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Absolute / Electronic Position Indicator with plug

1. 00h rw writable in the Pre Operational state only see chapter 5 1 Poo mapping no Default 280h Node ID EEPROM no Transmission Type 1h yes UNSIGNED 8 eft n o ron fys Data content FEh 254 PDO is sent after receipt of 1 240 SYNC messages FFh 255 FDh 253 Device responds to RTR request only if RTR Bit 30 is enabled in the COB ID SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 53 of 82 Communication via CAN bus CANopen subinde Description Inhibit time function is not supported only compatibility entry for various configurators Access Default 04h is not used access attempt generates error message Sub indx Description Event timer function is not supported only compatibility entry for various configurators Data type UNSIGNED 16 ro no Default 06h is not used access attempt generates error message 5 7 2 23 1A00h 1 Transmit PDO Mapping Parameter Object 1A00h determines the objects that are mapped on the first Transmit PDO TPDO1 subinde Jon OOO Description number of objects mapped PDO mapping Data type UNSIGNED 8 Default Oh O no O no no 0 r Sub index 0 r Description 1 object of the PDO1 message Data byte 0 until 3 Access Data type UNSIGNED 32 Default 60040020h Position value object 6004h Sub index 0x00 32bit SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 54 of
2. Target window reached Table 3 LED display Control word see chapter 5 3 2 Control word The setpoint is not displayed and positioning not monitored unless the setpoint is marked as valid in the control word Status word see chapter 5 3 3 Status word Upon reaching target window1 the static and dynamic target window reached bits are set in the status word The dynamic bit is deleted when leaving target window1 The user must acknowledge the static bit Example Position monitoring Parameterization Factory setting Additionally Set point 100 SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 10 of 82 Functional Description Positioning monitoring LED et o O Ot I 100 Target window1 Fig 2 Positioning monitoring Example of position monitoring with additionally activated target window2 parameter Parameterization Factory setting Additionally Target window 2 15 Visualization target window 2 1 Set point 100 Positioning monitoring oet O LE rione i O Target window2 95 105 100 Target window1 Fig 3 Positioning monitoring with target window2 4 1 1 2 Loop positioning Target window1 is also applied to the loop length If the position indicator is operated on a spindle or an additional gear the spindle or external gear backlash can be compensated by means of loop positioning Therefore movement towards the setpoint is always in the same direction
3. 5F19h Status word Output of the device status 71 5F1Bh Sensor type and operating Reading sensor type and setting of the operating mode absolute differential display 360 alpha 2 2 0 7 numeric display 5F1Ch Acknowledgement settings Setting of the key to be used as acknowledgement 72 key alpha num display 5F1Fh Direction indicators CW Setting of the appearance of the direction arrows 72 CCW 5F21h Target window2 far and Setting of target window2 and its visualization target window2 visualization 6000h Operating Parameters Setting of scaling and sense of rotation 6001h Measuring steps per Setting of the measuring steps per revolution revolution Display per revolution displayed APU Display per revolution APU 6002h Total of measuring steps Indicates the total of measuring steps of the system 75 N m 73 74 75 Date 07 04 2015 Art No 87824 Mod status 132 15 Page 34 of 82 Communication via CAN bus CANopen Description se page e 5 1 6003h Preset value calibration Setting of the calibration value value 6004h Position value Position value offset against calibration and offset value 7 6005h Resolution Only for MS5O0H Setting of the resolution 6200h Cycle Timer Identical with object 1800h sub index 5 6500h Operating Status Output of scaling and sense of rotation 7 9 6501h Single turn resolution Indicates the physi
4. SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 2 of 82 5 3 5 4 2 5 0 5 7 SIKO AP10S aee BOO UDe a E E E E E E 21 e a NCO E E E E E 21 Proce aa T a a E E E 21 5 3 1 Transfer of Process Data Objects PDO ciciwccessedeuseasernnentacdersesanasacessedeutesaernuestaeacasees 21 5 3 1 1 Transmit PDO from AP10S to the master csccsscsccscsscscescsscscescssescescesescesceees 21 5 3 1 2 Receive PDO from master to AP105 ssissrsrissssrrrsiivensissssrsersrsssssrardvrrixsiiiensisssuasa 22 so LONON E E EE AEA AEO EE A AAE 23 o S NO E E E E E E A E 24 Parameter data Exchange cssscacanrsecesteiacivcuaeacanehoncacewsethogontelaadswuieneseehuadaaruseneateateieeies 25 5 4 1 Transfer of Service data objects SDO s sessrersrenarsnsneneransnenaranananaranananaranananardndnanar 25 PALE ERO NCS DON E pearen EE E A EE EEE i 26 NOG OMI ONIN oaea E E ETE EE NE E 27 DSL Emergency Service EMCV rasa vee eee onee recut renn ENEA AEEA NANA ES A ES 27 So NOGE CUI O ren E EEA EA EAEE E E TAEA 28 So HEDO a E A E E E E E E 29 SoA Perma hean DCA enrere eE E E aaea 29 Be MUSING BI e E R E E A E AA 30 PCO TU CO A E E A E E E A 30 S AUO EE coneyeassusnsaceeceareasaeanecene 30 Oe PUO E EE E E E A 30 Do A E A EE E E EE 30 Dreco OF oN OCS aeran r E E AEA N A AEAN ede 33 Sel OVERVIGW OT ODOC E erren E EA O N TOTA OEA A 33 ade WES CHIDEION OF oDe ER E E E 36 Behe OOO Device 10 sssri iorrren aneri oir reneis TE e AEI
5. s S s S S 5 7 2 41 5F15h Positioning type The positioning type loop type is indicated via object 5F15h thereby selecting the direction from which the setpoint shall be approached see chapter 4 1 1 2 Loop positioning Data content 0 no loop 1 loop 2 loop 5 7 2 42 5F16h Read target value The current setpoints can be read via object 5F16h indicates the largest sub index supported 4 Data type UNSIGNED 8 default a S Oh h no SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 68 of 82 Communication via CAN bus CANopen oh Set point2 4 LSB Bytes 02h Set point2 2 MSB Bytes oh Set point1 4 LSB Bytes och Set point1 2 MSB Bytes SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 69 of 82 Communication via CAN bus CANopen 5 7 2 43 5F17h Period counter sensor ADC values and absolute fine value The current values of the period counter the ADC values and the absolute fine value can be queried via object 5F17h EEPROM Data content Byte 0 Byte 2 Byte 3 SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 70 of 82 Communication via CAN bus CANopen 5 7 2 44 5F19h Status word Object 5F19h informs about the current device status see chapter 5 3 3 Status word The status word informs about the current device status n S Data type UNSIGNED 16 Default 5 7 2 45 5F1Bh Sensor type and operat
6. SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 42 of 82 Communication via CAN bus CANopen Byte 0 Byte 1 Byte 2 Byte 3 6Ch L 6Fh o 61h a 64h d 1 unit permits loading of default parameters Byte 0 Byte 1 Byte 2 Byte 3 6Ch L 6Fh o 61h a 64h d 1 unit permits loading of default parameters SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 43 of 82 Communication via CAN bus CANopen EEPROM no Byte 0 Byte 1 Byte 2 Byte 3 6Ch L 6Fh o 61h a 64h d Read 1 unit permits loading of default parameters 5 7 2 13 1014h COB ID Emergency Message The COB ID of the Emergency object is set via object 1014h see chapter 5 5 1 Emergency Service EMCY Defines the COB ID of the Emergency object EMCY rw writable in the Pre Operational state only see chapter 5 2 Node control Data content Bit 31 0 EMCY object exists is valid 1 EMCY object does not exists is invalid sit 30 Bit 29 0 11bit identifier CAN 2 0A 1 29bit identifier CAN 2 0B Bit 28 11 0 if bit 29 0 X bits 28 11 of the EMCY COB ID if bit 29 1 Bit 10 0 X bits 10 0 of the EMCY COB ID SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 44 of 82 Communication via CAN bus CANopen 5 7 2 14 1017h Producer Heartbeat Time The cycle time Heartbeat Time for the heartbeat protocol is set via object 1017h The cycle
7. Functional Description 4 6 System commands 4 6 1 Calibration travel The AP10S is fully functional as delivered To adjust the display to the connected sensor and to achieve optimum measuring accuracy calibration travel must be carried out whenever a new different sensor is connected to the AP10S For calibration the sensor must have been mounted correctly see documentation MS500H or GS04 1 By entering CODE 000100 AP10S is set to the alignment mode see chapter 4 3 1 Manual parameterization Display 1st line ADJUST 2nd line 100 this value may vary by 1 2 When connecting sensor MS500H it must be moved by a few millimeters in the direction of the cable outlet speed lt 1 cm s When connecting sensor GS04 the shaft must be rotated clockwise by a few millimeters speed lt lt 1 U min In the lower line the value will change in positive direction up to 103 3 The alignment process will be completed when this value is finally exceeded AP10S has returned to normal operation and shows the corresponding display If values above 103 are displayed during alignment then travel speed must be slowed down during alignment 4 Itis not unusual that the position value cannot be displayed immediately after alignment travel and FULL is displayed instead of the value The display should be calibrated in this case see chapter 4 6 2 Calibration 4 6 2 Calibration Two steps are required for executing calibration 1 Writ
8. Operating Status ro nc UNSIGNED 16 7 nc Bit 3 MS500H 0 positive counting direction 1 negative counting direction 1 Scaling enabled GS04 0 Clockwise sense of rotation I CW 1 Counter clockwise sense of rotation E CCW SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 77 of 82 Communication via CAN bus CANopen 5 7 2 57 6501h Single turn resolution Object 6501h indicates the physical number of measuring steps per revolution physical resolution r Oh O Data type UNSIGNED 32 Default MS500H 10000 GS04 720 5 7 2 58 6502h Number of distinguishable revolutions Object 6502h indicates the number of revolutions the encoder is able to distinguish O Default MS500H 1 GS04 7281 5 7 2 59 6503h Alarms Object 6503h sends device specific alarm messages in addition to the errors reported via the Emergency message In the case of an error the associated bit is set to 1 Bit 12 0 battery voltage OK 1 battery voltage critical Bit 0 0 position value valid 1 position value invalid SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 78 of 82 Data content Bit 15 14 not used Bit 13 0 battery not discharged 1 battery discharged Communication via CAN bus CANopen 5 7 2 60 6504h Supported Alarms This object 6504h indicates the alarm messages that are supported The relevant bits are set oh 5 7 2 61 6505h Warnings The war
