SICK AHS36 CANopen, AHM36 CANopen, AHS36 CANopen Inox, AHM36 CANopen Inox Operating Instructions Manual

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O P E R A T I NG I N S T R U CT I O NS

AHS/AHM36 CANopen AHS/AHM36 CANopen Inox

Absolute Encoder

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OPERATING INSTRUC TIONS | AHS/AHM36 CANOP EN, AHS/AHM36 CANOPEN INOX 801 6869/1 2TG/2019-04-08 | SICK

Subject to change without notic e

Described product

AHS/AHM36 CANopen

AHS/AHM36 CANopen Inox

Manufacturer

SICK STEGMANN GmbH Dürrheimer Str. 36 78166 Donaueschingen

Germany

Legal information

This document is protected by the law of copyright. Whereby all rights established therein remain with the company SICK STEGMANN GmbH. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modification, expurgation or translation of this document is prohibited without the express written permission of SICK STEGMANN GmbH.

Original document

This document is an original document of SICK STEGMANN GmbH.

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CONTENTS

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Contents

1 About this document......................................................................... 6

1.1 Function of this document ..................................................................................6

1.2 Target group ..........................................................................................................6

1.3 Information depth.................................................................................................6

1.4 Scope .....................................................................................................................7

1.5 Abbreviations used...............................................................................................7

1.6 Symbols used ........................................................................................................8

2 On safety ........................................................................................... 9

2.1 Authorized personnel ...........................................................................................9

2.2 Intended use .........................................................................................................9

2.3 General safety notes and protective measures ............................................ 10

2.4 Environmental protection ................................................................................. 10

3 Quick start instructions on the AHS36/AHM36 CANopen ..............11

3.1 Node ID/Baud rate ............................................................................................ 11

3.2 Parameterization ............................................................................................... 12

3.2.1 EDS file............................................................................................. 12

3.2.2 Save or restore parameters .......................................................... 12

3.3 Process data objects (PDOs)............................................................................ 13

3.3.1 PDO communication ...................................................................... 13

3.3.2 PDO mapping .................................................................................. 14

4 Product description .........................................................................15

4.1 Special features................................................................................................. 15

4.2 Operating principle of the encoder.................................................................. 17

4.2.1 Scaleable resolution....................................................................... 17

4.2.2 Preset function................................................................................ 17

4.2.3 Round axis functionality ................................................................ 18

4.2.4 Electronic cam mechanism ........................................................... 20

4.3 Controls and status indicators......................................................................... 20

5 Integration in CANopen ...................................................................21

5.1 Communication profile...................................................................................... 21

5.1.1 CANopen in the OSI model ............................................................ 21

5.1.2 Communication channels.............................................................. 21

5.1.3 Topology ........................................................................................... 22

5.2 Node IDs and COB-IDs ...................................................................................... 23

5.3 Baud rate ............................................................................................................ 24

5.4 Layer Setting Services (LSS) ............................................................................ 24

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5.5 Network management (NMT)........................................................................... 28

5.5.1 CANopen state machine ................................................................ 28

5.5.2 Network Management Services.................................................... 29

5.5.3 Boot-up message............................................................................ 30

5.5.4 Node Guarding and Heartbeat...................................................... 30

5.6 Service Data Objects (SDO).............................................................................. 31

5.7 Process Data Objects (PDO)............................................................................. 33

5.7.1 PDO mapping .................................................................................. 33

5.7.2 PDO data transmission .................................................................. 34

5.7.3 Asynchronous or synchronous formation of the position.......... 36

5.8 Configurable functions...................................................................................... 37

5.8.1 EDS file............................................................................................. 37

5.8.2 Scaling parameters ........................................................................ 38

5.8.3 Preset function................................................................................ 40

5.8.4 Cyclic process data......................................................................... 41

5.8.5 Speed measurement...................................................................... 42

5.8.6 Round axis functionality ................................................................ 43

5.8.7 Electronic cam mechanism ........................................................... 45

6 Object library ...................................................................................46

6.1 Nomenclature .................................................................................................... 46

6.2 Standard objects ............................................................................................... 47

6.2.1 Detailed information on the standard objects............................ 48

6.3 Process Data Objects ........................................................................................ 54

6.3.1 Basic PDO structure ....................................................................... 54

6.3.2 Parameter of the Receive PDO ..................................................... 55

6.3.3 Parameter of the Transmit PDOs.................................................. 56

6.3.4 Transmission types......................................................................... 58

6.3.5 Objects and their subindices that can be mapped .................... 60

6.4 Encoder profile specific objects....................................................................... 61

6.4.1 Encoder parameters....................................................................... 62

6.4.2 Objects for the electronic cam mechanism (CAM)..................... 65

6.4.3 Objects for diagnostics .................................................................. 69

6.5 Manufacturer-specific objects ......................................................................... 74

6.5.1 Objects for the encoder configuration ......................................... 75

6.5.2 Objects that provide status information ...................................... 81

7 Commissioning ...............................................................................89

7.1 Electrical installation......................................................................................... 89

7.1.1 Connection of the AHS36/AHM36 CANopen.............................. 89

7.2 Settings on the hardware ................................................................................. 90

7.3 Configuration...................................................................................................... 91

7.3.1 Default delivery status ................................................................... 91

7.3.2 System configuration ..................................................................... 91

7.4 Tests before the initial commissioning ........................................................... 95

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8 Fault diagnosis ................................................................................96

8.1 In the event of faults or errors ......................................................................... 96

8.2 SICK STEGMANN support................................................................................. 96

8.3 Error and status indications on the LED......................................................... 96

8.3.1 Meaning of the LED displays......................................................... 97

8.4 Diagnostics via CANopen.................................................................................. 97

8.4.1 Emergency Messages .................................................................... 97

8.4.2 Alarms, warnings and status......................................................... 98

8.4.3 Error during the SDO transfer ....................................................... 99

9 Annex ........................................................................................... 100

9.1 Conformity with EU directives ....................................................................... 100

10 List of illustrations........................................................................ 101

11 List of tables................................................................................. 103

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1 ABOUT THIS DOCUMENT

OPERATING INSTRUC TIONS | AHS/AHM36 CANOP EN, AHS/AHM36 CANOPEN INOX 801 6869/1 2TG/2019-04-08 | SICK

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1 About this document

Please read this chapter carefully before working with this documentation and the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder.

1.1 Function of this document

These operating instructions are designed to address the technical personnel of the machine manufacturer or the machine operator in regards to correct configuration, electrical installation, commissioning, operation and maintenance of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder.

1.2 Target group

The operating instructions are addressed at the planners, developers and operators of systems in which one or more AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoders are to be integrated. They also address people who initialize the use of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox or who are in charge of servicing and maintaining the device.

These instructions are written for trained persons who are responsible for the installation, mounting and operation of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox in an industrial environment.

1.3 Information depth

These operating instructions contain information on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder on the following subjects:

 product features  electrical installation  commissioning and configuration

 fault diagnosis and troubleshooting  conformity

These operating instructions do not contain any information on the mounting of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. You will find this information in the mounting instructions included with the device.

They also do not contain any information on technical specifications, dimensional drawings, ordering information or accessories. You will find this information in the product information for the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.

Planning and using measurement systems such as the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox also requires specific technical skills beyond the information in the operating instructions and mounting instructions. The information required to acquire these specific skills is not contained in this document.

When operating the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox , the national, local and statutory rules and regulations must be observed.

Additional information

You will find additional information at www.can-cia.org.

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ABOUT THIS DOCUMENT 1

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1.4 Scope

NOTE

These operating instructions apply to the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder with the following type codes:

 Singleturn Encoder Basic = AHS36B-xxCx004096  Multiturn Encoder Basic = AHM36B-xxCx012x12  Singleturn Encoder Advanced = AHS36A-xxCx016384  Multiturn Encoder Advanced = AHM36A-xxCx014x12  Singleturn Encoder Inox = AHS36I-xxCx016384  Multiturn Encoder Inox = AHM36I-xxC-x014x12

1.5 Abbreviations used

Controller Area Network

CANopen is a registered trademark of CAN in Automation e.V. Counts per Measuring Range

Customized Number of Revolutions, Divisor = divisor of the customized number of revolutions

Customized Number of Revolutions, Nominator = nominator of the customized number of revolutions

Communication Object Identifier = address of the communication object Change of State

Counts Per Revolution = resolution per revolution Electronic Data Sheet

Electrically Erasable Programmable Read-only Memory Emergency Message

Layer Setting Services = services for the configuration of Node ID and baud rate Network Management Node Identifier = node address

Process Data Object Programmable Logic Controller

Physical Measuring Range Physical Resolution Span (per revolution)

Remote Transmission Request = request telegram for PDOs Service Data Object

CAN

CANopen®

CMR

CNR_D

CNR_N

COB-ID

CoS

CPR

EDS

EEPROM

EMGY

LSS

NMT

Node ID

PDO

PLC

PMR

PRS

RTR

SDO

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1.6 Symbols used

NOTE

Refer to notes for special features of the device.

LED symbols describe the state of a diagnostics LED. Examples:

 The LED is illuminated constantly.

 The LED flashes evenly.  The LED flashes with a short duty cycle.

 The LED is off.

 Take action …

Instructions for taking action are shown by an arrow. Read carefully and follow the instructions for action.

WARNING Warning!

