TXN 11551 FE

T Series Encoders with CANopen Interface

12 / 2012

User Manual

TWK-ELEKTRONIK GmbH · PB. 10 50 63 · D-40041 Düsseldorf · Tel.: +49/211/63 20 67 · Fax: +49/211/63 77 05 · [email protected] · www.twk.de
 COPYRIGHT: The TXN 11551 operating instructions
are owned by TWK-ELEKTRONIK GMBH and are
protected by copyright laws and international treaty provisions.

© 2009 by TWK-ELEKTRONIK GMBH

POB 10 50 63 ■ 40041 Düsseldorf ■ Germany
Tel. +49/211 /63 20 67 ■ Fax +49/211 /63 77 05
[email protected] ■ www.twk.de

TXN 11551 FE / Page 2

 Table of contents
1. General................................................................................................................................. 5

2. CANopen features of T Series encoders........................................................................... 5

3. Installation instructions...................................................................................................... 6
3.1 Electrical connection.....................................................................................................................6
3.2 Baud rates and lead lengths.........................................................................................................6
3.3 Setting the address and Baud rate................................................................................................6
3.4 EDS file.........................................................................................................................................6

4. Process data exchange...................................................................................................... 7

4.1 Operating modes...........................................................................................................................7
4.2 Data format....................................................................................................................................8

5. Emergency messages......................................................................................................... 9

6. Programming and diagnosis (object directory).............................................................. 10

6.1 Overview of the object directory..................................................................................................10
6.2 Communication parameters........................................................................................................ 11
6.2.1 Object 1000h - Device type....................................................................................................... 11
6.2.2 Object 1001h - Error register..................................................................................................... 11
6.2.3 Object 1005h - COB-ID SYNC.................................................................................................. 11
6.2.4 Object 1008h - Manufacturer device name............................................................................... 11
6.2.5 Object 1009h - Manufacturer hardware version........................................................................ 11
6.2.6 Object 100Ah - Manufacturer software version......................................................................... 11
6.2.7 Object 1010h - Store parameters..............................................................................................12
6.2.8 Object 1011h - Restore default parameters..............................................................................12
6.2.9 Object 1014h - COB-ID EMCY..................................................................................................12
6.2.10 Objekt 1015h - Inhibit time EMCY...........................................................................................12
6.2.11 Object 1017h - Producer heartbeat time.................................................................................12
6.2.12 Object 1018h - Identity Object.................................................................................................12
6.2.13 Object 1800h - First transmit PDO..........................................................................................13
6.2.14 Object 1801h - Second transmit PDO.....................................................................................13
6.2.15 Object 1A00h - First transmit PDO mapping...........................................................................13
6.2.16 Object 1A01h - Second transmit PDO mapping......................................................................14
6.3 Standardised device parameters.................................................................................................15
6.3.1 Object 6000h - Operating parameters.......................................................................................15
6.3.2 Object 6001h - Measuring units per revolution.........................................................................15
6.3.3 Object 6002h - Total measuring range......................................................................................15
6.3.4 Object 6003h - Preset value......................................................................................................16
6.3.5 Object 6004h - Position value...................................................................................................16
6.3.6 Objekt 6030h - Speed value (from revision 0x10100 on)..........................................................16
6.3.7 Object 6200h - Cyclic timer.......................................................................................................16
6.4 Standardised device diagnosis....................................................................................................17

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 Table of contents

6.4.1 Object 6500h - Operating status...............................................................................................17

6.4.2 Object 6501h - Singleturn resolution.........................................................................................17
6.4.3 Object 6502h - Number of distinguishable revolutions..............................................................17
6.4.4 Object 6503h - Alarms...............................................................................................................17
6.4.5 Object 6504h - Supported alarms.............................................................................................17
6.4.6 Object 6506h - Supported Warnings.........................................................................................18
6.4.7 Object 6507h - Profile and software version.............................................................................18
6.4.8 Object 6508h - Operating time..................................................................................................18
6.4.9 Object 6509h - Offset value......................................................................................................18
6.4.10 Object 650Ah - Modul identification........................................................................................18
6.4.11 Object 650Bh - Serial number.................................................................................................18
6.5 Manufacturer-specific parameters...............................................................................................19
6.5.1 Object 2000h - Node ID............................................................................................................19
6.5.2 Object 2001h - Bit timing...........................................................................................................19
6.5.3 Object 2010h - Speed value (encoder with speed signal only, up to rev. 0x10100)..................19
6.5.4 Objekt 2011h - Speed gate time (from revision 0x10100 on)....................................................19

7. Examples............................................................................................................................ 20
7.1 Boot-up........................................................................................................................................20
7.2 Change parameter......................................................................................................................20
7.3 Setting the node address via LSS...............................................................................................21

8. Literature............................................................................................................................ 22

TXN 11551 FE / Page 4

 1. General 2. CANopen features

1. General
The electromagnetic T Series encoders are designed for direct connection to the CAN bus. This is achieved internally
via the CAN bus controller T89C51 CC02 SO 28 (Atmel). The following specifications have been implemented:

Device Profile for Encoders

CiA Draft Standard 406, Version 3.0 /1/
CANopen Application Layer and Communication Profile
CiA Draft Standard 301, Version 4.02 /2/

The CANopen specifications can be obtained from the user organisation CiA (www.can-cia.org).