9. Table 5 Manually adjustable parameters 4 3 2 Parameterization via interface The position indicator can be completely parameterized in the CANopen interface see chapter 5 4 Parameter data exchange 4 4 Sensor Mounting of the sensors as well as installation of the sensor cable is explained in the documentation pertaining to the sensor MS500H or GS04 With 24 V supply voltage operation the display controls the connected sensor If no sensor is connected or if the sensor is lifted from the tape MS500H an error will be detected and the position value displayed red with flashing Error This status persists even with power supply failure The error must be corrected after checking the sensor connection or sensor position with calibration see chapter 3 4 Keys and chapter 4 6 2 Calibration If both battery supply and power supply fail simultaneously e g during a battery change the absolute position value can get lost For making the measuring system work again calibration is required see chapter 4 5 2 Errors and 4 6 2 Calibration Alignment travel is required if a new sensor is connected see chapter 4 6 1 Calibration travel SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 14 of 82 Functional Description 4 5 Warnings Errors 4 5 1 Warnings Warnings do not influence the acquisition of the absolute position value Warnings are deleted after removing the cause Possible warnings e Battery volt
10. This direction of approach can be defined Example The direction from which every target position shall be driven to is positive e Case 1 the new position is greater than actual position Direct travel to the target position e asel2 the new position is smaller than actual position The position indicator s arrows show that the set point is to be overrun by the loop length Afterwards the set point is approached in positive direction SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 11 of 82 Functional Description Positioning loop Loop length Positioning in positive Positioning in negative direction direction Target window1 Set point Fig 4 Positioning Loop 4 1 2 Alpha numeric display operating mode Two 6 digit setpoints can be displayed in this operating mode With factory settings the setpoints are acknowledged by pressing the asterisk key see chapter 3 4 Keys LCD display In the absence of a valid setpoint the 1st row is displayed empty blank appears in the 2nd row A valid setpoint flashes until it is acknowledged LED display With factory settings the LED display works according to the following table a a setpoint There isa valid LED Te ee LED right Setpoint2 not acknowledged Setpoint2 acknowledged Table 4 LED display in the alpha numeric display operating mode setpoint Control word In the control word the relevant type num
11. 1 is entered in object 1801h sub index 2 The device responds to every n SYNC message if a value n between 1 and 240 FOh has been entered RTR Queries can be sent to TPDO1 and TPDO2 via RTR see chapter 5 1 Telegram setup Controlfield 5 3 1 2 Receive PDO from master to AP10S Using Receive PDO transfer RPDO setpoints and control commands see chapter 5 3 2 Control word can be transmitted from the bus master to the display COB ID Process data in binary code Byte O Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 LSB MSB RPDO1 Target value 1 Data identifier 5FOCh Control 200h Node ID equal to ASCII word see Byte 4 and 5 of chapter 5 3 2 setpoint 1 Otherwise dummy 0x0000 RPDO2 Target value 2 Data identifier 300h Node ID equal to ASCII Byte 4 and 5 of setpoint 2 Otherwise dummy 0x0000 Table 13 RPDO message SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 22 of 82 5 3 2 SIKO AP10S Communication via CAN bus CANopen The transfer behavior of RPDO1 is defined via objects 1400h and 1600h RPDO2 is defined via objects 1401h and 1601h A differentiation is made between Setpoint1 und Setpoint2 only in the alpha numeric display mode Setpoint1 is displayed in the upper row and Setpoint2 in the lower row In the position dependent modes the setpoint last received if valid is output in the 2 row Control word The control word consists of 16
12. 5 2 Node Guarding The value 0 means that Node Guarding is deactivated Data type UNSIGNED 8 Default 5 7 2 11 1010h Store Parameter With this objects parameter are transferred into the EEPROM in order to be available in case of voltage failure Different parameter groups are saved depending on the sub index selected for access The string save as data content must also be sent Byte 0 Byte 1 61h a v 0 device does not save parameters autonomously 1 unit stores parameter by command SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 40 of 82 Communication via CAN bus CANopen 02h save only communication parameters 1000h 1FFFh DS301 73h s 61h a 76h v 65h e oh save only application parameters 6000h 9FFFh DS406 w we ooo S Data content Write 73h s 61h a 76h v 65h e SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 41 of 82 Communication via CAN bus CANopen sah a 76h CV Byte 0 Byte 1 Byte 2 Byte 3 5 7 2 12 1011h Restore Parameter The object 1011h restores the factory settings of the device depending on the selection The string load must be sent as data content and reset executed afterwards If the restored parameters must be available permanently they must be saved via object 1010h Store Parameter Byte 0 Byte 1 6Ch L 6Fh o a 1 unit permits loading of default parameters
13. 8 Default Data content 0 Off 1 On SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 73 of 82 Communication via CAN bus CANopen 5 7 2 49 6000h Operating Parameters Settings of the operating parameters can be made by object 6000h 00h Operating Parameters w na UNSIGNED 16 ch Bit 3 MS500H 0 positive counting direction 1 negative counting direction 1 Scaling enabled GSO4 0 clockwise sense of rotation I CW 1 counter clockwise sense of rotation E CCW Scaling The encoder functions with its set APU Display per revolution or Measuring units per revolution which can be configured via object 6001h The scaling function cannot be disabled MS500H Positive counting direction ascending position values when sensor moves to the sensor cable Negative counting direction ascending position values when sensor moves away from the sensor cable GS04 I sense of rotation ascending position values with clockwise shaft rotation CW view on the display E sense of rotation ascending position values with counter clockwise shaft rotation CCW view on the display SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 74 of 82 Communication via CAN bus CANopen 5 7 2 50 6001h Measuring steps per revolution Display per revolution APU Object 6001h determines the number of measuring steps per revolution oh 720 GS04 5 7 2 51 6002h Total of me
14. 82 Communication via CAN bus CANopen 2 object of the PDO1 message Data byte 4 5 ro 5 7 2 24 1A01h 2 Transmit PDO Mapping Parameter Object 1A01h determines the objects that are mapped on the second Receive PDOs TPD02 1 Object of the PDO2 message Data byte 0 until 3 Default 0x60040020 Position value object 6004h Sub index 0x00 32bit SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 55 of 82 Communication via CAN bus CANopen 2 Object of the PDO2 message Data byte 4 5 Poo mapping no OOO no 5 7 2 25 2001h Manufacturer Offset The offset value is determined via object 2001h Description The offset enables the shifting of a scaled value range The offset value is added to the position value in the encoder Positive as well as negative values are permitted Position value measured value calibration value offset value Access SIGNED 16 eft f o eprom ys Oh yes SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 56 of 82 Communication via CAN bus CANopen 5 7 2 26 2002h Calibrate encoder value Via object 2002h calibration can be executed or information given whether calibration was executed Description The object enables zeroing of the measured value The position value is set to the calibration value thereby Position value measured value calibration value offset value PDO mapping Data type UNSIGNED 8 Data
15. Alpha numeric display operating MOdC cscsececscsccecececsccecececscsecececscsecececseeeees 12 4 2 Paen ON UII G eee A E 13 4 3 Parameterization of the position indicator ssssssessesesseseseesescesesoesesossescseesesceseseesesee 13 Go Manual Pala evel 2A Ol eeiecieyesesccndaccutes ner i nEn NAS EAEE REEE IS EE OnE ad 13 43 1 Starting Dara eer i210 Mis seacgavonecoscncneonave sna a nE aa aa aiaia 13 A N U a E E TA 13 Laha ale E O AEE TEE EEE EEEO EEA OEEO E 14 eSNG PVCS PAE piamen Ar AE N E E NANETS 14 4 3 2 Parameterization via interface ssssessesessesescesesorsesorsescrsesercesescesescesesorsesorsesoreese 14 4 4 O aa E E E E ancuncraicauseas se 14 4 5 WV VINES 7 ENO eere E E 15 Ao W e E E A E 15 Ae TONS serne E E A A EEEE EEEE 15 4 6 EEE EE DITE E S E AE E PE AE E E AEE NAE E 16 Ae LaO VE ore EN E EEE A E AE E 16 Le DAON eeen E EEE TEE E E TE EE 16 Aoa ROE ON SE N E E E 17 BO DONOS aE EEEE 17 5 Communication via CAN bus CANopen ssssesssessecssecssosscossesssosscossosseossesssosscossesseos 17 5 1 Telera a U renren A E EEE A EE A AEE E 17 5 2 OCS COMENO PEN AEE E E anne neicssatesetaeke ances I OT 19 5 2 1 Network management services NMT ssssssssssssssssssssssssssssssssesssosssssosesoseseseseseseses 19 5 211 NMIT COMMUNICALION statUSES spririrssrreskrryk ris neken io rE EAEEREN EEE EENE EER 20 5 2 1 2 Switching between NMT communication states ssessesesseseseeseseesescoesesoeseseseesesees 20
16. Art No 87824 Mod status 132 15 Page 62 of 82 Communication via CAN bus CANopen Subindex oh O acess o o Poo mapping o OOOO O gt Formation of the differential value e 0 r n Data type UNSIGNED 8 0 y Dere oh SSSCSC s S S S S S S S S Data content 0 DIFF ACT SET 1 DIFF SET ACT 5 7 2 36 5F10h Target window near field 1h O h O h O h S Object 5F10h indicates the window within which the setpoint is considered reached see chapter 4 1 1 1 Positioning o 5h es fm Dere sh SSSC S s S SC lt S S S S SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 63 of 82 Communication via CAN bus CANopen 5 7 2 37 5F11h Decimal places The object 5F11h indicates the number of decimal places number of decimal places rw n e access fw 5 7 2 38 5F12h Display orientation and LEDs Settings of the display orientation and the LEDs can be made via object 5F12h Furthermore the function of the display backlighting can be set see chapter 3 3 LED display indicates the largest sub index supported Data type UNSIGNED 8 Default O h es Display orientation ees w Poo mapping o OOS OOOO Dew o ooo Data content 0s 0 1 180 rotated 0 n 9 n Subinde 0 rw n 0 SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 64 of 82 Communication via CAN bus CANopen ot Data conten
17. Field An emergency object is sent only once per error event Removal of a cause of error is signified by sending an emergency message with Error Code 0000h No Error If multiple errors exist and one cause of an error has been corrected then Error Code 0000h is output as well however the persisting error condition is indicated in the Error Register SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 27 of 82 Communication via CAN bus CANopen 11 29 Bit Emergency Error Error Register Manufacturer specific error field Code Object 1001h not used Emergency Error Code Table 18 Emergency Error Code The identifier of the emergency object is set to 80h Node ID by default however it can be changed via object 1014 h see 1014h COB ID Emergency Message Transmission of an emergency message is only possible in the OPERATIONAL or PRE OPERATIONAL NMT Statuses 5 5 2 Node Guarding Node Guarding is available for failure monitoring of the CANopen network During guarding the master transmits remote frames RTR remote transmit request request message on the guarding identifiers of the nodes to be monitored They respond with the Guarding message which contains the current NMT status of the node as well as a toggle bit whose value must change with every message If NMT status or toggle bit do not correspond with the value expected by the master or if there is no response then the master assumes a