A warning notice indicates an actual or potential risk or health hazard. They are designed to help you to prevent accidents.

Read carefully and follow the warning notices.

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ON SAFETY 2

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2 On safety

This chapter deals with your own safety and the safety of the equipment operators.

 Please read this chapter carefully before working with the AHS/AHM36 CANopen

and AHS/AHM36 CANopen Inox or with the machine or system in which the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is used.

2.1 Authorized personnel

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder must only be installed, commissioned and serviced by authorized personnel.

NOTE

Repairs to the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox are only allowed to be undertaken by trained and authorized service personnel from SICK STEGMANN GmbH.

The following qualifications are necessary for the various tasks:

Activity

Qualification

Mounting

 Basic technical training  Knowledge of the current safety regulations in the

workplace

Electrical installation and replacement

 Practical electrical training  Knowledge of current electrical safety regulations  Knowledge on the use and operation of devices in the

related application (e.g. industrial robots, storage and conveyor technology)

Commissioning, operation and configuration

 Knowledge on the current safety regulations and the use

and operation of devices in the related application

 Knowledge of automation systems  Knowledge of CANopen

 Knowledge of automation software

Table 1: Authorized personnel

2.2 Intended use

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder is a measuring device that is manufactured in accordance with recognized industrial regulations and meets the quality requirements as per ISO 9001:2008 as well as those of an environment management system as per ISO 14001:2009.

An encoder is a device for mounting that cannot be used independent of its foreseen function. For this reason an encoder is not equipped with immediate safe devices.

Measures for the safety of persons and systems must be provided by the constructor of the system as per statutory regulations.

Due to its design, the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox can only be operated within an CANopen network. It is necessary to comply with the CANopen specifications and guidelines for setting up a CANopen network.

In case of any other usage or modifications to the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox, e.g. opening the housing during mounting and electrical installation, or in case of modifications to the SICK software, any claims against SICK STEGMANN GmbH under warranty will be rendered void.

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2 ON SAFETY

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2.3 General safety notes and protective measures

WARNING Please observe the following procedures in order to ensure the correct and safe use of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox!

The encoder is to be installed and maintained by trained and qualified personnel with knowledge of electronics, precision mechanics and control system programming. It is necessary to comply with the related standards covering the technical safety stipulations.

All safety regulations are to be met by all persons who are installing, operating or maintaining the device:

 The operating instructions must always be available and must always be followed.  Unqualified personnel are not allowed to be present in the vicinity of the system

during installation and maintenance.

 The system is to be installed in accordance with the applicable safety stipulations

and the mounting instructions.

 All work safety regulations of the applicable countries are to be followed during

installation.

 Failure to follow all applicable health and work safety regulations may result in

injury or damage to the system.

 The current and voltage sources in the encoder are designed in accordance with

all applicable technical regulations.

2.4 Environmental protection

Please note the following information on disposal.

Assembly

Material

Disposal

Packaging

Cardboard

Waste paper

Shaft

Stainless steel

Scrap metal

Flange

Aluminium / Stainless steel

Scrap metal

Housing

Aluminium die cast with Zinc nickel coating / stainless steel

Scrap metal

Electronic assemblies

Various

Electronic waste

Table 2: Disposal of the assembli es

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QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN INOX 3

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3 Quick start instructions on the AHS/AHM36 CANopen and

AHS/AHM36 CANopen Inox

3.1 Node ID/Baud rate

The following prerequisites must be met for the communication with the master:

 A correct node ID must be set on the AHS/AHM36 CANopen and AHS/AHM36

CANopen Inox. Correct is:

○ a node ID that is not in use in the CANopen network ○ a node ID that the master expects

 The same baud rate must be set on the AHS/AHM36 CANopen and AHS/AHM36

CANopen Inox as on the master.

The following parameters are set on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox in the factory:

 Node ID: 5  Baud rate: 125 kbit/s

Figure 1: Encoder in the CANopen network

The following communication parameters can be assigned to the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox:

 Node ID: 1 to 127 (as a rule 0 is assigned to the master)  Baud rate: 10 kbit/s, 20 kbit/s, 50 kbit/s, 100 kbit/s, 125 kbit/s, 250 kbit/s,

500 kbit/s, 800 kbit/s, 1,000 kbit/s

Set the node ID and the baud rate as follows:

 using the manufacturer-specific object 2009h  using Layer Setting Services (see section 5.4 on page 24)

Changing node ID and/or baud rate using the object 2009h

To change the node ID and/or the baud rate using the object 2009h, proceed as follows:

 Entering the access code in object 2009.1h: 98127634h  Change node ID and/or baud rate in the objects 2009.2h and 2009.3h  Save parameters with the aid of object 1010.1h: 65766173h (corresponds to

“save” in ASCII)

LSS, NMT

SDO, PDO, EMGY

Master

Node ID = 0

Slave

Node ID = 1 … 127

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3 QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN

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OPERATING INSTRUC TIONS | AHS/AHM36 CANOP EN, AHS/AHM36 CANOPEN INOX 801 6869/1 2TG/2019-04-08 | SICK

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NOTE

The changes will only be active after restarting the encoder (switch off and on again the supply voltage).

Integration of several encoders

 Integrate encoder 1 in the network and change the node ID (e.g. node ID 4).  Then integrate encoder 2 in the network and change the node ID if necessary.

NOTE

It is imperative you ensure there are not several encoders or other bus users with an identical node ID in the same network.

3.2 Parameterization

3.2.1 EDS file

An EDS file is available for the straightforward interfacing of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox to a CANopen master. This file contains, amongst others, the default parameters of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox and the default configuration of the process data.

You can download the EDS file from www.sick.com:

 Enter the seven-digit part number of your encoder directly in the Find field on the

homepage.

 Click the related search result.

A page with all the information and files for your device will open.

 Download the EDS file.  Integrate the EDS file in the engineering tool for your control.

3.2.2 Save or restore parameters

Saving modified parameters in the EEPROM – Save command

All parameters configured in the encoder’s EEPROM are saved using object 1010h.

 For this purpose enter the command 65766173h (corresponds to “save” in ASCII)

in object 1010.1h.

NOTE

If the Save command is not run, the previous parameters will be loaded from the EEPROM the next time the encoder is started.

Resetting encoders to default factory settings – Load command

The parameters are reset to the default factory settings using the object 1011h.

 For this purpose enter the command 64616F6Ch (corresponds to “load” in ASCII)

in the object 1011.1h.

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NOTE

The node ID and baud rate set are not in general reset to the default factory settings.

The Save command must be run after the Load command. If the Save command is not run, the previous parameters will be loaded from the EEPROM the next time the encoder is started.

3.3 Process data objects (PDOs)

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox supports four Transmit PDOs and one Receive PDO.

Transmit PDOs

Data are sent by the encoder to the PLC using the four Transmit PDOs.

The four Transmit PDOs are defined by the following objects:

 The objects 1800h … 1803h contain the communication parameters.  The objects 1A00h … 1A03h contain the mapping of the objects.

The mapping is variable and can be modified.

Receive PDO

Data are received from the PLC by the encoder using the Receive PDO. The mapping for this Receive PDO is fixed and cannot be modified.

3.3.1 PDO communication

In the factory the transmission type for the Transmit PDOs is set to 255 in the objects 1800h … 1803h. This corresponds to the device-specific triggering.

NOTE

As an event timer is not configured, the Transmit PDOs are only transferred once on changing to the Operational status!

Changing factory setting for transmission type

For the cyclic or acyclic output of the Transmit PDOs by the encoder, there are the following options:

 Change the event timer in the objects 1800h … 1803h (see Table 63 ff. from

page 56).

 Configure a trigger event using the CoS event handling configuration (see

Table 119 on page 80).

 Change the transmission type in the objects 1800h … 1803h (see Table 63 ff.

from page 56).

Pay attention to the inhibition time

The inhibition time for the PDOs (configured in the objects 1800.3h … 1803.3h) in

principle limits the communication of a device on the CANopen bus. It always has a higher priority than the event timer, the CoS events and the sync triggering.

If, e.g., the event timer is set to 100 ms and the inhibition time is set to 1 s, the corresponding PDO is only sent every second.

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3 QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN

INOX

OPERATING INSTRUC TIONS | AHS/AHM36 CANOP EN, AHS/AHM36 CANOPEN INOX 801 6869/1 2TG/2019-04-08 | SICK

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3.3.2 PDO mapping

You will find which objects are mapped by default in the related transmit PDOs in section 6.3.3 on page 56.

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PRODUCT DESCRIPTION 4

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4 Product description

This chapter provides information on the special features and properties of the Absolute Encoder AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. It describes the construction and the operating principle of the device.

 Please read this chapter before mounting, installing and commissioning the

device.

