rw (write in the Pre-operational NMT state only) Data type UNSIGNED 16 Data content 0000h 0: CW 1: CCW 02h Safety preset value (calibration value) rw (write in the Pre-operational NMT state only) Data type SIGNED 32 0h Data content Encoder type With changed APU (object 6001h) Single-turn ((APU*1)-1) 4 bit multi-turn ((APU*16)-1) 8 bit Multi-turn ((APU*256)-1) WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 16 von 24

17 12 bit multiturn ((APU*4096)-1) h: Safety configuration parameters of speed Via object 6101h, settings for speed and its transmission can be made. 00h indicates the largest supported sub-index 7h 01h Safety sense of direction rw (write in the Pre-operational NMT state only) Data type UNSIGNED 16 Data content 0000h 0: CW 1: CCW 02h Safety preset value (calibration value) rw (write in the Pre-operational NMT state only) Data type SIGNED 32 0h Data content Encoder type With changed APU (Object 6001h) Single-turn ((APU*1)-1) 4 bit multi-turn ((APU*16)-1) 8 bit multi-turn ((APU*256)-1) 12 bit multiturn ((APU*4096)-1) 04h Safety speed source selector rw (write in the Pre-operational NMT state only) WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 17 von 24

18 02h Data content 02h: Object 600C raw value of position is used 05h Safety integration time of speed rw (write in the Pre-operational NMT state only) Data type UNSIGNED 16 Data content 64h 64h: 100 ms C8h: 200 ms 06h Safety multiplier rw (write in the Pre-operational NMT state only) Data type UNSIGNED 16 01h Data content 01h 07h Safety divisor rw (write in the Pre-operational NMT state only) Data type UNSIGNED 16 Data content 01h 01h Speed value [Inc/ms] = (new raw position value object 600Ch - old raw position value object 600Ch) / (integration time [ms] object 6101h sub-index 05h * 10-3) * multiplier object 6101h sub-index 06h / divisor object 6101h sub-index 07h h: Safety position value Via object 6120h, the position value can be read byte by byte. 00h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 18 von 24

19 indicates the largest supported sub-index 4h 01h Safety position byte 1 0h 02h Safety position byte 2 0h 03h Safety position byte 3 0h 04h Safety position byte 4 0h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 19 von 24

20 h: Safety inverted position value Via object 6121h, the inverted position value can be read byte by byte. 00h indicates the largest supported sub-index 4h 01h Safety inverted position value byte 1 FFh 02h Safety inverted position value byte 2 FFh 03h Safety inverted position value byte 3 FFh 04h Safety inverted position value byte 4 FFh WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 20 von 24

21 h: Safety speed value Via object 6124h, the speed value can be read byte by byte. 00h indicates the largest supported sub-index 2h 01h Safety speed value byte 1 0h 02h Safety speed value byte 2 0h Conversion of increments per ms in rpm Speed [rpm] = speed value [Inc/ms] * 6000 [rpm] / [Inc/ms] h: Safety inverted speed value Via object 6125h, the inverted speed value can be read byte by byte. 00h indicates the largest supported sub-index 2h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 21 von 24

22 01h Safety inverted speed value byte 1 FFh 02h Safety inverted speed value byte 2 FFh FEh: Safety application configuration Via object 61FEh, the configuration of position and speed can be switched to valid. 00h This parameter will be switched to invalid automatically after changing a parameter in object 6100h or 6101h and must be switched valid again via this object. Switching to valid is only enabled if the correct signatures are entered in object 61FFh. rw Data content 0h A5h: Configuration for position and speed valid 00h A4h und A6h FFh: Configuration invalid FFh: Safety configuration signature (checksum) This object 61FFh receives the signatures (checksums) via the CANopen Safety parameters for position and speed. Only a checksum which is valid at that time can be transmitted. The checksum is checked anew before switching the configuration to valid. Any change to the configuration will be valid only after passing. 00h indicates the largest supported sub-index WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 22 von 24

23 2h 01h Signature of position (checksum) rw Data type UNSIGNED 16 Data content 0000h The checksum CRC-16-CCITT is calculated via the content of the object 6100h. Object Name Extent Value 6100h Safety configuration of the position parameters 00h Highest sub-index 1 byte 02h 01h 1 byte 01h 01h Safety sense of direction 2 bytes Object 6100h sub-index 01h 02h 1 byte 02h 02h Safety preset value (calibration value) 4 bytes Object 6100h sub-index 02h 02h Signature of speed (checksum) rw Data type UNSIGNED 16 Data content 0000h The checksum CRC-16-CCITT is calculated via the content of the object 6101h. Object Name Extent Value 6101h Safety configuration of the speed parameters 00h Highest sub-index 1 byte 06h 01h 1 byte 01h 01h Safety sense of direction 2 bytes Object 6101h sub-index 01h 02h 1 byte 02h 02h Safety Preset value (calibration value) 4 bytes Object 6101h sub-index 02h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 23 von 24

24 03h 1 byte 03h 03h Safety speed source selector 1 byte Object 6101h sub-index 04h 04h 1 byte 04h 04h Safety integration time of speed 2 bytes Object 6101h sub-index 05h 05h 1 byte 05h 05h Safety multiplier 2 bytes 0001h 06h 1 byte 06h 06h Safety divisor 2 bytes 0001h WV58MR Datum: Art. Nr Änd. Stand 307/17 Seite 24 von 24