18. SYNC object is set via object 1005h Bit 29 0 11bit identifier CAN 2 0A 1 29bit identifier CAN 2 0B Bit 28 11 0 if bit 29 0 X bits 28 11 of the SYNC COB ID if bit 29 1 X bits 10 0 of the SYNC COB ID 5 7 2 6 1008h Manufacturer Device Name Object 1008h indicates the device name Data type Visible_String Default AP10S EEPROM no Data content Byte 0 Byte 1 Byte 2 Byte 3 41h A 50h P 31h 1 30h 0 SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 38 of 82 Communication via CAN bus CANopen 5 7 2 7 1009h Manufacturer Hardware Version Object 1009h indicates the hardware version oa Default EEPROM Data content Byte 0 Byte 2 Byte 3 ZU 30h 0 30h 0 31h 1 5 7 2 8 100Ah Manufacturer Software Version Object 100Ah indicates the software version of the device ca 56h V 31h 1 30h 0 30h 0 5 7 2 9 100Ch Guard Time The object 100Ch indicates the cycle time set in the master for Node Guarding see chapter 5 5 2 Node Guarding The cycle time is indicated in milliseconds The value 0 means that Node Guarding is deactivated oh Data type UNSIGNED 16 Default EEPROM yes SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 39 of 82 Communication via CAN bus CANopen 5 7 2 10 100Dh Life Time Factor The object 100Dh indicates the Life Time Factor set in the master for Node Guarding see chapter 5
19. TO EARE rN 36 ader WOM Er R O O aa E E 36 5 7 2 3 1002h Manufacturer Status Register sssssessesessesescesescesescesesoesesoesesorsesereesesees 37 5 7 24 1003h Predefined Error I Ie C cascasnetmaceassmnaiesnecnaunesnteseearstnaceaaomaaia duecansnesetonsecnees 37 Saa 1005h COB UD SYNC TSC ac cassaanecesesnrecsaesacsucseasessaap EENE AO 38 5 7 2 6 1008h Manufacturer Device Name sssssssssesessesessesescesescesescesesoesesoesesorsesereesesees 38 5 7 2 7 1009h Manufacturer Hardware Version ssssssssesessesessesescesescesesossesoesesorsesereesesees 39 5 7 2 8 100Ah Manufacturer Software VersiOn ccscscsccscecscsccececscsecececscsccecscecsccecececsees 39 Bede 0 TOO lla Vl Ceres tere cccsee ceeaaescecocsasnehesaneegnene nee eeccacsasenetensanshtachecuateasaeateceut 39 57 2 10 WOOD ie Life Time Fa GION vase retevarretiacetcecatcee cassinu te earedevaceseceiacscatcaesacsoetansnedetenest oars 40 Bite de LOVORE StO le allie lel E E E E ouacansieseuoseessces 40 Sel TOMI Restore Pala etl ane taticussae EE T EEE SA 42 5 7 2 13 1014h COB ID Emergency Message ccccecscsecscecscsecececscsecececscsccecececsceceseceees 44 57 204 1017h Producer Heartbeat TMe sascsicccssssicosssnuseeuesepetedewetsonceswsdeiecusswssssanedadenenss 45 5 715 LOU Cie Identity ODJET sscorecescecucursaacensencawacutedsatasrsoonseendorseaneseeneandanenteaisoesseeeieess 45 54210 T200f Server SDO Parameter sacanscnsa lt catvassussactsswesvesecseesstacwasxaco
20. asynchronous controlled by an internal device timer e synchronous as a reply to a SYNC message e asa reply to an RTR message TPDO1 and TPDO2 are always formed from a status word see chapter 5 3 3 Status word and the current position value The transfer behavior of TPDO1 is determined via objects 1800h 1A00h and 6200h and is assigned to asynchronous transfer TPDO2 is defined via objects 1801h and 1A01h and serves for synchronous transfer The messages have the structure shown in Table 12 and mapping cannot be changed Date 07 04 2015 Art No 87824 Mod status 132 15 Page 21 of 82 Communication via CAN bus CANopen COB ID Process data in binary code Byte O Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 LSB MSB ae Position value Dummy 0x0000 5F19h Status ae Node ID word see TPDO2 chapter 5 3 3 280h Node ID Table 12 TPDO message Asynchronous data transfer TPDO1 If a TPDO1 is to be sent cyclically then the cycle time must be entered into object 1800h sub index 5 in milliseconds The TPDO1 will not be sent if the value 0 ms is written The function is disabled The minimum value to be set is 1 1 ms Alternately the value can also be written into the object 6200h which is permanently linked internally Synchronous data transfer TPDO2 The device is factory set to reply by output of the TPDO2 message when receiving a SYNC message Thus it is set to the synchronous transfer type
21. reinitialization see chapter 5 2 1 Network management services NMT The setpoint display is delivered with the factory set Node ID 125 7Dh SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 18 of 82 Communication via CAN bus CANopen Control field Contains bit by bit information on the number of user data and decides whether a data frame or a Remote Transmission Request RTR frame is concerned Data field Contains up to 8 bytes of user data The user data has a different meaning depending on the channel selection CRC Contains bits for error detection ACK EOF The ACK EOF field contains telegram acknowledgement bits as well as bits for determining the end of telegram For a detailed description of the telegram refer to the relevant CAN expert literature For simplification only identifier COB ID and data field will be dealt with in the subsequent telegram descriptions 5 2 Node control 5 2 1 Network management services NMT The master configures manages and monitors network nodes via the NMT service The device is always in one of the four communication statuses INITIALISATION PRE OPERATIONAL OPERATIONAL or STOPPED see Fig 5 Power on or software reset ppe Ee Po ean S OZS Ss Re initialization CAN card wn n an a Peer ea BootUp Messag Pre Operational 3 Pn Stopped 1 Operational a Fig 5 NMT status
22. see object 2001h Manufacturer Offset a GS04 5242880 SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 81 of 82 Communication via CAN bus CANopen oa Data type SIGNED 32 Default MS500H 65536000 GS04 5242880 5 7 2 67 650Bh Serial Number Object 650Bh outputs the serial number of the encoder This function is not supported 0 Data type UNSIGNED 32 Default FFFFFFFFh SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 82 of 82
23. settings 4 1014h COB ID Emergency Message COB ID of the Emergency message 4 1017h Producer Heartbeat Time Setting of the cycle time of the heartbeat timer 4 1018h Identity Object Contains the manufacturer number assigned by CA 4 1200h Server SDO Parameter SD0 parameter A 1400h 1 Receive PDO Parameter Receive P001 i N 1401h 2 Receive PDO Parameter Receive POO i N 1600h 1 Receive PDO Mapping Describes the arrangement of the objects mapped in Parameter RPDO1 1601h 2 Receive PDO Mapping Describes the arrangement of the objects mapped in Parameter RPDO2 1800h 1 Transmit PDO Parameter Transmit PDO for asynchronous transmission timer controlled 1801h 2 Transmit PDO Parameter Transmit PDO for synchronous transmission 1A00h 1 Transmit PDO Mapping Describes the arrangement of the objects mapped in Parameter TPDO1 1A01h 2 Transmit PDO Mapping Describes the arrangement of the objects mapped in Parameter TPDO2 2001h Manufacturer Offset Manufacturer specific offset value is added to the 56 U9 OO CO o gt 9 0 0 2 4 5 5 6 7 8 9 50 51 53 54 55 position value encoder internally 2002h Calibrate encoder value Set the position value to the calibration value 57 Date 07 04 2015 Art No 87824 Mod status 132 15 Page 33 of 82 Communication via CAN bus CANopen SIKO AP10S UI WI UI T oe oe N to D 2003h Calibration enable Setting whether cali
24. snccosnteseerseaneds 68 BLOM RE EOE E VUE E E A 68 5F17h Period counter sensor ADC values and absolute fine value cececeeeeeees 70 BF OMe SUGTUS WOU cccccacsaacucricctuconcunedionsrtsnicacoueaucasesaeucsasencaueesioracaansencuerueace sauce 71 5FIBh Sensor type and Operating mode ccsccececscsccececscsccecececscecececscecececs 71 DF Che Acknowledgement Segs lt anciussdcatsoastacacsnciuavacencsacimsveamaaaciachessevemameoseabe 72 5F1Fh Direction indicators CW CCW sesesesesesesesesesesesesesesesesesesesesesesesesesesess 72 5F21h Target window2 far and target window2 visualization secescseeeceecees 73 6000h Operating Patametets ccccsassassacssvaceneseassasacsascwsanmausrermieseesaesesdwesaczaessaepense 74 6001h Measuring steps per revolution Display per revolution APU 0c00 75 6002h Total of measuring SLEDS su cacudcassvacncasecscccnses cucuncsncsaaeh asune raionSi a Erais 75 6003h Preset value calibration ValUe ccsscsscsccscsscsccecsscscescsscesescsceceeceseees 75 OOA NEPOS VAE EE E EE E 76 BOO Sir RESOU Oopiri EE EEEE E EE 76 BOO OGLE IMC r E EEE EE E E E 77 OOOOH Oe AGING St eenma EEE ET EEE 77 6501h Single t rn resolutiON srisssrirrcsirerriesrrisrktis rnt Kes rron r Errores N EENEN TE RENEA 78 6502h Number of distinguishable revolutions cccecscsecscecscsecececscsecececscsecscecs 78 COM AAS eorr E EE EE A E EEEO O EEE T 78 5041s Suppo red Ald MS cxcas
25. time is indicated in milliseconds Data type UNSIGNED 16 fut o oo Data content 0 10 65535 Oh Ah FFFFh the numerical value corresponds to a multiple of 1 ms The value 0 deactivates the service 5 7 2 15 1018h Identity Object The manufacturer identification number Vendor ID is indicated via object 1018h Description the manufacturer identification number vendor ID for the company SIKO GmbH allocated by the CiA Product Code function is not supported only compatibility entry for various configurators SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 45 of 82 Communication via CAN bus CANopen oa Revision Number function is not supported only compatibility entry for various configurators oa Serial Number function is not supported only compatibility entry for various configurators 5 7 2 16 1200h Server SDO Parameter The COB IDs for the Default Server SDO are indicated via object 1200h The COB IDs cannot be changed or oh COB ID Client gt Server rx SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 46 of 82 Communication via CAN bus CANopen oh COB ID Server gt Client tx Data type UNSIGNED 32 Default 00000580h Node ID EEPROM 5 7 2 17 1400h 1 Receive PDO Parameter The communication parameters of the first Receive PDO RPDO1 are set via object 1400h cr a COB ID des PDO1 rw writable in the
26. 4 13 12 11 10 o a 7 6 5 4 3 2 1 o MSB High Byte Low Byte LSB The following table lists the designations of the individual bits of the status word and their meanings bit meaning SSS SN Vale Direction indication CW OFF Direction indication CCW OFF Validity setpoint1 invalid valid Target window2 dynamic not reached reached With Display operating mode not acknowledged acknowledged Acknowledgement of setpoint2 Target window1 static reached Target window1 dynamic reached With Display operating mode not acknowledged acknowledged Acknowledgement of setpoint1 Deviation actual position lt actual position gt set point set point Battery empty fault not present is present Guarding Bit is output is output Position value incremental measurement OFF With Display operating mode number ASCII String Data identifier 10 Validity setpoint2 invalid valid 11 Battery status warning all right critical 12 Sensor error not present is present Tape Sensor or Lost Sensor or Speed 13 key not actuated actuated 14 key not actuated actuated 15 key not actuated actuated Table 15 Status word Date 07 04 2015 Art No 87824 Mod status 132 15 Page 24 of 82 Communication via CAN bus CANopen 5 4 Parameter data exchange 5 4 1 Transfer of Service data objects SDO Service data objects serve mainly for device configuration via the directory of objects SDOs are exchanged