4.1 Special features

Figure 2: Connection types

With male connector

With cable outlet

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4 PRODUCT DESCRIPTION

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Properties

Singleturn Encoder

Basic

Multiturn Encoder

Basic

Singleturn Encoder

Advanced

Multiturn Encoder

Advanced

Singleturn Encoder

Inox

Multiturn Encoder

Inox

CANopen interface

    



Supports the encoder profile CiA DS-406

    



Diagnostic functions via CANopen

–

  



12 bit singleturn resolution (1 to 4,096 steps)



– – –

–

14 bit singleturn resolution (1 to 16,384 steps)

–

  



12 bit multiturn resolution (1 to 4,096 revolutions)

–  –  –



24 bit total resolution

–  – – –

–

26 bit total resolution

– – –  –



Round axis functionality

– – –  –



Absolute Encoder in 36 mm design

    



Electro-sensitive, magnetic scanning

    



Flexible cable outlet/M12 male connector

      Large number of mechanical adaptation options

    



Compact design

    



Face mount flange, servo flange, blind hollow shaft

    



Stainless steel variant

– – –

–



Enclosure rating IP69K

– – –

–



Table 3: Special features of the encoder variants

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4.2 Operating principle of the encoder

The sensing system in the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder is based on absolute acquisition of revolutions without an external voltage supply or battery. As a consequence the encoder can immediately output its absolute position again after switching off and switching back on.

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox acquires the position of rotating axes and outputs the position in the form of a unique digital numeric value. The highest reliability is achieved by means of electro-sensitive, magnetic scanning.

The AHS36 CANopen and AHS36 CANopen Inox is a singleturn encoder.

Singleturn encoders are used if absolute acquisition of the rotation of a shaft is required.

The AHM36 CANopen and AHM36 CANopen Inox is a multiturn encoder.

Multiturn encoders are used if more than one shaft revolution must be acquired absolutely.

4.2.1 Scaleable resolution

The resolution per revolution and the total resolution can be scaled and adapted to the related application.

The resolution per revolution can be scaled in integers from 1 … 4,096 (Basic) or from 1 … 16,384 (Advanced / Inox).

The total resolution of the AHM36 CANopen and AHM36 CANopen Inox must be 2ⁿ times the resolution per revolution. This restriction is not relevant if the round axis functionality is activated.

4.2.2 Preset function

The position value for an encoder can be set with the aid of a preset value. I.e. the encoder can be set to any position within the measuring range. In this way, e.g., the encoder’s zero position can be adjusted to the machine’s zero point.

On switching off the encoder, the offset, the difference between the real position value and the value defined by the preset, is saved. On switching back on the new preset value is formed from the new real position value and the offset. Even if the position of encoder changes while it is switched off, this procedure ensures the correct position value is still output.

Figure 3: Saving the offset

 = on switching off  = on switching back on





Offset

Encoder housing

Preset value

Difference after switch-

ing back on

Offset

Encoder shaft

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4.2.3 Round axis functionality

The encoder supports the function for round axes. The steps per revolution are set as a

fraction. As a result, the total resolution does not have to be configured to 2ⁿ times the

resolution per revolution and can also be a decimal number (e.g. 12.5).

NOTE

The output position value is adjusted with the zero point correction, the counting direction set and the gearbox parameters entered.

Example with transmission ratio

A rotating table for a filling system is to be controlled. The resolution per revolution is pre-defined by the number of filling stations. There are nine filling stations. For the precise measurement of the distance between two filling stations, 1,000 steps are required.

Figure 4: Example position measurement on a rotating table with transmission ratio

The number of revolutions is pre-defined by the transmission ratio = 12.5 of the rotating table gearing.

The total resolution is then 9 × 1,000 = 9,000 steps, to be realized in 12.5 revolutions of the encoder. This ratio cannot be realized via the resolution per revolution and the total resolution, as the total resolution is not 2ⁿ times the resolution per revolution.

The application problem can be solved using the round axis functionality. Here the resolution per revolution is ignored. The total resolution as well as the nominator and divisor for the number of revolutions are configured.

9,000 steps are configured as the total resolution.

For the nominator for the number of revolutions 125 is configured, 10 as the divisor (

125

/10 = 12.5).

After 12.5 revolutions (that is after one complete revolution of the rotating table) the encoder reaches the total resolution of 9,000.

125

Rotating table with

nine filling

stations

Encoder

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Example without transmission ratio

Figure 5: Example position measurement on a rotating table without transmission ratio

The encoder is mounted directly on the rotating table. The transmission ratio is 1:1.

The rotating table has 9 filling stations. The encoder must be configured such that it starts to count with 0 at one filling station and counts to 999 on moving to the next filling station position.

1,000 steps are configured as the total resolution.

For the nominator for the number of revolutions 1 is configured, 9 as the divisor (1/9 revolutions = 1,000).

After 1/9 revolutions of the encoder shaft there are 1,000 steps, then the encoder starts to count at 0 again.

1,000 steps Rotating table with nine filling stations Encoder

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4.2.4 Electronic cam mechanism

An electronic cam mechanism can be configured using the encoder. Two so-called CAM channels with up to eight cam switching positions are supported . This is a limit switch for the position.

Figure 6: Example electronic cam mechanism

Among other parameters, each cam has parameters for the lower switching point  and the upper switching point , which can be configured via CANopen (see section

6.4.2 on page 65).

4.3 Controls and status indicators

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder has one status LED.

Figure 7: Position of the LED

The LED is multi-colored. Table 138 on page 97 shows the meaning of the signals.

LED

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5 Integration in CANopen

5.1 Communication profile

The CANopen communication protocol (documented in CiA DS-301) defines how the devices exchange data with each other in a CANopen network.

5.1.1 CANopen in the OSI model

The CANopen protocol is a standardized layer-7 protocol for the CAN bus. This layer is based on the CAN Application Layer (CAL).

The relevant objects in the encoder profile DS-406 are implemented in the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox (see section 6.4 on page 61).

Figure 8: CANopen i n the OSI model

NOTE

Layers 3 … 6 are not used with CANopen.

5.1.2 Communication channels

CANopen has various communication channels (SDO, PDO, Emergency Messages). These channels are formed with the aid of the Communication Object Identifier

CAN Application Layer (CAL), defined by DS-301

Bit transport layer

Data link layer

E.g. DS 401

E.g. DS 402

DS 406 Encoder

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(COB-ID). The COB-IDs are based on the node IDs for the individual devices on the CANopen bus (see section 5.2 on page 23).

Figure 9: Communication channels

 To set the encoder’s node ID, so-called Layer Setting Services (LSS) are used (see

section 5.4 on page 24).

 Then communication with the encoder via the Network Management Services

(NMT) is possible (see section 5.5 on page 28) and its CANopen state machine can be switched to the required status (Pre-operational, Operational or Stopped) by the master.

 In the Pre-operational status, Service Data Objects (SDO) can be used for commu-

nication and configuration (see section 5.6 on page 31). In the Operational status, Process Data Objects (PDO) and Emergency Messages (EMGY) can also be used for communication (see section 5.7 on page 33).

5.1.3 Topology

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is integrated in the CANopen trunk using T-connectors (the T-connectors are available as accessories). The trunk must be terminated at the end using a 120-Ohm terminator. In this way reflections are prevented. This action is not necessary on the stubs to the encoders.

Figure 10: AHx36 in the CANopen topologie

Table 137 on page 90 shows the maximum length of the stubs for different baud rates.

LSS, NMT

SDO, PDO, EMGY

Master

Node ID = 0

Slave

Node ID = 1 … 127

Trunk

Stubs

Termination

PLC

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5.2 Node IDs and COB-IDs

The encoder’s node ID can be configured with the aid of the following methods:

 SDO access to the manufacturer-specific object 2009h – Network Configuration

(see Table 122 on page 81)

 access via Layer Setting Services (see section 5.4 on page 24)

There can be a maximum of 128 devices in a CANopen network, one master and up to 127 slaves. Each device is given a unique node ID (node address).

The COB-IDs (Communication Object Identifier) derive the communication channels from this ID.

COB-ID calculation [Dec] [Hex]

ID ranges [Dec] [Hex]

Function

Direction as seen from the encoder 0 0 Network management

Receive

128 + Node ID 0080h + Node ID

129 … 255 0081h … 00FFh

Emergency Message

Send

384 + Node ID 0180h + Node ID

385 … 511 0181h … 01FFh

Transmit PDO 1

Send

512 + Node ID 0200h + Node ID

513 … 639 0201h … 027Fh

Receive PDO 1

Receive

640 + Node ID 0280h + Node ID

641 … 767 0281h … 02FFh

Transmit PDO 2

Send

896 + Node ID 0380h + Node ID

897 … 1023 0381h … 03FFh

Transmit PDO 3

Send

1152 + Node ID 0480h + Node ID

1153 … 1279 0481h … 04FFh

Transmit PDO 4

Send

1408 + Node ID 0580h + Node ID

1409 … 1535 0581h … 05FFh

Transmit SDO

Send

1536 + Node ID 0600h + Node ID

1537 … 1663 0601h … 067Fh

Receive SDO

Receive

1792 + Node ID 0700h + Node ID

1793 … 1919 0701h … 077Fh

Node Guarding, Heartbeat, Boot-Up

Send

2020 07E4h

Transmit LSS

Send

2021 07E5h

Receive LSS

Receive

Table 4: Communication object i dentifier for the encoder

Example:

The encoder is given the node ID = 5, it then sends emergency messages via the ID 133, Transmit PDOs via the ID 389, 645, 901 as well as 1157 and the Transmit SDO via the ID 1413.

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5.3 Baud rate

The transmission speed on the CANopen bus is defined using the baud rate. Pay attention to the following criteria:

 The same baud rate must be set on the AHS/AHM36 CANopen and AHS/AHM36

CANopen Inox as on the master.