The following T Series encoders with CANopen interface have been taken into consideration:

Model designation Data sheet  Description

TBN 36 11713 Single-turn encoder

TBN 42 11930 Single-turn encoder

TBN 50 11294   Single-turn encoder
TKN 46 12638 Single- or multi-turn encoder as board
TMN 42 11931 Multi-turn encoder with electronic revolution counter
TMN 50 11451   Multi-turn encoder with electronic revolution counter
TSN 50 11851 Multi-turn encoder with battery powered electronic revolution counter
TRN 42 11916 Multi-turn encoder with magnetic scanned gear
TRN 50 11820 Multi-turn encoder with magnetic scanned gear

2. CANopen features of T Series encoders

- According to device profile DS 406, version 3.0, Device Profile for Encoders /1/
- NMT slave
- One SDO per communication direction for accessing the object directory
- Two transmit PDOs
- PDO identifier adjustable via SDO
- SYNC message
- EMERGENCY message
- Simple boot-up according to DS 301
- Transmission types can be set for all PDOs
- Node number and Baud rate setting via Layer Setting Service (LSS) /4/

TXN 11551 FE / Page 5

 3. Installation instructions

3. Installation instructions
3.1 Electrical connection
CiA Draft Recommendation Proposal 303-1, Version 1.1.1 CANopen Cabling and Connector Pin Assignment /3/ must
be adhered to when connecting the encoder. This particularly applies with regard to the terminal resistors, the lead
characteristics, the length of the branch lines and the transmission length.

The bus terminal resistors must be implemented internally. The precise connector assignment is enclosed with each
device.
Principle bus structure:

subscriber
CAN-Bus

Encoder
CAN_H CAN_H

* 120 CAN-Bus 120 *

CAN_L CAN_L
* Terminal resistor

3.2 Baud rates and lead lengths

Baud rate [kBaud] 20 50 125 250 500 800 1000
(According to CiA DS 301)
Lead length [m] 2500 1000 500 250 100 50 25

Note: The encoder has no galvanic separation between the supply voltage and bus leads; the total bus length is
therefore limited to 200 m.

3.3 Setting the address and Baud rate

The node address (node number) and the Baud rate are set via the LSS - Layer Setting Service (see CiA DS 305).
In this case, each node has a unique LSS address, via which it can be identified in the network. This is comprised of
the following:

Manufacturer ID: 0000 010Dh (TWK manufacturer ID)

Product number: 0000 6000h (TWK product number)
Revision number: 0001 0003h (current revision number)
Serial number: xxxx xxxxh (relevant serial number of the sensor)
See example in Chapter 7.2.
In addition to the option of setting the node address and Baurate via the LSS, the parameters can also be changed
via objects 2000h and 2001h (see manufacturer-specific object range, Chapter 6.5).

The default values are: Baud rate: 20 kBaud

Node address: 1

3.4 EDS file

The EDS file is enclosed on a diskette in order to integrate the sensor into a project planning tool. This file clearly and
completely describes the characteristics of the CANopen subscriber in a defined format.

After integrating the EDS file into the project planning tool (e.g. CANsetter from Vektor-Informatik), the encoder‘s pa-
rameters can be comfortably set and diagnostic information can be read.

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 4. Process data exchange

4. Process data exchange

In the case of CANopen, I/O data traffic takes place via the PDO (Process Data Object) message. The T Series enco-
ders provide two PDOs. Their transmission behaviour (transmission type) can be set independently of each other.

4.1 Operating modes

The following operating modes can be set:
Polling Mode (asynchronous-RTR):
The encoder transmits the current, actual position value, after the current position value has been polled via a „Remo-
te Frame“ message by the master.