27. AP10S Absolute Electronic Position Indicator with plug connector for magnetic sensor and CANopen interface User manual LFF f LA MS i z 2 gt LL YF tig F 132 15 Table of contents 1 General INT OFMAION cecasessescusesscssecenseascessscavasesutenasvensosesecsiendevsossbadesdecseadancaeanenseiwessenses 6 1 1 PVOCUMIME MTA EO I area E EEA A E O EE AE E EE 6 1 2 Benini ONS openee E AEE EEEE EEEE EEEE EEE EEE E E E 6 2 Intended USC scsscssssisscsendesscnspsdescwesdesuseassdsscvardenscsassdessesnsenesesrsdaseeensesectensdsaceenseascesssecse 6 2 1 Switching on the Supply voltage cccececsccececscsecececscsecececscsecececscsccesecscscecesecsceeees 7 3 Display ANG CONUOU KEYS cuscesercsawenssvs snore vounereaceusevesnGovensentoruicedanveseeouesesecusaviusactscessaee 7 3 1 ETI Mall ETEA EE E ETENA E saw ecetaceee nesseeseseesee stages E E 7 3 2 LEDAS D IN ore E E E E E E EE E E E 7 32 1 Extended display FANGS wcnecutccevadans covicviecescaesscececetsaseatede EEEE 8 3 3 LEDO A e E E E E E E 8 3 4 RNS EEIE E A AE I A E OE A A E A E A E 8 4 FUNCTION Al Descriptio ccceescccslcexccccscvessretececsesweeceseshcavcecessecetnchensceesesensteahcasaeeosneseescbaess 8 4 1 Opoa WOU CS a seu soncsnestacasadnvecanoucsaceoiossenerousdasasadeyetcnsurseecose ce 8 4 1 1 Position bound Operating MOAES cscsccececscsccececscsccececscsecececscsccecececscecececseeeees 9 AL POON ra E A E E E E 9 Ahle OOD OON aE E E 11 4 1 2
28. DO Parameter According to DS406 TPDO1 is used for asynchronous PDO transmission The communication parameters are set for TPDO1 via object 1800h Data type UNSIGNED 8 Default SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 51 of 82 Communication via CAN bus CANopen Data content FEh 254 PDO has asynchronous characteristics PDO is sent depending FFh 255 on the Event Timer ia FDh 253 Device responds to RTR request only if RTR Bit 30 is enabled in the COB ID Sub index 03h Description Inhibit time function is not supported only compatibility entry for various configurators Access ro fo Default 04h is not used access attempt generates error message event timer for TPDO1 hard wired DS406 with cyclic timer 6200h faut J Oh Data content The service is disabled by writing the value 0 The content of this object is identical with object 6200h If the value is changed while the timer is running then the change will take effect only with the next timer run SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 52 of 82 Communication via CAN bus CANopen 06h is not used access attempt generates error message 5 7 2 22 1801h 2 Transmit PDO Parameter According to DS406 TPDO2 is used for synchronous PDO transmission The communication parameters are set for TPDO2 via object 1801h Subindex Jon ooo indicates the largest sub index supported
29. OPERATIONAL PRE OPERATIONAL jy a a Ga 81h STOPPED Reset Node OPERATIONAL PRE OPERATIONAL ja 82h STOPPED Reset Communication Table 10 Switching between communication statuses If transmitted as Node ID x 0 the message is intended for all bus subscribers SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 20 of 82 Communication via CAN bus CANopen 5 2 2 5 3 5 3 1 5 3 1 1 SIKO AP10S Boot Up The COB ID of the Boot Up message consists of 700h and the Node ID The NMT status Initialization is output as data content COB ID Byte 0 700h Node ID 00h Table 11 Boot up message SYNC object CANopen makes it possible to simultaneously scan inputs and simultaneously set outputs This is accomplished by the synchronization message SYNC a high priority CAN message The identifier of the Sync object can be set via object 1005h see 1005h COB ID SYNC message Process data exchange Transfer of Process Data Objects PDO Process data objects PDO serve for quick process data exchange A maximum of 8 bytes of user data can be transferred in a PDO AP10S supports the Receive PDO services RPDO1 and RPDO2 according to Draft Standard 301 as well as the Transmit PDO services TPDO1 and TPDO2 according to Draft Standard 301 and Device Profile 406 Transmit PDO from AP10S to the master PDO transfer from the display to the bus master TPDO can be initiated as a result of various events e
30. P10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 25 of 82 Communication via CAN bus CANopen Index bytes 1 and 2 The index object number is entered in user data byte 2 low byte and in in user data byte 3 high byte in the Intel data format Here the index of the object to be parameterized is entered Sub index byte 3 The sub index indicates the number of the fields for objects realized as an array Service data Parameter byte 4 7 In the service data area the value of the parameter is entered in left aligned Intel notation Byte 4 low Byte Byte 7 high Byte 5 4 1 1 Error Response An error report Abort is returned to the master in case of invalid access The error codes are described in the CANopen profile DS 301 or in the encoder profile DSP 406 respectively The following table shows the error codes used 08000022h Parameters cannot be transferred to application or stored due to the current device status 08000024h No data available Table 17 Error code Example of reading SDO parameters Read the calibration value stored in object 6003h of the directory of objects from AP10S with device address 1 Calculation of the identifier 600h Node ID 600h 1h 601h Command 40h Index 6003h Sub index 00h The current value is 510 01FEh Query by master from slave with Node ID 1 COB ID User data usera oO Command 1ndex L Index H Sub index Data o Data 1 D
31. Pre Operational state only see chapter 5 1 Telegram setup Data type UNSIGNED 32 Default 200h Node ID EEPROM yes ot EERON EEPROM yes Data content Oh FOh FEh FFh SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 47 of 82 Communication via CAN bus CANopen Sub index 03h Description Inhibit time function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no 04h is not used access attempt generates error message Subsindex 05 h Description Event timer function is not supported only compatibility entry for various configurators Access r Data type UNSIGNED 16 Default 0 EEPROM O PDO mapping n n O h O 5 7 2 18 1401h 2 Receive PDO Parameter The communication parameters of the second Receive PDOs RPDOQ2 are set via object 1401h oh indicates the largest sub index supported ro nc UNSIGNED 8 Sh no 1 no 01h COB ID of the PDO2 rw writable in the Pre Operational state only see chapter 5 1 UNSIGNED 32 300h Node ID SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 48 of 82 Communication via CAN bus CANopen Description Transmission Type Access PDO mapping Data type UNSIGNED 8 Default FF EEPROM yes Data content Oh FOh FEh FFh Sub indx Description Inhibit time function is not support
32. age for absolute position detection is below limit immediately exchange battery This warning is displayed with a blinking battery symbol L Via status word and the emergency service warning messages are output via the interface see chapter 5 3 3 Status word chapter 5 5 1 Emergency Service EMCY and chapter 5 5 1 Emergency Service EMCY Display Error code Bit assignment in Emergency the status word L blinking 3200h Low battery voltage 4 5 2 Errors Error states are signalled via display and interface To return to normal operation the cause must be removed see Table 7 Corrective actions and the fault message acknowledged or deleted via WS key For signaling see chapter 5 3 3 Status word chapter 5 5 1 Emergency Service EMCY chapter 4 6 4 Diagnosis er en ee Emergency the status word Table 6 Error messages L permanent Battery empty Position value not Battery change reliable calibration travel SENBND Tape sensor gap Position value not Check sensor position exceeded reliable calibration travel noSENS No sensor connected Position value not Check sensor reliable calibration travel SPEED Admissible travel speed Position value not Decelerate travel speed exceeded see reliable calibration travel installation instruction Error may also occur during alignment travel Table 7 Corrective actions SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 15 of 82
33. an be activated or deactivated during parameterization see chapter 4 3 Parameterization of the position indicator and the desired baud rate directly set 5 6 2 Auto ID 5 6 3 Auto ID This function facilitates first commissioning of the devices in the plant The node numbers can be assigned by the superordinate control or by pressing the relevant button on the device concerned The Node ID 7Dh 125d is factory set After finishing initialization every device sends a boot up message and switches over to the PRE OPERATIONAL status Now the CAN master must send to the bus subscriber s with the current Node ID 7Dh an SDO message to object 5FOAh sub index 2 with the new Node ID to be set and await an SDO reply New ID will be displayed on all devices that have the current Node ID 7Dh The user must press the key on the device intended to adopt the new Node ID Subsequently this device will send an SDO reply with the identifier 5FDh The new Node ID is taken over and stored in the EEPROM The initialization phase is run again and a boot up message sent with the new Node ID All other devices do not react Afterwards the control execute a reset of all nodes for example in order to find out whether there are still devices in the bus with Node ID 7Dh If so the procedure may be repeated until all devices have received the desired Node ID The Auto ID function is aborted in the AP10S when an illegal value was sent for the new ID SDO Abort mes
34. annel selection as well as the direction of data transfer The 11bit identifier COB identifier consists of a 4bit function code and a 7bit node number Bitno 10 j9 a 7 Je 5 4 3 e ht jo Type Function code Node number node ID Assignment x x x x o fo x x x x The following function codes have been defined in the Pre defined Connection Set only the function codes used in the present device are listed Network management NMT 0000 0 o b 20 384 180h Node I 540 280h Node 1 768 300h Node 1 Heartbeat message 1110 1792 700h Node ID 29 1792 700h NodeTD 28 Table 9 Overview of COB identifiers Changes to COB IDs are only possible in the PRE OPERATIONAL NMT status First the COB ID must be deactivated via Bit 31 1b before it can be changed and reactivated The COB ID of the SYNC object is an exception There Bit 30 must be 0 to enable the change of the COB ID The COB ID could be changed any time because Bit 30 cannot be set to 1 in the AP10S device The identifier determines the priority of the message The lower the value of the identifier the higher the priority of the message The node number Node ID see object 5FOAh Node ID Auto ID and Baud rate Bus CAN is assigned in every bus system once while AP10S is being configured Node ID 0 is reserved and must not be used thus the node numbers are in the range of 1 to 127 A newly set node number will only be adopted with