 The higher the baud rate in the CANopen network, the lower the bus load.  The longer the cables used, the lower the possible baud rate. Pay attention to the

maximum lenghts of the stubs depending on the baud rate (see Table 137 on page 90).

The encoder supports the following baud rates:

Baud rate

Supported by the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox

1,000 kbit/s

Yes

800 kbit/s

Yes

500 kbit/s

Yes

250 kbit/s

Yes

125 kbit/s

Yes

100 kbit/s

Yes

50 kbit/s

Yes

20 kbit/s

Yes

10 kbit/s

Automatic detection

Table 5: Supported baud rates

The encoder’s baud rate can be configured with the aid of the following methods:

 SDO access to the manufacturer-specific object 2009h – Network Configuration

(see Table 122 on page 81)

 access via Layer Setting Services (see section 5.4 on page 24)

5.4 Layer Setting Services (LSS)

To set the node ID and the baud rate of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox, the Layer Setting Services are supported.

The LSS slave is accessed via its LSS address (identity object), which is saved in object 1018h (see Table 57 on page 53). The LSS address comprises:

 manufacturer ID  product Code  revision number  serial number

Via the LSS the master requests the individual services that are then executed by the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. The communication between the LSS master and LSS slave is undertaken using the LSS telegrams.

The following COB-IDs are used: 07E4h = LSS slave to LSS master

07E5h = LSS master to LSS slave

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Format of an LSS telegram

NOTE

An LSS telegram is always 8 bytes long. Byte 0 contains the Command Specifier (CS), followed by 7 bytes for the data. All unused bytes must be set to zero.

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Data

Table 6: Format of an LSS telegram

Switch Mode Global

The Switch Mode Global command switches on or off the configuration mode. The command is not acknowledged, the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox does not respond.

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E5h

04h

Mode

00h

Table 7: Format of the Switch Mode Global command

Byte 1 mode: 00h = switches off the LSS configuration mode

01h = switches to the LSS configuration mode

Configure Node ID

The node address is configured with the aid of this command.

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E5h

11h

Node ID

00h

Table 8: Format of the Configure Node ID command

Byte 1 node ID:

01h = node address 1 … 7Fh = node address 127

Response:

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E4h

11h

Error

code

Error

extend

00h

Table 9: Response to the Configure Node ID command

Byte 1 error code:

00h = parameterization successful 01h = parameter invalid

FFh = contains a specific error code Byte 2 error extend:

The error extension is manufacturer-specific and always 00h on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.

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Configure Bit Timing Parameters

The baud rate is configured based on a baud rate table using this command.

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E5h

13h

00h

Table index

00h

Table 10: Format of the Configure Bit Timing Parameters command

Byte 1 table index from the baud rate table:

Table index

Baud rate

Supported by the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox

1,000 kbit/s

Yes 1 800 kbit/s

Yes

500 kbit/s

Yes

250 kbit/s

Yes 4 125 kbit/s

Yes

100 kbit/s

Yes

50 kbit/s

Yes

20 kbit/s

Yes

10 kbit/s

Automatic detection

Table 11: Baud rate table

Response:

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E4h

13h

Error

code

Error

extend

00h

Table 12: Response to the Configure Bit Timing Parameters command

Byte 1 error code:

00h = parameterization successful 01h = parameter invalid

FFh = contains a specific error code Byte 2 error extend:

The error extension is manufacturer-specific and always 00h on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.

Store Configuration

This command saves the configuration.

NOTE

However, the configuration is not saved in non-volatile memory (EEPROM). This action must be undertaken using the object 1010h – Save Parameters (see Table 50 on page 51).

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COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E5h

17h

00h

Table 13: Format of the Store Config uration command

Response:

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E4h

17h

Error

code

Error

extend

00h

Table 14: Response to the Store Configuration command

Byte 1 error code:

00h = save successful 01h = Store Configuration command is not supported

02h = memory error occurred FFh = contains a specific error code

Byte 2 error extend:

The error extension is manufacturer-specific and always 00h on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.

Inquire LSS address service

Using this command the encoder’s node ID and the manufacturer ID, the product code, the revision number and the serial number can be read from object 1018h (see Table 57 on page 53).

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E5h

CMD

00h

Table 15: Format of the Inqui re LSS address servi ce command

Byte 1 CMD from the command table:

CMD

Parameter

Subindex of object 1018h

5Eh

Node ID

5Dh

Serial Number

5Ch

Revision Number

5Bh

Product Code

5Ah

Vendor ID

Table 16: Command table

Response

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E4h

CMD

Data-X

{LsB}

Data-X

{MsB}

00h

Table 17: Response to the Inqui re LSS address service command

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NOTE

The data are 4 bytes long, in the byte order “Little Endian”. If the data read are shorter than 4 bytes, the remaining bytes are filled with 0.

Identify Non-Configured Slave Device

Devices that have not been configured can be identified by with the aid of this command.

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E5h

4Ch

00h

Table 18: Format of the Identify Non Configured Slave Device command

Response

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

07E4h

50h

00h

Table 19: Response to the Identify Non-Configured Slave Device command

5.5 Network management (NMT)

The Network Management (NMT) has the task of initializing users on a CANopen network, adding the users to the network, stopping and monitoring them.

In a CANopen network there is always only one NMT master (Network Management Master), all other devices, that is also the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox, are NMT slaves. The NMT master has control of all devices and can change their status.

Typically an NMT master is realized by a PLC or a PC.

5.5.1 CANopen state machine

As in every CANopen slave, a so-called CANopen state machine is implemented in the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. A differentiation is made between the following statuses:

Status

Description

Initializing

The initialization starts. The device application and the device communication are initialized. Then the node switches automatically to the Pre-operational status.

Pre-operational

The encoder is ready for configuration, acyclic communication can take place via SDO. However, the encoder is not yet able to participate in PDO communication and also does not send any emergency messages.

Operational

In this status the encoder is fully operational and can transmit messages independently (PDOs, emergency messages).

Stopped

In this status the encoder is disabled for communication (active connection monitoring via node guarding remains active).

Table 20: Status of the CANopen state machine

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5.5.2 Network Management Services

The specific status of the CANopen state machine is changed via the NMT services. The NMT telegrams for device control use the COB-ID 0 and are given the highest priority.

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

00h

CCD

Node ID

00h

Table 21: Format of the NMT telegram

Byte 0, CCD

Parameter

01h

Start Remote Node

Places the encoder in the Operational status.

02h

Stop Remote Node

Places the encoder in the Stopped status and stops its communication (active connection monitoring via node guarding remains active).

80h

Enter Pre-operational

Places the encoder in the Pre-operational status. All communication channels except the PDOs can be used.

81h

Reset node

Resets the value for the profile parameters to the default value. Then the encoder changes to the Reset Communication status.

82h

Reset communication

Places the encoder in the Reset Communication status. Then the encoder changes to the Initialization status.

Table 22: Meaning of byte 0

Transitions between the individual operating statuses

Figure 11: Transitions between the operating statuses

Initialization

Power-up or reset

Pre-operational

Operational

Stopped

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Transition

Description

After power-up the encoder enters the Initialization status.

After initialization the encoder automatically switches to the Pre-operational status.

3 and 8

The encoder switches to the Operational status with the Start Remote Node command.

4 and 7

The encoder switches back to the Pre-operational status with the Enter Pre-operational State command.

5 and 6

The encoder switches to the Stopped status with the Stop Remote Node command.

9, 10 and 11

The encoder switches to the Initialization status with the Reset Node command.

12, 13 and 14

The encoder switches to the Initialization status with the Reset Communication command.

Table 23: Transitions between the operating statuses

5.5.3 Boot-up message

To signal that a device is ready for operation after switching on, a so-called boot-up message is sent. This message uses the ID from the NMT Error Control protocol and is permanently linked to the device address set (700h + node ID).

5.5.4 Node Guarding and Heartbeat

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox can be monitored permanently using the Node Guarding protocol or the Heartbeat protocol.

NOTE

It is not possible to use the Node Guarding protocol and the Heartbeat protocol on one node. If the Heartbeat Time parameter in the object 1017h is not equal to 0 (see Table 56 on page 53), the Heartbeat protocol is used.

Node guarding

The status of the encoder is checked at regular intervals using the Node Guarding telegram. The encoder responds within the response time configured in the objects 100Ch and 100Dh (see Table 48 on page 50).

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

700h +

Node ID

Status

00h

Table 24: Format of the Node Guarding telegram

Byte 0, status

Parameter

Bit 7

Bit 6 … 0

Operating status of the encoder: 127 = Pre-operational 5 = Operational 4 = Stopped 0 = boot up

Table 25: Meaning of byte 0

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Example for an encoder in the Operational status: 85h, 05h, 85h = no error

85h, 05h, 05h = error

NOTE

If node guarding is active, the encoder expects a corresponding status request from the NMT master within a specific interval. If this is not the case, the slave changes to the Pre-operational status.

Heartbeat

If the Heartbeat telegram is used, the encoder sends its status autonomously at regular intervals. This status can be monitored by any other user in the network.

The heartbeat time is configured using object 1017h (see Table 56 on page 53).

COB-ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

700h +

Node ID

Status

00h

Table 26: Format of the Heartbeat tel egram

Byte 0, status

Parameter

Bit 7

Toggle bit The bit changes its value after each request.