Asynchronous Mode (cyclic / acyclic):

Without being requested to do so by the master, the encoder transmits the current, actual position value following
a value change and following the expiry of a cyclic time (cyclic timer > 0). The cycle time can be parameterised for
values between 1 ms and 65,535 ms.
Synchronous Mode (synchronous-cyclic):
After receiving a SYNC message transmitted by a master, the encoder transmits the current, actual position value.
The encoder‘s SYNC counter can be parameterised in such a way that the position value is only transmitted following
a defined number of SYNC messages.
Acyclic Mode (synchronous-acyclic):
After receiving a SYNC message, the encoder only transmits the current, actual position value if the position value
has changed since the last transmission.
In the case of CANopen, the operating modes (transmission types) and all other parameters are set via so-called
SDOs (Service Data Object). The transmission types for PDO1 and PDO2 can be found under the indices 1800h and
1801h. (See Chapter 6.2)

The following Table shows the relevant values for the parameters transmission type.
Transmission Type
Code Transmission type
Cyclic Acyclic Synchron Asynchronous RTR
0 x x
1-240 x x
241-251 Reser
252 x x
253 x x
254 x

Meaning
0 After SYNC, but only if the value has changed since the last SYNC.
1-240 Transmit value after 1st or 240th SYNC message.
252 Cycle Timer = 0 Position integration on SYNC; output of the stored position following
request (Remote Frame).
Cycle Timer ≠ 0 Current position is transmitted in the timer‘s cycle. Position integration
on SYNC; output of the stored position following request (Remote Frame)
remains active.
253 Cycle Timer = 0 Current position is transmitted upon request (Remote Frame).
Cycle Timer ≠ 0 Current position is transmitted in the timer‘s cycle. Current position
is also transmitted following request (Remote Frame).
254 Cycle Timer = 0 Data output occurs in the event of a position change. Current position
is also transmitted following request (Remote Frame).
Cycle Timer ≠ 0 Current position is transmitted in the timer‘s cycle. Data output also
occurs in the event of a position change. Current position is also
transmitted following request (Remote Frame).

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 4. Process data exchange

4.2 Data format

The definition of the output data (mapping) and their depiction is identical for both PDOs. The position value is output
in steps and, in the case of the variant with speed signal, the speed value is output in steps per 100 ms. The position
and speed value can also be called up in the object directory under indices 6004h - Position value and 2010h - Speed
value. The position and speed values are depicted in Intel format.

The following tables show encoders with 13 bits single turn resolution. For encoders with 12 bit resolution the positi-
onvalue is one bit shorter in each case.

Single-turn encoder TBN / TKN without speed signal - 2 data bytes:

Byte 0 Byte 1
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
13 Bit Position data 0 0 0

Single-turn encoder TBN / TKN with speed signal - 4 data bytes:

Byte 0 Byte 1 Byte 2 Byte 3

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
13 Bit Position data 0 0 0 16 Bit Speed

Multi-turn encoder TMN and TSN without speed signal - 4 data bytes:

Byte 0 Byte 1 Byte 2 Byte 3

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
28 Bit Position data 0 0 0 0

Multi-turn encoder TRN without speed signal - 4 data bytes:

Byte 0 Byte 1 Byte 2 Byte 3

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
25 Bit Position data 0 0 0 0 0 0 0

Single-turn and multi-turn encoders with speed signal - 6 data bytes:

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
25 Bit Position data 0 0 0 0 0 0 0 Speed

TXN 11551 FE / Page 8

 5. Emergency messages

5. Emergency messages
Each time the internal error status register (Index 1001h) changes, the encoder transmits an emergency message with
the identifier: 80h + node ID (even if an error which has occurred has been rectified).

An emergency message is comprised of 8 data bytes and is structured as follows:

Byte 0 1 2 3…7
Content Error code Error register Manufacturer-specific
(Index 1001h)

See CANopen Specifications /2/ for error code.

The bits in the error register, index 1001h, (see Chapter 6.1), have the following meaning:

Bit Meaning
0 General error
1-6 Not used
7 Manufacturer-specific error

In the case of an error, the error register always contains 81h. The cause of the error is then contained in index 6503h.

Bytes 3 and 4 of the emergency message reflect the content of the index 6503h (see Chapter 6.4.4) and may assu-
me the following values:

Bit Meaning Error rectification

0-11 Not used
12 EEPROM error Re-programming an arbitrary parameter
and saving with „save“, index 1010h /01
13 EEPROM CRC error Re-programming an arbitrary parameter
and saving with „save“, index 1010h /01
14 Not used
15 Sensor error Encoder voltage supply off/on

TXN 11551 FE / Page 9

 6. Programming and diagnosis (object directory)

6. Programming and diagnosis (object directory)

In the case of CANopen, all parameters and diagnostic information are contained in the object directory. There, they
may be changed and/or read with the SDO (Service Data Object) message, specifying their index and sub-index. The
object directory is sub-divided into the following areas:
Communication parameters Index 1000h - 1FFFh
Manufacturer-specific parameters Index 2000h - 5FFFh
Standardised device parameters Index 6000h - 9FFFh
Those parameters marked with “rw” in this chapter can be set by the user. To store the parameters in a failsafe manner
in the encoder’s EEPROM, the “save” command must then be executed under the object 1010h. Refer to the following
Table for a description of the individual parameters and the diagnostic information.