35. aseacescstenusssanncansahicucensabecussueeecuacsanoussucpteseubesecseeatacs 79 COMEN N erea 79 65060 Suppor ed WANING S rerperr rear err EEE E ET 80 6507h Profile and Software Version ssessssessesessesescesescssescesesorsesorsesosseseesesesees 80 50 Sil ODEN TI esere EEEE E E E EN EE 80 Date 07 04 2015 Art No 87824 Mod status 132 15 Page 4 of 82 5 7 2 65 6509h Encoder calibration Value cccccccccccccccccceccceccccscccecccecccesccesscessscecscecs 81 5 7 2 66 650Ah Module Identification cccceccceccccccccccccecccecccccccceccceccceccceesceecccecscecs 81 5 7 2 67 650Bh Serial NUMDES ccccsccccscccccccccccccccsccccccccccsccecsccecscccescccessccesscsonces 82 SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 5 of 82 General Information 1 General Information 1 1 Documentation The following documents describe this product e The data sheet describes the technical data the dimensions the pin assignments the accessories and the order key e The installation instructions describe the mechanical and electrical installation including all safety relevant requirements and the associated technical specification e The user manual for commissioning and integrating the position indicator into a fieldbus system e EDS file electronic data sheet this file enables integration and configuration in a CANopen network by means of commercial CANopen configurators These documents
36. asuring steps 6002h indicates the total of measuring steps of the system cr 5 7 2 52 6003h Preset value calibration value Via object 6003h the encoder s position value can be set to a calibration value when calibrating Position value measured value calibration value offset value 0 Data type SIGNED 32 Default EEPROM yes Data content 999999 999999 SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 75 of 82 Communication via CAN bus CANopen 5 7 2 53 6004h Position value Object 6004h indicates the current position value of the device oh Data type SIGNED 32 Default EEPROM Position value measured value calibration value offset value 5 7 2 54 6005h Resolution Via object 6005h resolution is determined when the MS500H linear sensor is used ch indicated in multiples of nm 310 2114064575 SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 76 of 82 Communication via CAN bus CANopen 5 7 2 55 6200h Cycle Timer Object 6200h sets a cycle time for the output of PDO1 This value is permanently linked to the object 1800h 1 Transmit PDO Parameter sub index 5 Timer controlled output is active as soon as a valid cycle time has been entered and the device run in the Operational Mode The value 0 deactivates the function cr 5 7 2 56 6500h Operating Status Object 6500h indicates the settings programmed with object 6000h 00h
37. ata 2 Data 3 SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 26 of 82 Communication via CAN bus CANopen Response to the request by the slave Calculation of the identifier 580h Node ID 581h COB ID User data ee 581h 43h FEh 4 bytes valid Example of writing SDO parameters Change the loop length stored with 2 bytes in object 5F14h of the directory of objects in the AP10S with device address 1 Calculation of the identifier 600h Node ID 600h 1 601h Command Write 2 bytes 2Bh Index 5F14h Sub index 00h The new value shall be 4500 1194h Mater to write a value to the slave with Node ID 1 COB ID User data usera O Command Index L index H Sub index Data O Data 1 Data 2 Data 3 601h 2Bh 14h 5Fh 00h 94h 11h 00h 00h 2 bytes valid Node monitoring Calculation of the identifier 580h Node ID 580h 1 581h COB ID User data ued SSCS Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 5 5 Node monitoring 5 5 1 Emergency Service EMCY The status of the bus subscriber is transferred via high priority emergency messages in case of error These messages have a data length of 8 bytes and contain information on the error The emergency message is transferred as soon as a serious communication error occurred or was corrected The cause of error is stored in the error buffer see object 1003h Pre defined Error
38. ber or character string and the validity of the setpoint is transmitted to the display As an additional option the setpoint can be acknowledged via the control word Status word Type validity and acknowledgement status of the setpoints are fed back in the status word SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 12 of 82 Functional Description 4 2 Battery buffering The battery makes possible the detection of currentless displacement Battery life is approx 5 years depending on the duration of battery operation including storage and frequency of currentless adjustments Battery voltage is checked at intervals of approx 5 min If battery voltage drops below a specified value the battery symbol L___ will blink on the display If the battery voltage continues to drop L___ will be displayed permanently The battery should be replaced within approx three months after the first appearance of the battery symbol The battery can be replaced by the SIKO distribution partners or at the SIKO main factory For battery replacement it is mandatory to follow the instructions of the installation instructions Status word The charge status of the battery is signified in the status word CANopen Emergency messages are sent upon detection of a critical charge state and with detection of the empty state see chapter 5 5 1 Emergency Service EMCY 4 3 Parameterization of the position indicator The position indicator
39. between two participants exclusively via expedited Request Response User data is sent already with the initialization message The identifier is set to 11 bits and cannot be changed Two SDO services are available e SDO rx master gt AP10S 600h Node ID e SDO tx AP10S gt master 580h Node ID These SDO identifiers cannot be changed SDO messages are set up as follows COB ID User data in binary code Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 read write LSB MSB LSB MSB SDO ee command index sub service data parameters ee ID index Command byte Byte 0 The command byte determines the type of access and the number of valid data bytes The following command bytes are valid for AP10S ca expedited all 4 data bytes valid ea expedited 2 bytes from 4 data bytes valid ea expedited 1 byte from 4 data bytes valid sp acquisition to master Read Request 40h SDO rx Initiate Upload Request parameter from AP10S ee Read Response 43h_ SDO tx Initiate Upload Report parameter to master som expedited all 4 data bytes valid Read Response 4Bh SDO tx Initiate Upload Report parameter to master som expedited 2 bytes from 4 data bytes valid Read Response 4Fh SDO tx Initiate Upload Report parameter to master pe expedited 1 byte from 4 data bytes valid Error Response 80h SDO tx Abort Domain AP10S reports error code to master ake Table 16 Command coding SIKO A
40. bits and is mapped in the object 5FOCh Control word This object is received with both Receive PDOs Control word Control word 15 14 13 12 ji 1 9 js 7 6 5 4 3 2 j1 jo MSB HighByte towByte LSB MSB High Byte Low Byte LSB The following table lists the designations of the individual bits of the control word and their meanings Bit meaning vawe vaes reserved reserved Validity of setpoint1 Display range Acknowledgment target window1 static Guarding Bit With Display operating mode Acknowledgement of setpoint2 With Display operating mode Data identifier reserved Validity of setpoint2 10 With Display operating mode Acknowledgement of setpoint1 11 LED1 green left 12 LED3 green right 13 LED4 red right 14 LED2 red left 15 LED blinking Table 14 Control word Date 07 04 2015 Art No 87824 ever 0 ever 0 invalid standard not acknowledged is taken over not acknowledged number ever 0 invalid not acknowledged off off off off Mod status 132 15 valid extended acknowledged is taken over acknowledged ASCII valid acknowledged 0 0 0 Page 23 of 82 Communication via CAN bus CANopen 5 3 3 SIK AP10S Status word The status word indicates the current status of AP10S It consists of 16 bits and is mapped in the object 5F19h Status word as well as in the two Transmit PDOs Status word Status word 15 1
41. bration of the display is enabled via key actuation 2004h Incremental measurement Setting whether setting of the incremental enable measurement function is enabled via key actuation 2005h Configuration enable via Setting whether configuration is enabled via key keyboard and delay of start of operation Delay of start of configuration configuration Informs about CAN bus error events 59 Cycle time and trigger source of the external 59 and external Heartbeat source heartbeat rate Bus CAN 5FOBh Display in the 2 row Setting of the display in the 2 O NS i row 5FOCh Control word Control word 5FODh Differential value and Differential value and setting of difference difference formation formation 5F10h Target window1 near Setting of target window1 close up range field 0 6 6 O U9 5F11h Decimal places Number of decimal places 5F12h Display orientation and Setting of the display orientation and LED 64 LEDs functionality 5F13h Display divisor ADI and Setting of the display divisor and its application ADI application oO i O N 5F14h Loop length Setting of the loop length 5F15h Positioning type Setting of the loop type s direction of approach 5F16h Read target value Read current target value write access only via PD 5F17h Period counter sensor ADC Outputs the following current values values and absolute fine value Period counter sensor ADC values and absolute fine value
42. cal number of measuring steps per 78 revolution 6502h Number of distinguishable Indicates the number of revolutions the encoder is 78 revolutions able to scan 6507h Profile and Software Indicates the version number of the device profile Version used and the version number of the encoder s firmware 6508h Operating Time Counter of operating hours function is not supported 6509h Encoder calibration value Encoder status at the time of calibration 650Ah Module Identification Indicates the offset value as well as the smallest and 8 largest transferable position value 650Bh Serial Number Outputs the value FFFFFFFFh function is not 82 supported Table 20 Overview of objects SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 35 of 82 Communication via CAN bus CANopen 5 7 2 Description of objects 5 7 2 1 1000h Device Type Object 1000h indicates the device profile number Information on device profile and device type no O Poo mapping o OOOO 96h Oth GS04 05h 00h MS500H 07h 0196h 406 CANopen Device Profile for Encoders Version 3 02 0007h with MS500H connected Incremental linear encoder with battery buffered electronic period counter 0005h with GS04 connected Incremental rotative encoder with battery buffered electronic period counter 5 7 2 2 1001h Error Register Object 1001h indicates the error state of the device oa Go set bit indicates the occ