Bit 6 … 0

Operating status of the encoder: 127 = Pre-operational 5 = Operational 4 = Stopped 0 = Boot up

Table 27: Meaning of byte 0

5.6 Service Data Objects (SDO)

The Service Data Objects (SDO) form the communication channel for the transmission of device parameters (e.g. programming the encoder resolution) and are used for status requests.

Data of any length can be transmitted using SDOs. The data may need to be divided between several CAN messages. An SDO is always transmitted with confirmation, i.e. the reception of each message is acknowledged by the receiver.

Transmit SDO and Receive SDO

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox has one Transmit SDO channel and one Receive SDO channel to which two CAN identifiers are assigned.

The SDO communication is compliant with the client-server model. In this process the encoder represents an SDO server.

The SDO client (e.g. the PLC) specifies in its request the parameter, the access type (read/write) and, if necessary, the value. The encoder undertakes the write or read access and responds to the request.

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The data area of a CAN telegram, maximum 8 bytes long, is configured by an SDO as follows:

COB-ID

CCD

Index

Subindex

Data

600h +

Node ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Table 28: Format of the SDO

The Command Code (CCD) identifies whether data are to be read or written. In the case of an error, the data area contains a 4-byte error code that provides information on the origin of the error (see section 8.4.3 on page 99).

Figure 12: Example for Transmit SDO and Receive SDO

In the example the encoder (ID = 5) receives from the PLC via the ID 0605h (Receive SDO 0600h + encoder ID) a read request (CCD = 40h) for the object 1000h (see Table 37 on page 48).

The encoder responds via ID 0585h (Transmit SDO 0580h + encoder ID) with the return message (CCD = 43h) 0200h = multiturn encoder, 9601h device profile = encoder.

Requirement

Response

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5.7 Process Data Objects (PDO)

Process data objects (PDO) are used for the quick and efficient exchange of real time data (e.g. I/O data, set or actual values).

A PDO is transmitted without acknowledgment.

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox supports one Receive PDO and four Transmit PDOs.

Figure 13: Example for Transmit PDO and Receive PDO

8 data bytes are available on the transmission of the process data.

COB-ID

Data

0180h +

Node ID

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Table 29: Format of the Transmit PDOs

5.7.1 PDO mapping

The format of the Transmit PDOs between the master and the encoder must be harmonized by means of so-called PDO mapping. The process data can be arranged as required in the PDO message. For this purpose the address (that is the index and subindex) from the object directory as well as the size (number of bits) are entered in the mapping object (see Table 68 ff. from page 58).

Example:

Object 1A00h contains the following objects by default:

6004.00h – Position Value

2010.01h – Device Status Word, S_STAT-A

2010.02h – Device Status Word, S_STAT-B

The contents of the objects are transmitted in the Transmit PDO.

COB-ID

Data

0180h + Node ID

Position value = 1

No error

Table 30: Example for a Transmit PDO

Receive PDO

Transmit PDO

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5.7.2 PDO data transmission

Bus load

Please note:

 The more PDOs and the more often these PDOs are sent, the higher the bus load

in the CANopen network.

 The higher the baud rate in the CANopen network, the lower the bus load.  The longer the cables used, the lower the possible baud rate.

For optimal communication a compromise therefore needs to be found between all three factors mentioned.

If a Transmit PDO is not used, it should be deactivated. For this purpose set bit 31 to 1 in subindex .1 of the related object 180xh.

The PDOs can be transmitted cyclically or acyclically. This aspect is defined by the objects 180xh and the transmission type defined in their subindex .02.

Object Subindex

Designation

Data values

180xh

Communication Parameter for the 1st Transmit PDO

–

Number of entries

COB-ID

00000180h + Node ID

Transmission Type

0 Transmission only on switching on the encoder

1 … 240 Cyclic transmission. Cyclic with the SYNC

messages

252 Request by RTR telegram (synchronous

transmission)

253 Request by RTR telegram (asynchronous

transmission)

254 Application-specific triggering

255 Device-specific triggering

Inhibition Time

0 … 65,535

Reserved

–

Event Timer

0 … 65,535

Table 31: Example for the communication parameters

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Cyclic data transmission

For cyclic data transmission there are the following options:

 The process data are sent with the master’s SYNC messages. The cycle is formed

from a multiple of the Sync messages. The factor can be between 1 and 240.

 The process data are sent using an event timer to suit the specific application or

device. An event timer is available for each PDO. It can be configured between 0 and 65,535 ms.

Acyclic data transmission

For acyclic data transmission the encoder is triggered by one of the following criteria:

 On application-specific/device-specific triggering

The transmission of the PDOs is controlled by an event (CoS triggering). This event is defined in object 2007h (see Table 119 on page 80).

 On request (RTR telegram)

In this case another bus user (as a rule the master) requests the process data.

NOTE The combination of cyclic and acyclic data transmission by event timer and CoS triggering is not permitted.

Event timer and CoS triggering do not limit each other!

If an object is to be transmitted cyclically and acyclically, it must be mapped to two different PDOs.

NOTE

In the factory the encoder’s Transmit PDOs are set to device-specific triggering. As a consequence the encoder outputs all Transmit PDOs once on start-up. However the event timer is at 0. For this reason the Transmit PDOs are initially only output once.

For the cyclic or acyclic output of the Transmit PDOs by the encoder, there are the following options:

 Change the event timer in the objects 1800h … 1803h (see Table 63 ff. from

page 56).

 Configure a trigger event using the CoS event handling configuration (see

Table 119 on page 80).

 Change the transmission type in the objects 1800h … 1803h (see Table 63 ff.

from page 56).

Inhibition time

The inhibition time for the PDOs (configured in the objects 1800.3h … 1803.3h) in

principle limits the communication of a device on the CANopen bus. It always has a higher priority than the event timer, the CoS events and the sync triggering.

If, e.g., the event timer is set to 100 ms and the inhibition time is set to 1 s, the corresponding PDO is only sent every second.

NOTE

The inhibition time has no effect on triggering by RTR telegrams.

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Figure 14: Sending Transmit PDOs

5.7.3 Asynchronous or synchronous formation of the position

With bit 15 of object 6000h (see Table 74 on page 62) you can define whether the position is formed asynchronously or synchronously.

 Asynchronous formation of the position

The formation of the position by the encoder is not synchronized. It operates autonomously using its own cycle. The encoder determines the position every 250 µs

)

with a jitter of 20 µs. A PDO always “takes” the last position value, which

may already be 250 µs old.

 Synchronous formation of the position

The formation of the position by the encoder is synchronized to the Sync messages from the master. The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox forms the position on the reception of a SYNC message. In this case it is not possible to determine a speed value, the speed is output as 0.

NOTE

 The output data from the master (essentially for the preset function) cannot be

synchronized.

 The input data for the master (essentially the position data) can be synchronized.

)

Additional latency time due to sensor-internal processes: 500 µs.

From the master

Inhibition

time

reached?

RTR telegram

One PDO (e.g. Transmit PDO 1) to the master

SYNC telegram

Event timer

CoS triggering

Device-specific

Application specific

Yes

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5.8 Configurable functions

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is configured, e.g., in the TwinCAT® configuration tool with the aid of various objects.

The most important objects for the configuration of the functions are listed in the following. A complete list of the objects can be found in chapter 6 “Object library” on page 46.

WARNING During the configuration of the encoder, make sure there are no persons in a system’s hazardous area!

All parameter changes have a direct effect on the operation of the encoder. For this reason the position value may change during configuration, e.g. due to the implementation of a preset or change of scale. This change could cause an unexpected movement that may result in a hazard for persons or damage to the system or other items.

NOTE

All functions described in the following for which parameters can be set can also be configured in the encoder’s start-up configuration.

5.8.1 EDS file

To be able to integrate the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox straightforwardly in a CANopen master, there is an EDS file. This file contains the following information on the features of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox:

 information on the manufacturer of the device  name, type and version number of the device  type and version number of the protocol used for this device  default parameters of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox

and default configuration of the process data

Figure 15: EDS file

PLC

EEPROM

AHS/AHM36 CANopen and

AHS/AHM36 CANopen Inox

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5.8.2 Scaling parameters

The scaling parameters are configured by the objects 6000h, 6001h and 6002h.

Figure 16: Objects 6000h, 6001h and 6002h in TwinCAT®

6000h – Operating Parameters

Using the object 6000h (see Table 74 on page 62) the parameters Support additional Error Code, Scaling and Code sequence are configured. The object is configured using

a bit sequence 16 bits wide.

Example:

Bit 0 = code sequence ccw = 1

Bit 2 = scaling on = 1

Bit

10 9 8 7 6 5 4 3 2 1 0

Value 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1

Table 32: Example for binary code

The binary value must be converted into a hexadecimal value and entered in the configuration dialog box.

101b = 5h

Figure 17: Example for the parameterization of object 6000h

Scaling

This parameter makes it possible to scale the resolution per revolution and the total resolution.

NOTE

Only if the parameter Scaling is configured to 1 are the values entered for the resolution and total resolution applied.

Code sequence

The code sequence defines which direction of rotation increases the position value; the direction of rotation is defined looking at the shaft.

 clockwise (cw) = increasing position value on clockwise revolution of the shaft  counterclockwise (ccw) = increasing position value on counter clockwise

revolution of the shaft

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6001h – Counts Per Revolution (CPR)

The resolution per revolution is configured using the object 6001h (see Table 76 on page 63).