6.1 Overview of the object directory

Index Object Name Data type Access
Communication Profile Area
1000h VAR Device type Unsigned32 ro
1001h VAR Error register Unsigned8 ro
1005h VAR COB-ID-SYNC Unsigned32 rw
1008h VAR Manufacturer device name String ro
1009h VAR Manufacturer hardware version String ro
100Ah VAR Manufacturer software version String ro
1010h RECORD Store parameters rw
1011h RECORD Restore default parameters rw
1014h VAR COB-ID-EMCY Unsigned32 rw
1015h VAR Inhibit time EMCY Unsigned16 rw
1017h VAR Producer heartbeat time Unsigned16 rw
1018h RECORD Identity object ro
1800h RECORD 1. Transmit PDO rw
1801h RECORD 2. Transmit PDO rw
1A00h RECORD PDO 1 Mapping ro
1A01h RECORD PDO 2 Mapping ro

Standardised Device Profile Area

6000h VAR Operating parameters Unsigned16 rw
6001h VAR Measuring units per revolution Unsigned32 ro
6002h VAR Total measuring range in measuring units Unsigned32 ro/rw*
6003h VAR Preset value Unsigned32 rw
6004h VAR Position value Unsigned32 ro
6030h VAR Speed value (from rev. 0x10100 on) Unsigned16 ro
6200h VAR Cyclic timer Unsigned16 rw
6500h VAR Operating status Unsigned16 ro
6501h VAR Single turn resolution Unsigned32 ro
6502h VAR Number of distinguishable revolutions Unsigned16 ro
6503h VAR Alarms Unsigned16 ro
6504h VAR Supported alarms Unsigned16 ro
6506h VAR Supported warnings Unsigned16 ro
6507h VAR Profile and software version Unsigned32 ro
6508h VAR Operating time Unsigned32 ro
6509h VAR Offset value Unsigned32 ro
650Ah RECORD Module identification ro
650Bh VAR Serial number Unsigned32 ro

Manufacturer Specific Profile Area

2000h VAR Node ID Unsigned8 rw
2001h VAR Bit timing Unsigned8 rw
2010h VAR Speed value (optional) Unsigned16 ro
2011h VAR Speed gate time (from rev. 0x10100 on) Unsigned16 rw
* dependend on type, see object description

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 6. Programming and diagnosis (object directory)

6.2 Communication parameters

6.2.1 Object 1000h - Device type

Index Sub Name Data type Access Range/Value Default

1000h 00 Device type Unsigned32 ro 0x10196 (TBN)
0x30196 (TMN,
TRN, TSN)

6.2.2 Object 1001h - Error register

Index Sub Name Data type Access Range/Value Default

1001h 00 Error register Unsigned8 ro

Bit Meaning
0 General error
1-6 Not used
7 Manufacturer-specific error

The error register is the higher-level error register. Bit 0 and bit 7 are always set in the event of an error (81h ). The cause
of the error is then contained in index 6503h.

6.2.3 Object 1005h - COB-ID SYNC

Index Sub Name Data type Access Range/Value Default

1005h 00 COB-ID SYNC Unsigned32 rw 0 ... 0x7FF 0x80

Object 1005h defines the COB ID (11-bit identifier) for the Sync message.

6.2.4 Object 1008h - Manufacturer device name

Index Sub Name Data type Access Range/Value Default

1008h 00 Manufacturer device name String ro

Contains the manufacturer device name, e.g.: „Encoder TBN“

6.2.5 Object 1009h - Manufacturer hardware version

Index Sub Name Data type Access Range/Value Default

1009h 00 Manufacturer hardware version String ro

Contains the manufacturer hardware version e.g.: "P-0462"

6.2.6 Object 100Ah - Manufacturer software version

Index Sub Name Data type Access Range/Value Default

100Ah 00 Manufacturer software version String ro

Contains the manufacturer software version, e.g.: „TBN Std“

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 6. Programming and diagnosis (object directory)

6.2.7 Object 1010h - Store parameters

Index Sub Name Data type Access Range/Value Default

1010h 00 Largest supported subindex Unsigned8 ro 1
01 Password Unsigned32 rw „save“ 0

Writing „save“ (in hex: 73 61 76 65) in sub-index 01 saves the current parameters in the encoder‘s EEPROM, where
they are protected against zero-voltage.

6.2.8 Object 1011h - Restore default parameters

Index Sub Name Data type Access Range/Value Default

1011h 00 Largest supported subindex Unsigned8 ro 1
01 Password Unsigned32 rw “load” 0

Writing „load“ (in hex: 6C 6F 61 64) in sub-index 01 loads the parameter‘s default values and saves them in the
encoder‘s EEPROM, where they are protected against zero-voltage.