43. can also be downloaded at http www siko global com p ap 10s 1 2 Definitions If not explicitly stated otherwise decimal values are given as figures without an extension e g 1234 binary values are marked after the figure with an b e g 19011b hexadecimal values with an h e g 280h 2 Intended use The device is an absolute position indicator with a plug in connection for MS500H magnetic sensor for direct linear distance measurement combined with MB500 magnetic tape or a supported GS04 magnetic sensor for direct shaft mounting Actual and target values are indicated via the backlit two row LC display A direction indicator arrow is blended in if the actual value deviates from the target value including the adjustable target window The direction of the arrow indicates the direction of shaft movement necessary to reach the target Additionally various visualization tasks can be realized by means of two bi color LEDs green and red The device parameters can be adjusted by means of 3 keys You can change the setpoint output the position value and adjust all device parameters via the integrated bus interface Scanning is magnetically incremental In the currentless state scanning and saving of changes of the position value are battery supported The state of charge of the replaceable battery is monitored and signified If no sensor is connected or the MS500H sensor lifted off the tape an error will be detected and the posi
44. can be fully parameterized via the bus interface You can configure manually via keyboard the most significant bus parameters node address and baud rate 4 3 1 Manual parameterization 4 3 1 1 Starting parameterization After applying supply voltage and completion of initialization the position indicator is on the uppermost level of the menu structure default Factory settings By actuating the key the set node address and baud rate is displayed Parameterization starts if it is actuated for the duration of the enable time see object 2005h Configuration enable via keyboard and delay of start of configuration 4 3 1 2 Value input Enter values via the key and the key Confirm values entered by pressing the W key decimal place selection key value input key SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 13 of 82 Functional Description 4 3 1 3 Value selection For some parameters you can select values from a list Direct value input is not possible there Pressing the L key the value can be selected from the list By pressing the WS key the selection is confirmed 4 3 1 4 Adjustable parameters The following parameters can be adjusted Node ID 1 127 see chapter 5 6 2 KBAUD Baud rate Auto baud see chapter 5 6 1 125 kbaud 250 kbaud 500 kbaud 800 kbaud 1000 kbaud CODE System commands Load factory settings see chapter 4 6 3 Start diagnosis see chapter 4 6 4
45. content Object 2002h read 0 2 2 is fed back with a read access if calibration took place beforehand Object 2002h write Writing the value 1 sets the position value to the calibration value 5 7 2 27 2003h Calibration enable The object 2003h indicates whether calibration of the position value is enabled via key actuation subinde PDO mapping Data type UNSIGNED 8 Default EEPROM ja Data content 0 Calibration disabled 1 Calibration enabled SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 57 of 82 Communication via CAN bus CANopen 5 7 2 28 2004h Incremental measurement enable The object 2004h indicates whether setting of the position value as incremental measurement is enabled via key actuation Data type UNSIGNED 8 Default Data content 0 Incremental measurement disabled 1 Incremental measurement enabled 5 7 2 29 2005h Configuration enable via keyboard and delay of start of configuration Object 2005h indicates whether configuration via key actuation is enabled The delay of start of configuration is set in sub index 2 key enable time Data content 0 disabled is not supported 1 enabled SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 58 of 82 Communication via CAN bus CANopen 5 7 2 30 5000h Diagnosis of CAN bus errors A prioritized list of CAN bus errors occurring can be read via object 5000h Description Indicates the CAN B
46. diagram SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 19 of 82 Communication via CAN bus CANopen 5 2 1 1 NMT communication statuses NMT Status INITIALIZATION The unit is not involved in the bus actions in this state All hardware and software components are initialised This state is attained after switching on the device or after receipt of the command code 81h of the own or global addresses After receiving the command code 82h the display is also in the initialization status However only the hardware and software associated with CAN communication is reinitialized The device automatically signifies completion of initialization via a boot up message After successful transmission of the boot up message the device will be in the PRE OPERATIONAL status NMT Status PRE OPERATIONAL Parameterization data SDO can be exchanged in the Pre Operational Mode However no process data PDO is transferred NMT Status OPERATIONAL Exchange of process data is enabled as well NMT Status STOPPED Communication is stopped except for Heartbeat and Node Guarding Only NMT communication is enabled 5 2 1 2 Switching between NMT communication states Telegrams with the following structures are used for switching between the communication Statuses Status change Transition COB ID Com ARO g PRE OPERATIONAL STOPPED OPERATIONAL 01h OPERATIONAL PRE OPERATIONAL STOPPED 02h OPERATIONAL STOPPED 80h
47. dicates the direction of shaft rotation in order to arrive at the setpoint SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 9 of 82 Functional Description LED display see e g object 5F12h Display orientation and LEDs With factory setting the LED glows green as long as the actual position is within the programmed window1 When leaving target window1 the LED glows red The sensor must be adjusted in the direction of the glowing LED in order to arrive at the setpoint The red glowing LED on the right means clockwise cw rotation required Red glowing LED on the left counter clockwise ccw rotation required An additional target window target window2 and an associated visualization can also be configured 5F21h Target window2 far and target window2 visualization With factory settings the LED a has the following meaning There is no valid setpoint There is a valid LED right Target window not reached setpoint The sensor must be moved in positive counting direction in order to reach the target Target window not reached The sensor must be moved in negative counting direction in order to reach the target cs Positioning disabled green Target window reached LED right Target window not reached The sensor must be moved in negative counting direction in order to reach the target Target window not reached The sensor must be moved in positive counting direction in order to reach the target
48. e calibration value see object 6003h Preset value calibration value 2 Execute calibration reset see chapter 3 4 Keys or object 2002h Calibrate encoder value Since the measuring system is an absolute system calibration is necessary only once with commissioning With calibration the calibration value is adopted for calculation of the position value The following equation is applied in case of calibration Position value 0 calibration value offset value Calibration value see object 6003h Preset value calibration value Offset value see object 2001h Manufacturer Offset SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 16 of 82 Communication via CAN bus CANopen 4 6 3 Restore factory settings There are various options for restoring the factory settings of the device Manuell CODE 011100 011100 Jall parameters 011102 011102 fall except bus parameters 011105 only bus parameters CANopen see object a Table 8 Access to factory settings 4 6 4 Diagnosis To receive a list of all errors occurring from chapter 4 5 2 of the device the device must be switched to diagnosis operation Enter CODE 200000 in parameterization see chapter 4 3 1 Manual parameterization and confirm by pressing the key Any errors occurring are output indicating the error number and total of occurrences in the upper row The type of error is shown in the lower row Error number 1 contains the latest e
49. ed only compatibility entry for various configurators Access Data type UNSIGNED 16 Default 04h is not used access attempt generates error message Description Event timer function is not supported only compatibility entry for various configurators 5 7 2 19 1600h 1 Receive PDO Mapping Parameter Object 1600h determines the objects that are mapped on the first Receive PDO RPDO1 number of objects mapped SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 49 of 82 Communication via CAN bus CANopen 1 object of the PDO1 message Data byte 0 until 3 Data type UNSIGNED 32 Default 0x5F160320 Setpoint object 5F16h Sub index 0x03 32bit EEPROM 2 object of the PDO1 message Data byte 4 5 ro Default 0x5FOC0010 Control word object 5FOCh Sub index 0x00 16bit EEPROM 5 7 2 20 1601h 2 Receive PDO Mapping Parameter Object 1601h determines the objects that are mapped on the second Receive PDO RPDO2 Data type UNSIGNED 8 Default SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 50 of 82 Communication via CAN bus CANopen 1 object of the PDO2 message Data byte 0 until 3 Data type UNSIGNED 32 Default 0x5F160120 Setpoint object 5F16h Sub index 0x01 32bit EEPROM 2 object of the PDO2 message Data byte 4 5 ro Default 0x5FOC0010 Control word object 5FOCh Sub index 0x00 16bit EEPROM 5 7 2 21 1800h 1 Transmit P
50. en the negative sign and the digit of the highest order will flash alternately If the value range drops below 99999 FLL L will be displayed 3 3 LED display In its basic state factory setting the LED display has different meanings depending on the operating mode see chapter 4 1 1 Position bound operating modes and 4 1 2 Alpha numeric display operating mode With the basic function of the LEDs inactivated every LED can be controlled independently via the control word see object 5F12h Display orientation and LEDs and chapter 5 3 2 Control word 3 4 Keys Pressing the LU key enables or disables the incremental measurement function With the Auto ID function the new ID is adopted by actuating this key see chapter 5 6 Auto functions Pressing the key starts calibration see chapter 4 5 1 Warnings and acknowledges a pending error see chapter 4 5 2 Errors Pressing the key starts the parameterization mode see chapter 4 3 Parameterization of the position indicator 4 Functional Description 4 1 Operating modes The following position dependent operating modes are differentiated Absolute Position Differential Value Modulo and the position independent operating mode Alpha numeric Display SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 8 of 82 Functional Description Operating Absolute position Differential value Alpha numeric mode Display Actual position Actual positi