NOTE

The parameter is not used if the round axis functionality is activated.

Figure 18: Example for the parameterization of object 6001h

The resolution of the AHS/AHM36 CANopen Basic is max. 4,096 steps per revolution. The resolution can be scaled from 1 … 4,096 as an integer.

The resolution of the AHS/AHM36 CANopen Advanced / Inox is max. 16,384 steps per revolution. The resolution can be scaled from 1 … 16,384 as an integer.

6002h – Total Measuring Range The total resolution is configured using the object 6002h (see Table 77 on page 63).

Figure 19: Example for the parameterization of object 6002h

The total resolution, that is the measuring range of the AHM36 CANopen Basic, is max. 16,777,216 steps. The total resolution of the AHM36 CANopen Advanced / Inox is max. 67,108,864 steps.

The total resolution must be 2ⁿ times the resolution per revolution.

NOTE

This restriction is not relevant if the round axis functionality is activated.

Resolution per revolution

Total resolution

1,000

8,000

8,179

261,728

2,048

4,194,304

Table 33: Examples for total resolution

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NOTE

The parameters are only written to the non-volatile memory in the EEPROM using the object 1010h with the aid of the data word 65766173h = “save” (see Table 50 on page 51).

5.8.3 Preset function

The position value for an encoder can be set with the aid of the preset function. I.e. the encoder can be set to any position within the measuring range.

NOTE

The preset value must lie within the measuring range configured.

WARNING Before triggering the preset function, check whether there is a hazard from the machine or system in which the encoder is integrated!

The preset function results in a change in the position value output by the encoder. This change could cause an unexpected movement that may result in a hazard for persons or damage to the system or other items.

The preset value can be set with the aid of the following methods:

 using acyclic communication (SDO) with the object 6003h  using cyclic communication (PDO) with the object 2000h. The value from object

2005h is used.

Acyclic communication (SDO)

The preset value is transferred directly to the encoder using the object 6003h – Preset Value (see Table 78 on page 63). The encoder immediately adopts the preset value

that is written to the object as the new position value.

Figure 20: Example for the parameterization of object 6003h

The function is available if the encoder is in the Pre-operational or Operational status.

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Cyclic communication (PDO)

The preset value is initially transferred to the encoder using the object 2005h – Configuration Preset Value (see Table 117 on page 78), but is not yet applied as a

new position value.

Figure 21: Example for the parameterization of object 2005h

The function is triggered using the object 2000h – Control Word 1 (see Table 111 on page 75).

The function is available if the encoder is in the Operational status. The object is configured using a bit sequence 16 bits wide.

Example:

Bit 12 = preset is set = 1

Bit 11 = preset mode shift positive = 1

Bit

10 9 8 7 6 5 4 3 2 1 0

Value 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0

Table 34: Example for binary code

The binary value must be converted into a hexadecimal value and entered in the configuration dialog box.

1100000000000b = 1800h

5.8.4 Cyclic process data

The cyclic process data are defined using the process data objects (see section 6.3 on page 54).

The object to be incorporated in the objects 1A00h, 1A01h, 1A02h or 1A03h is entered with its object number, the subindex and the data length (see Table 72 on page 60).

Figure 22: Example for the parameterization of object 1A00h

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Example:

Figure 23: Example for the parameterization of subindex 1A00.01h

60040020h Object = 6004h

Subindex = 00h Data length = 20h (32 Bit)

NOTE

For the cyclic or acyclic output of the Transmit PDOs by the encoder, there are the following options:

 Change the event timer in the objects 1800h … 1803h (see Table 63 ff. from

page 56).

 Configure a trigger event using the CoS event handling configuration (see

Table 119 on page 80).

 Change the transmission type in the objects 1800h … 1803h (see Table 63 ff.

from page 56).

5.8.5 Speed measurement

The speed measurement is configured using the object 2002h – Speed Calculation Configuration (see Table 114 on page 77).

Figure 24: Example for the parameterization of object 2002h

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Using the subindex 2002.02h – Format: Measuring Units you can define the units in which the speed is transmitted.

Figure 25: Example for the parameterization of subindex 2002.02h

Possible units are:

 cps  cp10ms  cp100ms  rpm  rps

The factory setting is 3h = rpm.

Using the other Subindices you can configure the refresh time as well as the maximum and minimum speed (see Table 114 on page 77).

5.8.6 Round axis functionality

The Round axis functionality removes the restriction for the AHM36 Advanced / Inox that the total resolution must be 2ⁿ times the resolution per revolution. The shaft is considered as an endless shaft.

The resolution per revolution is not configured directly, instead the nominator and divisor for the number of revolutions are defined.

The Round axis functionality is configured using the object 2001h – Endless-Shaft Configuration (see Table 113 on page 76).

Figure 26: Example for the parameterization of object 2001h

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The total resolution can be scaled from 1 … 67,108,864 (Advanced / Inox) as an integer.

The nominator (2001.02h – Number of Revolutions, Nominator) can be scaled from 1 … 2,048 as an integer. The default factory setting for the nominator is 2,048.

Figure 27: Example for the parameterization of subindex 2001.03h

The divisor (2001.03h – Number of Revolutions, Divisor) can be scaled from 1 … 2,048 as an integer. The default factory setting for the divisor is 1.

Due to the physical limit of the resolution per revolution, the following condition also applies:

Total resolution ÷ (nominator for the number of revolutions ÷ divisor for the number of revolutions) ≤ 16,384.

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5.8.7 Electronic cam mechanism

An electronic cam mechanism can be configured using the encoder. Two so-called CAM channels with up to eight cam switching positions are supported. This is a limit switch for the position.

The electronic cam mechanism is configured using several objects (see section 6.4.2 “Objects for the electronic cam mechanism (CAM)” on page 65).

Figure 28: Objects for the electronic cam mechanism

The cams are enabled using the object 6301h – CAM Enable Register, the polarity is defined using the object 6302h – CAM Polarity Register.

Each position parameter is defined by its minimum switching point (objects 6310h to 6317h), its maximum switching point (objects 6320h to 6327h) and its switching hysteresis (objects 6330h to 6337h).

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6 Object library

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox contains various types of objects:

 standard objects with 1000 series object numbers  encoder profile-specific objects with 6000 series object numbers  manufacturer-specific objects with 2000 series object numbers

6.1 Nomenclature

Abbreviation

Meaning

Read = read only

R/W

Read/Write = read and write access

STRG

String = character string of variable length

BOOL

Boolean = logical value 0 or 1

INT

Integer value (negative/positive) (e.g. INT-8 = –128 … +127)

UINT

Unsigned integer = integer value (e.g. UINT-32 = 0 … 4.294.967.295)

Array

Series of data of one data type (e.g. array UINT-8 = character string of data type UINT-8)

Record

Series of data with different data types (e.g. UINT-8, UINT-32, UINT-32, UINT-16)

Table 35: Nomenclature of the access types and data types

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6.2 Standard objects

Object Subindex

Access

Data type

Designation

1000h

UINT-32

Device Type

1001h

UINT-8

Error Register

1003h

R/W

Record

Predefined Error Field

1005h

R/W

UINT-32

COB-ID SYNC Message

1008h

STRG

Device Name

1009h

STRG

Hardware Version Number

100Ah

STRG

Software Version Number

100Ch

R/W

UINT-16

Node Guarding – Guard Time

100Dh

R/W

UINT-8

Node Guarding – Life Time Factor

1010h .0 … .1

R/W

Record

Save Parameters

1011h .0 … .1

R/W

Record

Load/Restore Parameters

1014h

R/W

UINT-32

COB-ID Emergency Message

1015h

R/W

UINT-16

Emergency Inhibit Time

1017h

R/W

UINT-16

Heartbeat Time

1018h .0 … .4

Record

Identity Object

1400h .0 … .2

R/W

Record

Communication Parameter for the 1st Receive PDO

1600h .0 and .1

R/W

Record

Mapping Parameter for the 1st Receive PDO

1800h .0 … .5

R/W

Record

Communication Parameter for the 1st Transmit PDO

1801h .0 … .5

R/W

Record

Communication Parameter for the 2nd Transmit PDO

1802h .0 … .5

R/W

Record

Communication Parameter for the 3rd Transmit PDO

1803h .0 … .5

R/W

Record

Communication Parameter for the 4th Transmit PDO

1A00h .0 … .3

R/W

Record

Mapping Parameter for the 1st Transmit PDO

1A01h .0 … .4

R/W

Record

Mapping Parameter for the 2nd Transmit PDO

1A02h .0 … .3

R/W

Record

Mapping Parameter for the 3rd Transmit PDO

1A03h .0 … .4

R/W

Record

Mapping Parameter for the 4th Transmit PDO

Table 36: Impl emented standard objects

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6.2.1 Detailed information on the standard objects

NOTE

In the following only those objects are described in detail for which the content is not clear from the overview (see Table 36 on page 47).

Object 1000h – Device Type

This object specifies the device type and the device profile implemented.

Object

Access

Data type

Designation

Data values

1000h

UINT-32

Device Type

See Table 38

Table 37: Object 1000h

Bit

Description

Data values

31 … 24

The device type is output in the bits 31 … 16.

01h Singleturn encoder

02h Multiturn encoder

23 … 16

15 … 8

The device profile supported is output in the bit 15 … 0.