6.2.9 Object 1014h - COB-ID EMCY

Index Sub Name Data type Access Range/Value Default

1014h 00 COB-ID EMCY Unsigned32 rw 0 ... 0x7FF 0x80 + Node-ID

Identifier for the emergency message, which the encoder transmits on occurrence of an alarm.

In default status, this has the value 0x80 + node address. If the object is written, the node address is no longer added.
The default status can be restored via „load default“ (object 1011h).

6.2.10 Objekt 1015h - Inhibit time EMCY

Index Sub Name Data type Access Range/Value Default

1015h 00 Inhibit time EMCY Unsigned16 rw 0 ... 65535 1000

Defines the minimal time between two emergency messages. The inhibit time is given in multiples of 100 μs.

6.2.11 Object 1017h - Producer heartbeat time

Index Sub Name Data type Access Range/Value Default

1017h 00 Producer heartbeat time Unsigned16 rw 0 ... 65535 0

If the value is > 0, the heartbeat message is transmitted on the identifier guard COB ID + node ID in the heartbeat
time interval in ms.

6.2.12 Object 1018h - Identity Object

Index Sub Name Data type Access Range/Value Default

1018h 00 Largest supported subindex Unsigned8 ro 4
01 Manufacturer ID Unsigned32 ro 0x10D
02 Product ID Unsigned32 ro 0x6000
03 Revision No. Unsigned32 ro 0x1 0003
04 Serial No. Unsigned32 ro 0xXXXX XXXX

The information in object 1018h (also see Chapter 3.3) is required to use the Layer Setting Service (LSS, /5/).

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 6. Programming and diagnosis (object directory)

6.2.13 Object 1800h - First transmit PDO

Index Sub Name Data type Access Range/Value Default

1800h 00 Largest supported subindex Unsigned8 ro 3
01 COB-ID Unsigned32 rw 0 ... 0x7FF 0x180 + Node-ID
02 Transmission type Unsigned8 rw 252,253,254 253
03 Inhibit time Unsigned16 rw 0 ... 65535 0

Object 1800h defines the first PDO‘s communication data. Only transmission types 252,253,254 are supported.

Sub-index 01 (COB ID) contains the identifier for PDO1.

In default status, this has the value 0x180 + node address. If the object is written, the node address is no longer ad-
ded. The default status can be restored via „load default“ (object 1011h).

The inhibit time (ms) is the time before the PDO is permitted to be transmitted again.

(See operating modes in Chapter 4.1)

6.2.14 Object 1801h - Second transmit PDO

Index Sub Name Data type Access Range/Value Default

1801h 00 Largest supported subindex Unsigned8 ro 2
01 COB-ID Unsigned32 rw 0 ... 0x7FF 0x280 + Node-ID
02 Transmission type Unsigned8 rw 0 ... 240 1

Object 1801h defines the second PDO‘s communication data. Only transmission types 0... 240 are supported.

Sub-index 01 (COB ID) contains the identifier for PDO2.

In default status, this has the value 0x280 + node address. If the object is written, the node address is no longer ad-
ded. The default status can be restored via „load default“ (object 1011h).

(See operating modes in Chapter 4.1)

6.2.15 Object 1A00h - First transmit PDO mapping

Single-turn encoder without speed signal:

Index Sub Name Data type Access Range/Value Default

1A00h 00 Largest supported subindex Unsigned8 ro 1
01 First mapping object Unsigned32 ro 0x6004 0010

Multi-turn encoder without speed signal:

Index Sub Name Data type Access Range/Value Default

1A00h 00 Largest supported subindex Unsigned8 ro 1
01 First mapping object Unsigned32 ro 0x6004 0020

Mono- and Multitour-encoder with speed signal:

Index Sub Name Data type Access Range/Value Default

1A00h 00 Largest supported subindex Unsigned8 ro 2
01 First mapping object Unsigned32 ro 0x6004 0020
02 Second mapping object Unsigned32 ro 0x2010 0010

(see Chapter 4.2)

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 6. Programming and diagnosis (object directory)

6.2.16 Object 1A01h - Second transmit PDO mapping

Single-turn encoder without speed signal:

Index Sub Name Data type Access Range/Value Default

1A01h 00 Largest supported subindex Unsigned8 ro 1
01 First mapping object Unsigned32 ro 0x6004 0010

Multi-turn encoder without speed signal:

Index Sub Name Data type Access Range/Value Default

1A01h 00 Largest supported subindex Unsigned8 ro 1
01 First mapping object Unsigned32 ro 0x6004 0020

Single-turn and multi-turn encoders with speed signal:

Index Sub Name Data type Access Range/Value Default

1A01h 00 Largest supported subindex Unsigned8 ro 2
01 First mapping object Unsigned32 ro 0x6004 0020
02 Second mapping object Unsigned32 ro 0x2010 0010

(see Chapter 4.2)

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 6. Programming and diagnosis (object directory)

6.3 Standardised device parameters

6.3.1 Object 6000h - Operating parameters

Index Sub Name Data type Access Range/Value Default

6000h 00 Operating parameters Unsigned16 rw 0

The following Table contains an overview of operating parameters for the encoder. Before scaling the encoder via
objects 6001h, 6002h or 6003h, the „Scaling function control“ bit must be set to „1“.