51. ing mode The sensor type can be read and the operating mode changed via object 5F1Bh Subsndex Jon SOSOSC S S S s S S S S S Poo mapping no OOOO 00h no rw no Oh es sensor type cess poOmapping o OOo Data content 0 MS500H 1 GS04 SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 71 of 82 Communication via CAN bus CANopen Subsndex oh SSOSC S S S Data type UNSIGNED 8 pfu Oh Data content 0 Absolute position 1 Difference 2 Modulo 360 angle display 3 Alpha numeric display 5 7 2 46 5F1Ch Acknowledgement settings 0 0 2h W PDO mapping no h no Object 5F1Ch serves for determining the key to be used as acknowledgement key The setting is only relevant in the alpha numeric display mode 0 ye EEPROM h S Data content 9 key 2 Up and Left key 5 7 2 47 5F1Fh Direction indicators CW CCW O The display of the direction arrows is set via object 5F1Fh h es Data content 0 On 1 inverted 2 Off SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 72 of 82 Communication via CAN bus CANopen 5 7 2 48 5F21h Target window2 far and target window2 visualization Via object 5F21h the size of target window2 can be set and visualization of target window2 enabled and disabled see chapter 4 1 1 1 Positioning Data content 0 Data type UNSIGNED
52. ll devices with current ID 7Dh are showing new ID 001 They are waiting for a push at their Arrow Up button All other devices are still showing new ID 001 After the SDO response the PLC can adjust the next ID gt new ID 002 To determine if further devices have to be readdressed If all devices are adjusted correctly or if ID 7Dh is desired the user has to set the PLC into normal operation Communication via CAN bus CANopen 5 7 5 7 SIKO AP10S Directory of objects Overview of objects The following table offers an overview of the objects of the unit Meme esereton ee page 1000h Device Type Device profile and encoder type 1001h Error Register Current error state of the device 36 37 3 3 39 39 1002h Manufacturer Status Contains the Receive Error Counter and the Transmit 37 Register Error Counter 1003h Pre defined Error Field The object stores the 8 error states that have occurred last 1008h Manufacturer Device Name Device name in in ASCII characters 1009h Manufacturer Hardware Indicates the hardware version of the device Version 100Ah Manufacturer Software Indicates the software version of the device Version 100Ch Guard Time Parameter for Node Guarding 3 1000h Life Time Factor Parameter for Node Guardin 4 1010h Store Parameter Object for non volatile storage of the settings 4 1011h Restore Parameter Object for restoring the factory
53. n indicates the largest sub index supported Data type UNSIGNED 8 Default Oh O PDO mapping no h no SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 60 of 82 Communication via CAN bus CANopen swnd Jon o access fw SSS Poo mapping 0 OOO o 0 rw n y 1 Node ID for access via Auto ID function m n y 1 0 rw n 0 h 125 S 7Fh h S 1 O e 2 O etae O O e Data content ees fw Poo mapping o OOO Data content Auto baud 125 kbaud 250 kbaud 500 kbaud 800 kbaud 1000 kbaud SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 61 of 82 Communication via CAN bus CANopen 5 7 2 33 5FOBh Display in the 2 row Via object 5FOBh the display of the 2 row of the display unit is controlled The setting is not effective in the Display operating mode Sub indes O h O Default Data content 0 Setpoint or differential value depending on mode see chapter 4 1 1 Position bound operating modes 1 Off 5 7 2 34 5FOCh Control word The control word can be read via object 5FOCh Write access is only via RPDO1 or RPDO2 see chapter 5 3 2 Control word Subinde 0 n S Default h O 5 7 2 35 5FODh Differential value and difference formation The differential value can be read via object 5FODh sub index 1 The differential value is set by sub index 2 Sub indes Default O SIK AP10S Date 07 04 2015
54. ning messages displayed via object 6505h indicate that tolerances of internal encoder parameters have been exceeded However unlike with alarm messages the position value can be valid in case of a warning cr 1 battery voltage critical SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 79 of 82 Communication via CAN bus CANopen 5 7 2 62 6506h Supported Warnings Object 6506h indicates the warning messages that are supported oh 5 7 2 63 6507h Profile and Software Version The object 6507h indicates the encoder profile used CANopen Device profile for encoders and the version number of the firmware state o0h Byte 0 LSB Byte 3 MSB oy ee 5 7 2 64 6508h Operating Time The operating hours are displayed via object 6508h This function is not supported 00h operating hours counter SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 80 of 82 Communication via CAN bus CANopen 5 7 2 65 6509h Encoder calibration value Via object 6509h the difference between the encoder value and the scaled position value offset against Preset and Manufacturer Offset is output or Data type SIGNED 32 Default EEPROM yes 5 7 2 66 650Ah Module Identification Object 650Ah indicates the manufacturer specific offset value as well as the smallest and largest transferable position value cr 7 Description Manufacturer specific offset value is added to the position value
55. node error Via objects 100Ch Guard Time 100Dh Life Time Factor the time interval Life Time is set within which the NMT master expects to receive a message The time interval Life time is calculated from the cycle time Guard time multiplied with the factor Life Time Factor If the NMT master receives no response to its RTR frame within the Life Time it can react with appropriate measures After switching on Node Guarding is activating by the master sending the first RTR frame to the slave If the value of either object 100Ch or 100Dh is set to 0 Node Guarding will be deactivated The node s response to the master s RTR frame is formed as follows Identifier Byte 0 700h Node ID Bit 7 toggle Bit Bit 6 0 NMT status Toggle Bit The toggle bit must alternate between two subsequent responses of the unit After activation of the Guarding protocol the toggle bit must have the value 0 with the first response SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 28 of 82 Communication via CAN bus CANopen NMT status 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL The identifier of the heartbeat protocol is permanently set to 700h Node ID and cannot be changed Sending of a Node Guard message is possible in the OPERATIONAL PREOPERATIONAL or STOPPED NMT statuses 5 5 3 Heartbeat The master monitors the status of the slave device via the Heartbeat protocol While doing this the uni
56. on Actual position Set point1 Set point Differential value Set point Set point2 Table 1 Display with different operating modes Absolute position Linear absolute position values are displayed Differential value display With factory setting Differential value actual position set point Modulo display Position values ranging from 0 to 360 are displayed Using the Decimal places parameter see object 5F11h Decimal places the resolution and the modulo point of the displayed values are set Decimal places Display resolution 1 2 1 100 0 00 360 00 3 1 1000 0 000 360 000 1 10000 0 0000 360 0000 Table 2 Modulo display Alpha numeric display Both rows can be written freely Setpoint1 is received via the Receive data object 1 RPDO1 setpoint2 is received correspondingly with RPDO2 The data identifier must be correctly set in the relevant control word The data identifier differentiates whether the data is interpreted and displayed as figures or alpha numeric characters ASCII see chapter 5 3 2 Control word 4 1 1 Position bound operating modes 4 1 1 1 Positioning see chapter 4 1 1 2 Loop positioning Arrows see object 5F1Fh Direction indicators CW CCW Arrows are displayed to support the user with positioning as long as the current actual position value is outside see object 5F10h Target window1 near field target window1 The direction of the arrow in
57. on values asynchronous or synchronous data transmission 3 Display and control keys 3 1 General The position indicator has a two line display with special characters and three control keys The keys serve for position indicator parameterization and control Two LEDs 1 serve for monitoring positioning Fig 1 Control elements 3 2 LCD display The The display range is limited to 19999 99999 Values outside this range are displayed with FULL With supply voltage applied to the position indicator with factory settings the actual value will be displayed in the 1 row and the setpoint in the 2 row If there is no valid setpoint will be displayed in the 2 row The values displayed are determined by the operating mode Direction indicators arrows support positioning SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 7 of 82 Functional Description The battery symbol L___ is shown with a critical or insufficient battery status With incremental measurement function activated the incremental measurement symbol gt is shown If battery voltage drops to a critical value the battery symbol on the display will flash If it falls below the minimum value the symbol will glow permanently 3 2 1 Extended display range Values up to 999999 can be displayed by means of the control word If the relevant bit has been set and the value to be displayed is between 199999 and 999999 th
58. rror The oldest error is output with the highest error number 5 Communication via CAN bus CANopen The CiA DS 301 V4 2 CANopen communication profile as well as the Device profile for Encoders CiA DS 406 V3 2 form the basis for AP10S which supports device class C2 As this device is beyond the scope of an encoder s functionality communication partly differs from the above mentioned device profile This document contains the details necessary for understanding the operation of the device If more in depth information is required we recommend to consult the pertinent specialized literature on CAN or CANopen 5 1 Telegram setup The data telegram of a CAN message consists of the following fields Identifier COB ID Control field Data field max 8 byte CRC ACK EOF SOF Start of Frame start bit of the telegram SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 17 of 82 Communication via CAN bus CANopen Identifier COB ID e All bus sharing units check via identifier whether the message is relevant for them e The identifier sets the priority of the message The lower the value of the identifier the higher the priority of the message This results in preferential transfer of messages via the bus The Identifier field contains the identifier as well as bits for the recognition of the length of the identifierss 11 or 29 bit Furthermore the identifier serves for determining the device address the ch
59. sages will be returned in this case SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 30 of 82 Communication via CAN bus CANopen Use of this function is optional The node numbers can also be set via parameterization see chapter 4 3 Parameterization of the position indicator COB ID Byte O Byte 1 Byte 2 Byte 3 Byte 4 LSB Byte 5 Byte 6 Byte 7 LSB MSB MSB oA Table 19 Auto ID SDO message from the master SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 31 of 82 Auto ID Start At least one boot up Message with COB ID 77Dh SDO write command at Node ID 7Dh Object 5F0A 2 write Node ID auto ID Data new ID The user pushes the button at the desired device This device sends a SDO Response with the still valid ID 7Dh It takes the new ID into the internal memory executes Reset COM and sends boot up Message with new ID COB ID 701h nmt command from PLC Reset COM All nodes send their boot up with their current ID Number i gt with ID Isatone device 7Dh desired yes PLC in normal operation Fig 6 Auto ID function There are n devices at the bus At least one device works with the default Node ID 7dh 125 All of them are in Pre Op Mode PLC sends write SDO commands at object 5F0A 2 until this command becomes responded accordingly no SDO time out anymore A