01.96h Device profile = Encoder

7 … 0

Table 38: Object 1000h – details

Object 1001h – Error Register

Object

Access

Data type

Designation

Data values

1001h

UINT-8

Error Register

See Table 40

Table 39: Object 1001h

The encoder writes error messages to this object. It is part of the emergency message (see section 8.4.1 on page 97).

Bit

Description

Data values

Manufacturer-specific error

0 Not active

1 Active

Reserved

Device profile specific error

0 Not active

1 Active

Communication error (PDO length exceeded)

0 Not active

1 Active

Temperature error

0 Not active

1 Active

Voltage error

0 Not active

1 Active

Reserved

Generic error

0 Not active

1 Active

Table 40: Object 1001h – details

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Object 1003h – Predefined Error Field

Object Subindex

Access

Data type

Designation

Data values 1003h

R/W

Record

Predefined Error Field

–

R/W

UINT-8

Number of entries

0 … 4

.1 R UINT-32

Error 1

00000000h … FFFFFFFFh

.2 R UINT-32

Error 2

00000000h … FFFFFFFFh

.3 R UINT-32

Error 3

00000000h … FFFFFFFFh

.4 R UINT-32

Error 4

00000000h … FFFFFFFFh

Table 41: Object 1003h

NOTE

 The number of errors is saved in the subindex .0. If an error has not yet occurred,

the value of the subindex is = 0. Read access is responded to with an SDO error message 08000024h or 08000000h.

 Each new error is saved in subindex .1, older errors move to the next higher

subindex.

 To delete the error list, 00h must be written to subindex .0.

Byte 0

1 2 3

Object 1003h

S_STAT-A-LsB

S_STAT-A-MsB

EMGY error code

Error field

Table 42: Object 1003h – details

Object 1005h – COB-ID SYNC Message

Object

Access

Data type

Designation

Data values

1005h

R/W

UINT-32

COB-ID SYNC Message

See Table 44

Table 43: Object 1005h

Bit

Description

Data values

Reserved

Defines whether the device generates the SYNC message.

0 Device does not

generate a SYNC message.

1 Not supported

Defines which bit width is used.

0 11 Bit

1 Not supported

28 … 0

29-bit width CAN ID

11 … 0

11-bit width CAN ID

80h

Table 44: Object 1005h – details

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Object 1008h – Device Name

The object contains the device name dependent on the encoder type.

Object

Access

Data type

Designation

Data values

1008h

STRG 16 byte

Device Name

AHS36B-xxCx04096

AHM36B-xxCx12x12

AHS36A-xxCx16384

AHM36A-xxCx14x12

Table 45: Object 1008h

Object 1009h – Hardware Version Number

Object

Access

Data type

Designation

Data values

1009h

STRG 8 byte

Hardware Version Number

E.g. HW_01.01 (depending on the release)

Table 46: Object 1009h

Object 100Ah – Software Version Number

Object

Access

Data type

Designation

Data values

100Ah

STRG 8 byte

Software Version Number

E.g. SW_01.01 (depending on the release)

Table 47: Object 100Ah

Object 100Ch – Node Guarding – Guard Time

Object

Access

Data type

Designation Description

Data values

100Ch

R/W

UINT-16

Node Guarding – Guard Time

Configured monitoring time in ms

0000h … 7FFFh

Table 48: Object 100Ch

Object 100Dh – Node Guarding – Life Time Factor

Object

Access

Data type

Designation Description

Data values

100Dh

R/W

UINT-8

Node Guarding – Life Time Factor

Factor for the multiplication of the monitoring time

64h … FFh

Table 49: Object 100Dh

The monitoring time multiplied by the life time factor yields the cycle used to monitor the encoder.

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Object 1010h – Save Parameters

Using this object the parameters are written to EEPROM with the aid of the data word 65766173h = “save” (ASCII code).

WARNING Check whether the parameters have actually been written to the EEPROM!

The data are only written to the EEPROM in the status Pre-operational. The command is not executed in any other status, but it is also not identified as denied.

 Check whether the parameters have been saved using the object 2010.03h –

State Flag 3 (S_STAT-C) (see Table 126 on page 83).

If the data are not saved in the EEPROM, the encoder loads the data last saved the next time the encoder is switched on. This situation can result in hazards for persons or damage to the system!

Object Subindex

Access

Data type

Designation Description

Data values 1010h

R/W

Record

Save Parameters

–

R/W

UINT-8

Number of entries

R/W

UINT-32

Total Class Parameters

The parameters for all object types are saved.

See Table 51

Table 50: Object 1010h

Bit

Designation

Data values

31 … 24

Byte 3

65h = e

23 … 16

Byte 2

76h = v

15 … 8

Byte 1

61h = a

7 … 0

Byte 0

73h = s

Table 51: Object 1010h – details

Object 1011h – Load/Restore Parameter

Using this object the parameters are reset to the factory settings with the aid of the data value 64616F6Ch = “load” (ASCII code).

NOTE

 Node ID and baud rate (objects 2009.2h and 2009.3h) are not reset.  The data are only reset to the factory settings in the Pre-operational status. The

command is not executed in any other status, but it is also not identified as denied.

 To reset the communication parameters of the objects 180xh and 2007h and the

mapping of the objects 1A00h …1A03h to the default factory settings, a Reset

Node must be run via the NMT services after the Load command (81h, see Table 22 on page 29).

 Then the data must be saved in the EEPROM using the object 1010h – Save

Parameters, otherwise the encoder will load the data saved in the EEPROM the

next time it is switched on.

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Object Subindex

Access

Data type

Designation Description

Data values 1011h

R/W

Record

Load/Restore Parameter

–

R/W

UINT-8

Number of entries

R/W

UINT-32

Total Class Parameters

The parameters for all object types are loaded.

See Table 53

Table 52: Object 1011h

Bit

Designation

Data values

31 … 24

Byte 3

64h = d

23 … 16

Byte 2

61h = a

15 … 8

Byte 1

6Fh = o

7 … 0

Byte 0

6Ch = l

Table 53: Object 1011h – details

Object 1014h – COB-ID Emergency Message

Object

Access

Data type

Designation Description

Data values

1014h

UINT-32

COB-ID Emergency Message

Communication object identifier of the emergency message

The value is calculated from 00000080h + the node ID 1 … 127.

Example: A device with node ID = 2 transmits with COB-ID 00000082h.

00000081h … FFFFFFFFh

Table 54: Object 1014h

Object 1015h – Emergency Inhibit Time

Object

Access

Data type

Designation Description

Data values

1015h

R/W

UINT-16

Emergency Inhibit Time

Contains the configured inhibit time for the emergency message in ms.

With the value 0 the inhibit time is inactive.

0000h … FFFFh

Table 55: Object 1015h

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Object 1017h – Heartbeat Time

Object

Access

Data type

Designation Description

Data values

1017h

R/W

UINT-16

Heartbeat Time

Heartbeat cycle time in ms. With the value 0 the heartbeat is inactive.

0000h … 7FFFh

Table 56: Object 1017h

Object 1018h – Identity Object

Object Subindex

Access

Data type

Designation Description

Data values 1018h

Record

Identity Object

–

.0 R UINT-8

Number of entries

.1 R UINT-32

Vendor ID

01000056h = SICK

.2 R UINT-32

Product Code

00007721h = AHS36 Basic

00007722h = AHM36 Basic

00007723h = AHS36 Advanced / Inox

00007724h = AHM36 Advanced / Inox

.3 R UINT-32

Revision Number

00010001 = 1.01 (depending on the release)

.4 R UINT-32

Serial Number

YYWWxxxx (year/week/ sequential number)

See Table 58

Table 57: Object 1018h

Bit

Designation

31 … 24

Device code

23 … 16

YY (year)

15 … 10

WW (week)

9 … 0

Sequential number

Table 58: Object 1018h – details

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6.3 Process Data Objects

The process data objects are used to define which objects are transmitted to the control system or received from the control system and in which manner. The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox supports one Receive PDO and four Transmit PDOs.

 Data are received from the PLC by the encoder using the Receive PDO. The

mapping for this PDO is fixed and cannot be modified.

 Data are sent by the encoder to the PLC using the four Transmit PDOs. The

mapping for these PDOs is variable and can be modified.

Both the Receive PDO and the four Transmit PDOs are defined each in two objects.

 The Receive PDO is defined by the following objects:

○ Object 1400h contains the communication parameters. ○ Object 1600h contains the mapped object.

 The four Transmit PDOs are defined by the following objects:

○ The objects 1800h … 1803h contain the communication parameters. ○ The objects 1A00h … 1A03h contain the mapped objects.

6.3.1 Basic PDO structure

Object Subindex

Access

Data type

Designation Description

Data values

xxxxh

R/W

RECORD

Receive PDO Transmit PDO

– .0 R UINT-8

Number of entries

1 … 5

.1 … .5

R/W

UINT-32

Mapping Information Number

See Table 60

Table 59: Structure of the PDOs

Bit

Designation

Data values

31 … 16

Index of the mapped object

xxxxh

15 … 8

Subindices of the mapped object

1 … 5

7 … 0

Length of the mapped object in bits

08h = UINT-8 10h = UINT-16 20h = UINT-32

Table 60: Structure of the PDOs – details

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6.3.2 Parameter of the Receive PDO

Object 1400h – Communication Parameter for the 1st Receive PDO

Object Subindex

Access

Data type

Designation Description

Data values

1400h

R/W

RECORD

Communication Parameter for the 1st Receive PDO

– .0 R UINT-8

Number of entries

R/W

UINT-32

COB-ID

0200h + Node ID (see Table 4 on page 23)

0201h … 027Fh

R/W

UINT-8

Transmission Type

Transmission type (see Table 67 on page 58)

0 … 255

Table 61: Object 1400h

Object 1600h – Mapping Parameter for the 1st Receive PDO

NOTE

The object 2000h – Control Word 1 is mapped to the object 1600h. This aspect cannot be modified.