Safing of the parameters in a failsafe manner is done via object 1010h

Bit Name 0 1 Remarks

0 Code sense CW CCW
1 Not used
2 Scaling function control disabled enabled
3 - 13 Not used
14 Speed value off on from revision 0x10100 on
15 Not used

6.3.2 Object 6001h - Measuring units per revolution

Index Sub Name Data type Access Range/Value Default

6001h 00 Measuring units per revolution Unsigned32 rw 2 … 4096 4096 (8192)
(8192)

The „Scaling function control“ bit (object 6000h) must be enabled in order to change the parameter. Values in bra-
ckets represent an encoder with 13 bit single turn resolution.

6.3.3 Object 6002h - Total measuring range

Single-turn encoder TBN / TKN

Index Sub Name Data type Access Range/Value Default

6002h 00 Total measuring range Unsigned32 ro 4096 (8192)

Multi-turn encoder TMN and TSN

Index Sub Name Data type Access Range/Value Default

6002h 00 Total measuring range Unsigned32 rw 1…134217728 134217728
(268435456) (268435456)

The values 134217728 or 268435456 depict the maximum, total number of steps of a multi-turn sensor with a resolu-
tion of 4096 or 8192 steps per revolution and max. 32768 revolutions.

Multi-turn encoder TKN / TRN

Index Sub Name Data type Access Range/Value Default

6002h 00 Total measuring range Unsigned32 rw 1…16777216 16777216
(33554432) (33554432)

Values in brackets represent an encoder with 13 bit single turn resolution.

The „Scaling function control“ bit (object 6000h) must be enabled in order to change the parameter.

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 6. Programming and diagnosis (object directory)

Note: For parametration of TRN it must be noted that the calculation of the number of revolutions is carried out in
2n powers internally within the encoder. Regardless of this requirement, the user may programme the desired total
measuring range in units and the desired single turn resolution in accordance with the application. During calculation,
the encoder accesses the next highest 2n power if required. In this case, the values are designated as the actual single
turn resolution or as the actual total measuring range in units, and are displayed as the output value.

Example: desired total measuring range in units : 20480

desired single turn resolution : 4096
desired number of revolutions : 5
next 2n number of revolution : 8
resulting to:
total measuring range in units : 32768
single turn resolution : 4096

6.3.4 Object 6003h - Preset value

Index Sub Name Data type Access Range/Value Default

6003h 00 Preset value Unsigned32 rw 0 … Total 0
measuring
range -1

The preset value is displayed as the position value if object 6003h is written and the „Scaling function control“ bit (ob-
ject 6000h) is enabled.

6.3.5 Object 6004h - Position value

Index Sub Name Data type Access Range/Value Default

6004h 00 Position value Unsigned32 ro 0 ... Total
measuring
range -1

This value is the position value, and is output via the PDOs (see Chapter 4).

6.3.6 Objekt 6030h - Speed value (from revision 0x10100 on)

Index Sub Name Data type Access Range/Value Default

6030h 00 Speed value Signed16 ro -35535 ... 35535

From revision 0x10100 the speed value can be find here. It will be mapped via Index 6000h into the PDOs. The di-
mension of the speed value is steps/gate time. The gate time can be adjusted via Index 2011h . The resolution of the
speed value is independent on the resolutioin of the position value (Index 6001h). The speed value is always based
on a resolution of 4096 steps/turn.
v / (t x ms-1) x 60000
The dimension steps/gate time can be calculated into rpm with the following formula: n=
4096 steps
n = in rpm, v = speed value in steps/gate time, t = gate time in ms

6.3.7 Object 6200h - Cyclic timer

Index Sub Name Data type Access Range/Value Default

6200h 00 Cyclic timer Unsigned16 rw 0 … 65535 0

In the case of values of > 0 ms for the cyclic timer, the position value (or position and speed value) is transmitted
cyclically with PDO 1 (see Chapter 4).

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 6. Programming and diagnosis (object directory)

6.4 Standardised device diagnosis

6.4.1 Object 6500h - Operating status

Index Sub Name Data type Access Range/Value Default

6500h 00 Operating status Unsigned16 ro

Object 6500h represents the encoder‘s operating status (also see object 6000h).

6.4.2 Object 6501h - Singleturn resolution

Index Sub Name Data type Access Range/Value Default

6501h 00 Singleturn resolution Unsigned32 ro 4096 (8192)

The maximum setable resolution. Values in brackets represent an encoder with 13 bit single turn resolution.