60. saveastcwnet ont vacntescinestaenes 56 2002h Calibrate encoder Wd NG xc toccccdascncanssacesoaa soutescndsncsadasesansnetncoecesoniesucsicaenes 57 200 3 fiz Cali DraGan End lE ssucscvassvessesaeraasnvensebacsceiouteusonstuseneneteesnebeedecsiousveieseease 57 2004h Incremental Measurement enable cceccececsccecececscsecececscsecececscsecececs 58 2005h Configuration enable via keyboard and delay of start of configuration 58 5000h gt Diagnosis of CAN DUS Cl OVS snsiucssccassuiaseurenssenvsisasaessamddeaseencsmessenkcsevansovente 59 5FO9h External Heartbeat timer and external Heartbeat SOUrCEC ceccececsceeeeeees 59 5FOAh Node ID Auto ID and Baud rate Bus CAN ccccececsccecececscsecececscececees 60 BFOBh Display in the 2 roW csssccccccsssscccccessccccecsscsccceeessssceseccssessecessesenecsss 62 Bi Clie COI Ol WO E EEE OA E AE E ENE 62 5FODh Differential value and difference formation cccececscsecececsccecececscsececees 62 5F10h Target window1 near field cccsccscsscsccscsscsecscscsseecsceeeecescseeeceseees 63 Birt ils DECI ACCS ic acacaeweconceucduw sn se rccanoeecneusesecucsassecsanessonasusavecnaoseseatcessesae 64 5F12h Display orientation and LEDS cccececsccececscsccececscsccecececscecececscsecececs 64 5F13h Display divisor ADI and ADI application ccccsscsccecsscsccscecsecscescees 67 BUG OOO VEN ees E A E E 68 SFN POSIUIO MING NE eraa EA O
61. t 0 Off 1 position dependent oa Data content 0 Off 1 position dependent a Data content 0 Off 1 position dependent oh Data content 0 Off 1 position dependent SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 65 of 82 Communication via CAN bus CANopen oh Data content 0 Off 1 On om Data content 0 Off 1 On ot Data content 0 Off 1 On oh Data content 0 Off 1 On SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 66 of 82 Communication via CAN bus CANopen 5 7 2 39 5F13h Display divisor ADI and ADI application The display divisor and its application can be changed via object 5F13h Subsindex Oh SSOSC S sS S S Ss S S S EEPROM Oh O O h O T W O h es Data type UNSIGNED 8 access f Poo mapping no ooo o O Data content 0 1 1 10 2 100 3 1000 wsnos o 2h yes 0 r n 2 n 0 r n Data type UNSIGNED 8 default a o Data content 0 on all values 1 only on the display Values transferred via the interface are not offset against the ADI values SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 67 of 82 Communication via CAN bus CANopen 5 7 2 40 5F14h Loop length Object 5F14h specifies the loop length by which the setpoint shall be moved over with loop travel see chapter 4 1 1 2 Loop positioning Oh es Ose Dere oh SSOCSC s sS S
62. t sends cyclically its NMT status The AP10S is a heartbeat producer it does not receive nor process heartbeat protocols The cycle time of the heartbeat message is set via object 1017h The heartbeat protocol is inactivated if the cycle time is 0 The heartbeat message consists of the COB ID and an additional byte which is used to store the current NMT status COB ID Byte 0 700h Node ID NMT status NMT status 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL The identifier of the heartbeat protocol is permanently set to 700h Node ID and cannot be changed Sending of a Node Guard message is possible in the OPERATIONAL PREOPERATIONAL or STOPPED NMT statuses 5 5 4 External heartbeat In addition to the function described under Heartbeat the NMT status can be controlled via the external heartbeat In this case a value corresponding to an interval in ms is entered in object 5FO9h sub index 1 If the devices receives no external heartbeat message during this interval the display will switch over to Pre Operational status The type of message to be interpreted as external heartbeat is set in object 5FO9h sub index 2 The value 0 means that the timer is triggered when receiving an RPDO setpoint With value 1 the timer is triggered when receiving a SYNC see object 5FO9h External Heartbeat timer and external Heartbeat source SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 29 of 82 Communication via CAN b
63. tion value displayed red with a flashing Error message This condition survives a power failure The error must be remedied by way of calibration after checking the sensor connection or sensor position respectively Display and interface are active with external power supply only SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 6 of 82 Display and control keys 2 1 Switching on the supply voltage The AP10S will be initialized after switching on the supply voltage A display test is executed during initialization the LEDs are lighted consecutively and the configuration parameters are loaded from the non volatile memory into the RAM of the controller With the display still unconfigured all parameters are set to their default values See to it that the bus will be connected only after correct adjustment of baud rate and ID see chapter 4 3 Parameterization of the position indicator and chapter 5 6 Auto functions The AP10S functions with the data last parameterized After completing the initialization procedure the AP10S with CAN interface sends a specific NMT command the Boot Up Message which informs the system about the availability of the display The AP10S is now in the Pre Operational Mode In this state the display can be parameterized via SDO commands in accordance with the requirements of the application This applies to configuration parameters as well as to the way it makes available to the system its positi
64. urrence of any error condition 4 set bit indicates communication error on the CAN bus Acknowledgement Form CRC and Stuffbit manufacturer specific battery or sensor error Faults and errors are signalled at the time of their occurrence by an emergency message SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 36 of 82 Communication via CAN bus CANopen 5 7 2 3 1002h Manufacturer Status Register The object 1002h shows the counter readings of Transmit Error Counter and Receive Error Counter The contents of these registers provide information on the transmit faults present at the mounting site of the encoder Receive Eror Counter Transmit Eror Counter 5 7 2 4 1003h Pre defined Error Field The 8 error states that occurred last are archived in object 1003h see chapter 5 5 1 Emergency Service EMCY e The entry under sub index 0 indicates the number of stored errors e The latest error state is always stored in sub index 1 Previous error messages are each shifted one sub index position farther e The whole error list is deleted by writing the value 0 at sub index 0 e The entries in the error list have the format described in chapter 5 5 1 Emergency Service EMCY oh eu o EEPROM EEPROM yes Dee o SIK AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 37 of 82 Communication via CAN bus CANopen 5 7 2 5 1005h COB ID SYNC message The COB ID of the
65. us CANopen 5 5 5 Guarding Bit There is a guarding bit in the control word which serves for monitoring communication or the NMT state of the device respectively When receiving the control word the content of this bit will be copied into the guarding bit of the status word and output with the next TPDO Thus by shifting the bit in the control word the superordinate control can verify without additional data traffic that process data exchange is in operation This function is especially helpful when a gateway converter from CANOpen to superordinate fieldbus is used 5 6 Auto functions 5 6 1 Auto Baud This function facilitates first commissioning of the devices in the plant The baud rate is factory set to Auto Baud AP10S overhears the bus and does not transmit messages To enable the instrument s autonomous recognition and adjustment of the prevalent bus baud rate communication must take place on the CAN bus If the device recognizes a faultless message with the internally set baud rate it will be adopted as a valid baud rate CAN initialization finished and a boot up message sent If no message is detected till expiry of the dwell time then the next valid baud rate is set and checked for communication The search for a baud rate is not stopped until a valid baud rate has been found If the baud rate is to be adopted permanently it must be saved upon command see chapter 5 7 2 11 1010h Store Parameter The Auto Baud function c
66. us errors Acknowledge Form CRC and Stuff Error sorted by frequency Data content Byte 0 Byte 1 Byte 2 General Acknowledgement Form error CRC error Stuff error error 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 Explanation of the data content 0 Error does not occur at all 4 Error occurs most frequently 5 7 2 31 5FO9h External Heartbeat timer and external Heartbeat source Via object 5FO9h an external heartbeat timer and its trigger source can be set This function serves for monitoring the connection of the device to the master via CAN bus oh Data type UNSIGNED 8 Default SIKO AP10S Date 07 04 2015 Art No 87824 Mod status 132 15 Page 59 of 82 Communication via CAN bus CANopen Description With a value greater than zero entered here an event depending on the external heartbeat source set in sub index 2 is expected in this interval If no such event is received the device will return to the Pre Operational status Data content 0 10 65535 Ah FFFFh the numerical value corresponds to a multiple of 1 ms The function is disabled by writing the value 0 Data content 0 Timer is triggered upon receipt of a PDO setpoint 1 Timer is triggered upon receipt of a SYNC 5 7 2 32 5FOAh Node ID Auto ID and Baud rate Bus CAN Via object 5FOAh Node ID Auto ID see chapter 5 6 2 Auto ID and the baud rate of the bus see chapter 5 6 Auto functions can be set Sub index Descriptio
67. ussastiesnesuetecadesseaxt 46 5 7 2 17 1400h 1 Receive PDO Parameter ssssssessssesessesessesesceescscescsoesesossesoesesorsesereesesees 47 5 7 2 18 1401h 2 Receiwe PDO Parameter sce scansveatzeusbasntenscatwaesatesneaeseoiesundoeeteanesteientoate 48 5 7 2 19 1600h 1 Receive PDO Mapping Parameter ccccecsccscecscsccececscsccecscecsccecececeees 49 5 7 2 20 1601h 2 Receive PDO Mapping Parameter sssssesessesescesescsesescesesoesesorsesessesesees 50 Date 07 04 2015 Art No 87824 Mod status 132 15 Page 3 of 82 5 7 2 21 oP ge ay 4 5 7 2 23 5 7 2 24 oY an a 5 7 2 26 5 7 2 21 5 7 2 28 5 2 29 5 7 2 30 5 7 2 31 oy eT ey Daleks 5 7 2 34 EOE 5 7 2 36 Delstsal 5 7 2 38 5 7 2 39 5 7 2 40 5 7 2 41 5 7 2 42 5 7 2 43 5 7 2 44 5 7 2 45 5 7 2 46 5 7 2 4 5 7 2 48 5 2 49 5 7 2 50 5 7 2 51 5 7 2 52 5 7 2 53 5 7 2 54 Det 30509 5 7 2 56 5 7 2 5 5 7 2 58 5 7 2 59 5 7 2 60 5 7 2 61 5 7 2 62 5 7 2 63 5 7 2 64 SIKO AP10S 1800h 1 Transmit PDO Parametleri scncsiisssccucacoscaucdsececassessaceeesnsenssucedssweaterecseeeeesee 51 1801h 2 Transmit PDO Parameter cccccecscsccececscsecececscsccecececsccecececscsecesees 53 1A00h 1 Transmit PDO Mapping Parameter cscscscsccececececscecececscscscscscseeees 54 1A01h 2 Transmit PDO Mapping Parameter cecscscsccececececscecececscscscscscseeees 55 2001h Man facturer 0 SOU csc chcastcannacnacndonseaccnasnsensonnedaane

Absolute / Electronic Position Indicator with plug

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