6.4.3 Object 6502h - Number of distinguishable revolutions

Single-turn encoder

Index Sub Name Data type Access Range/Value Default

6502h 00 Number of distinguishable Unsigned16 ro 1
revolutions

Multi-turn encoder

Index Sub Name Data type Access Range/Value Default

6502h 00 Number of distinguishable Unsigned16 ro 4096 (TRN)
revolutions or 32768
(TMN, TSN)

6.4.4 Object 6503h - Alarms

Index Sub Name Data type Access Range/Value Default

6503h 00 Alarms Unsigned16 ro

On occurrence of an error, an emergency message is transmitted, and the encoder switches to pre-operational status
(see Chapter 5). The following Table shows the possible errors:

Bit Meaning Error rectification

0-11 Not used
12 EEPROM error Re-programming an arbitrary parameter
and saving with „save“, index 1010h /01
13 EEPROM CRC error Re-programming an arbitrary parameter
and saving with „save“, index 1010h /01
14 Not used
15 Sensor error Encoder voltage supply off/on

6.4.5 Object 6504h - Supported alarms

Index Sub Name Data type Access Range/Value Default

6504h 00 Supported alarms Unsigned16 ro 0xB000

Only the alarms listed under object 6503h are supported.

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 6. Programming and diagnosis (object directory)

6.4.6 Object 6506h - Supported Warnings

Index Sub Name Data type Access Range/Value Default

6506h 00 Supported warnings Unsigned16 ro 0

No warnings are supported.

6.4.7 Object 6507h - Profile and software version

Index Sub Name Data type Access Range/Value Default

6507h 00 Profile and software version Unsigned32 ro

Version of the encoder profile which is implemented and encoder software version. The version numbers are each
BCD-encoded byte-by-byte.

Profile Version Software Version

Byte 0 Byte 1 Byte 2 Byte 3
Bit 7 - 0 Bit 15 - 8 Bit 7 - 0 Bit 15 - 8

6.4.8 Object 6508h - Operating time

Index Sub Name Data type Access Range/Value Default

6508h 00 Operating time Unsigned32 ro 0xFFFF
FFFF

Not supported at present.

6.4.9 Object 6509h - Offset value

Index Sub Name Data type Access Range/Value Default

6509h 00 Offset value Unsigned32 ro

Internal calculation value.

6.4.10 Object 650Ah - Modul identification

Index Sub Name Data type Access Range/Value Default

650Ah 00 Largest supported subindex Unsigned8 ro 1
01 Offset value Unsigned32 ro 0

Not supported at present.

6.4.11 Object 650Bh - Serial number

Index Sub Name Data type Access Range/Value Default

650Bh 00 Serial number Unsigned32 ro

The object contains the device‘s serial number.

TXN 11551 FE / Page 18

 6. Programming and diagnosis (object directory)

6.5 Manufacturer-specific parameters

6.5.1 Object 2000h - Node ID

Index Sub Name Data type Access Range/Value Default

2000h 00 Node-ID Unsigned8 rw 1 … 127 1

The sensor‘s node address. After setting the node address via index 2000h, this must be permanently saved in the
EEPROM via index 1010h. It only comes into effect following power off/on or a reset.

This object can also be changed via the Layer Setting Service (see Chapter 3.3).

6.5.2 Object 2001h - Bit timing

Index Sub Name Data type Access Range/Value Default

2001h 00 Bit timing Unsigned8 rw 0…7 7

The sensor‘s Baud rate can be set via this index. After setting the Baud rate via index 2001h, this must be permanently
saved in the EEPROM via index 1010h. It only comes into effect following power off/on or a reset.

This object can also be changed via the Layer Setting Service (see Chapter 3.3).

The Baud rate is set according to the following Table:

Baud rate [kBit/s] Bit timing value

1000 00h
800 01h
500 02h
250 03h
125 04h
125 05h
50 06h
20 07h

6.5.3 Object 2010h - Speed value (encoder with speed signal only, up to rev. 0x10100)

Index Sub Name Data type Access Range/Value Default

2010h 00 Speed value Unsigned16 ro

The speed value, which is transmitted together with the position value in the PDO.

In the case of T Series encoders, the following key data apply for speed measuring:

Time basis: 100 ms

Speed specification: Steps / 100 ms
Basic resolution per revolution: 12-bit (4096 steps)
Speed signal resolution: 16-bit

6.5.4 Objekt 2011h - Speed gate time (from revision 0x10100 on)

Index Sub Name Data type Access Range/Value Default

2011h 00 Speed gate time Unsigned16 rw 0 ... 65535 100

Gate time for speed measurement in ms. The updating time of the speed signal is equal to the gate time.

TXN 11551 FE / Page 19

 7. Examples

7. Examples
Message traffic between a master and the TBN encoder (single-turn encoder without speed signal) during boot-up
and when setting the slave address with LSS is shown in the following. The identifier (ID), the transmission direction
(Rx/Tx), the Data Length Code (DLC) and the data bytes are shown in tabular form.

The following applies: - The encoder has the address 1 (default) and is the only slave
- Encoder with default parameter values
- Tx: Master transmits data to the encoder
- Rx: Encoder transmits data

7.1 Boot-up
The following Table shows encoder boot-up, from switching on the supply voltage to initial transmission of the position
value. The position value is subsequently polled via a Sync command.

Action Id Rx/Tx DLC Databytes Remark

00 01 02 03 04 05 06 07
Bus active, encoder in the bus with node address 1
Voltage off -> on 701 Rx 1 00 Boot up node 1

Start all nodes 0 Tx 2 1 0 Operational for all

nodes
181 Rx 2 xx xx Response from
LSB MSB TBN (PDO1)
Master (user) transmits a Sync
Sync from the 80 Tx 0
master
281 Rx 2 xx xx Response from
LSB MSB TBN (PDO2)

All values in hex!

7.2 Change parameter

Here the changing of the code sense by the parameter "Operating parameters" Index 6000h is shown. Afterwards the
parameters are saved in the encoders EEPROM.

Action Id Rx/Tx DLC Databytes Remark

00 01 02 03 04 05 06 07
Write 0x01 601 Tx 8 2b 00 60 00 01 00 00 00

581 Rx 8 60 00 60 00 00 00 00 00 Response from TBN

Save parameters 601 Tx 8 23 10 10 01 73 61 76 65 "save"

581 Rx 8 60 10 10 01 00 00 00 00 Response from TBN

All values in hex!

TXN 11551 FE / Page 20

 7. Examples

7.3 Setting the node address via LSS

In the case of the LSS /4/, either all CANopen subscribers are addressed via a global command or an individual
subscriber is addressed via its LSS address, which is comprised of the manufacturer name, the product name, the
revision number and the serial number (see Chapter 3.3).

In the following example, the sensor is addressed via its LSS address (i.e. is switched from LSS-Operation-Mode to
LSS-Configuration-Mode), node address 2 is programmed and saved. LSS-Operation-Mode is subsequently reset.
The sensor then reboots and logs on (without voltage off/on) with its boot-up protocol. It is now ready to operate with
its new address.

To do this, a switch first has to be made to stop status and the heartbeat timer has to be deactivated, i.e. heartbeat
time=0 (default status).

Attention: During LSS-programming the Heartbeat-Time (Index 1017h) has to be zero (default status).

Aktion Id Rx/Tx DLC Databytes Comment

00 01 02 03 04 05 06 07
Stop Node 0 Tx 2 02 00 Stop node for all
nodes
LSS-Switch Mode 7E5 Tx 8 40 0D 01 00 00 00 00 00 1. Transmission of the
Selective manufacturer name
LSS-Switch Mode 7E5 Tx 8 41 00 60 00 00 00 00 00 2. Transmission of the
Selective product number
LSS-Switch Mode 7E5 Tx 8 42 03 00 01 00 00 00 00 3. Transmission of the
Selective revision number
LSS-Switch Mode 7E5 Tx 8 43 66 BE 02 00 00 00 00 4. Transmission of the
Selective serial number
(in this case: 179814)
7E4 Rx 8 44 00 00 00 00 00 00 00 Success message from the
sensor, which is now in LSS
Configuration-Mode
LSS-Configure 7E5 Tx 8 11 02 00 00 00 00 00 00 Node address 2
Modul ID programming
7E4 Rx 8 11 00 00 00 00 00 00 00 Success message from
the sensor
LSS-Store Confi- 7E5 Tx 8 17 00 00 00 00 00 00 00 Zero-voltage-protected
guration saving
7E4 Rx 8 17 00 00 00 00 00 00 00 Success message from
the sensor
LSS-Switch Mode 7E5 Tx 8 04 00 00 00 00 00 00 00 Sensor is reset to
Global: Operation LSS-Operation-Mode
Mode
702 Rx 1 00 Boot-up node with new
node address

All values in hex!

TXN 11551 FE / Page 21

 8. Literature

8. Literature
/1/ CiA Draft Standard 406, Version 3.0, Device Profile for Encoders

/2/ CiA Draft Standard 301, Version 4.02, CANopen Application Layer and Communication Profile

/3/ CiA Draft Recommendation Proposal 303-1, Version 1.1.1 CANopen Cabling and Connector
Pin Assignment

/4/ CiA Draft Standard Proposal 305, Version 1.1.1, CANopen Layer Setting Services and Protocol (LSS)

TXN 11551 FE / Page 22