Object Subindex

Access

Data type

Designation Description

Data values

1600h

R/W

RECORD

Mapping Parameter for the 1st Receive PDO

– .0 R UINT-8

Number of entries

R/W

UINT-32

Control Word 1 (see Table 111 on page 75)

20000010h

Table 62: Object 1600h

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6.3.3 Parameter of the Transmit PDOs

Object 1800h – Communication Parameter for the 1st Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values [default value]

1800h

R/W

RECORD

Communication Parameter for the 1st Transmit PDO

– .0

R/W

UINT-32

Number of entries

R/W

UINT-32

COB-ID 0180h + Node ID (see Table 4 on page 23)

00000180h + Node ID

R/W

UINT-8

Transmission Type Transmission type (see Table 67 on page 58)

0 … 255 [255]

R/W

UINT-16

Inhibition Time Idle time between two transmissions (× 0.1 ms)

0 … 65,535 [0] .4 – –

Reserved

–

R/W

UINT-16

Event Timer Timer for device-specific or application-specific triggering (× 1 ms)

0 … 32,767 [0]

Table 63: Object 1800h

NOTE

Object 1800.05h is linked with object 6200h (see Table 81 on page 64). Modified values are mutually applied.

Object 1801h – Communication Parameter for the 2nd Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values [default value]

1801h

R/W

RECORD

Communication Parameter for the 2nd Transmit PDO

– .0

R/W

UINT-32

Number of entries

R/W

UINT-32

COB-ID 0280h + Node ID (see Table 4 on page 23)

00000280h + Node ID

R/W

UINT-8

Transmission Type Transmission type (see Table 67 on page 58)

0 … 255 [255]

R/W

UINT-16

Inhibition Time Idle time between two transmissions (× 0.1 ms)

0 … 65,535 [0] .4 – –

Reserved

–

R/W

UINT-16

Event Timer Timer for device-specific or application-specific triggering (× 1 ms)

0 … 32,767 [0]

Table 64: Object 1801h

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Object 1802h – Communication Parameter for the 3rd Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values [default value]

1802h

R/W

RECORD

Communication Parameter for the 3rd Transmit PDO

– .0

R/W

UINT-32

Number of entries

R/W

UINT-32

COB-ID 0380h + Node ID (see Table 4 on page 23)

00000380h + Node ID

R/W

UINT-8

Transmission Type Transmission type (see Table 67 on page 58)

0 … 255 [255]

R/W

UINT-16

Inhibition Time Idle time between two transmissions (× 0.1 ms)

0 … 65,535 [0] .4 – –

Reserved

–

R/W

UINT-16

Event Timer Timer for device-specific or application-specific triggering (× 1 ms)

0 … 32,767 [0]

Table 65: Object 1802h

Object 1803h – Communication Parameter for the 4th Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values [default value]

1803h

R/W

RECORD

Communication Parameter for the 4th Transmit PDO

– .0

R/W

UINT-32

Number of entries

R/W

UINT-32

COB-ID 0480h + Node ID (see Table 4 on page 23)

00000480h + Node ID

R/W

UINT-8

Transmission Type Transmission type (see Table 67 on page 58)

0 … 255 [255]

R/W

UINT-16

Inhibition Time Idle time between two transmissions (× 0.1 ms)

0 … 65,535 [0] .4 – –

Reserved

–

R/W

UINT-16

Event Timer Timer for device-specific or application-specific triggering (× 1 ms)

0 … 32,767 [0]

Table 66: Object 1803h

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6.3.4 Transmission types

Number

Description

The PDOs are transmitted asynchronously on switching on the encoder.

1 … 240

The PDOs are sent synchronously and cyclically. The digit defines how many SYNC telegrams are necessary until the PDOs are sent. If the value is, e.g., 2, the transmission is made after every 2nd SYNC telegram.

252

PDOs are only sent if they are requested by an RTR telegram (as per synchronous transmission).

253

PDOs are only sent if they are requested by an RTR telegram (as per asynchronous transmission).

254

Application-specific triggering

255

Device-specific triggering This is the default setting.

Table 67: Transmission types

The application-specific and device-specific triggering only differ in that with devicespecific triggering the PDOs are transmitted once on changing to the Operational status.

For application-specific and for device-specific triggering, the event timer is used as a trigger. In addition the event defined in the CoS event handling configuration is used as a trigger (see Table 119 on page 80). The two triggers are linked using an OR operator.

NOTE The combination of cyclic and acyclic data transmission by event timer and CoS triggering is not permitted.

Event timer and CoS triggering do not limit each other!

If an object is to be transmitted cyclically and acyclically, it must be mapped to two different PDOs.

Object 1A00h – Mapping Parameter for the 1st Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values

1A00h

R/W

RECORD

Mapping Parameter for the 1st Transmit PDO

– .0

R/W

UINT-8

Number of entries

R/W

UINT-32

6004h Position Value

See Table 72 on page 60

R/W

UINT-16

2010.01h STW-1 – Device

Status Word, S_STAT-A

R/W

UINT-16

2010.02h STW-1 – Device

Status Word, S_STAT-B

Table 68: Object 1A00h – default subindices

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Object 1A01h – Mapping Parameter for the 2nd Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values

1A01h

R/W

RECORD

Mapping Parameter for the 2nd Transmit PDO

– .0

R/W

UINT-8

Number of entries

R/W

UINT-8

1001h Error Register

See Table 72 on page 60

R/W

UINT-16

6503h Alarm Status

R/W

UINT-16

6505h Warning Status

R/W

UINT-16

2018.02h Time Counter Sec

Table 69: Object 1A01h – default subindices

Object 1A02h – Mapping Parameter for the 3rd Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values

1A02h

R/W

RECORD

Mapping Parameter for the 3rd Transmit PDO

– .0

R/W

UINT-8

Number of entries

R/W

UINT-16

6030.01h Speed Value 16-Bit

See Table 72 on page 60

R/W

UINT-16

2015h Temperature Value

R/W

UINT-32

2016h Position Value, Raw

Table 70: Object 1A02h – default subindices

Object 1A03h – Mapping Parameter for the 4th Transmit PDO

Object Subindex

Access

Data type

Designation Description

Data values

1A03h

R/W

RECORD

Mapping Parameter for the 4th Transmit PDO

– .0

R/W

UINT-8

Number of entries

R/W

UINT-8

6300.01h CAM State Register,

Channel 1

See Table 72 on page 60

R/W

UINT-8

6300.02h CAM State Register,

Channel 2

R/W

UINT-16

2010.03h STW-1 – Device

Status Word, S_STAT-C

R/W

UINT-32

2017h Speed Value 32-Bit

Table 71: Object 1A03h – default subindices

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6.3.5 Objects and their subindices that can be mapped

Object Subindex

Length [Bit]

Designation

Mapping values

Details see

1001h

Error Register

10010008h

Table 39, page 48

6004h

Position Value

60040020h

Table 79, page 64

6030h .1 16 Speed Value

60300110h

Table 80, page 64 6503h

Alarm Status

65030010h

Table 95, page 70

6505h

Warning Status

65050010h

Table 99, page 71

6300h .1 .2

8 8

CAM State Register Channel 1 Channel 2

63000108h 63000208h

Table 82, page 65

2010h .1 .2 .3

16 16 16

STW-1 – Device Status Word S_STAT-A S_STAT-B S_STAT-C

20100110h 20100210h 20100310h

Table 123, page 81

2014h

Time Counter

20140020h

Table 130, page 87

2015h

Temperature Value

20150010h

Table 131, page 87

2016h

Position Value, Raw

20160020h

Table 132, page 87

2017h

Speed Value 32-Bit

20170020h

Table 133, page 87

2018h .1 .2

16 16

Time Counter Signals Time Counter MSec Time Counter Sec

20180110h 20180210h

Table 134, page 88

Table 72: Objects and thei r subindices that can be mapped

Changing the PDO mappings

NOTE

Parameter changes to the PDO mapping objects are only executed in the status Pre-operational.

How to change the content of the mapping objects:

 First set bit 31 to 1 in the corresponding object 180xh in subindex .1.  In object 1A0xh set the subindex .0 to 0.  Configure the objects to be mapped in the subindices .1 to .n of object 1A0xh.  Set the subindex .0 of the object 1A0xh to the number of mapped objects.  Then set bit 31 to 0 again in the corresponding object 180xh in subindex .1.

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6.4 Encoder profile specific objects

Object Subindex

Access

Data type

Designation 6000h

R/W

UINT-16

Operating Parameter

6001h

R/W

UINT-32

Counts Per Revolution (CPR)

6002h

R/W

UINT-32

Total Measuring Range

6003h

R/W

UINT-32

Preset Value

6004h

UINT-32

Position Value

6030h .0 … .1

Array UINT-16

Speed Value 6200h

R/W

UINT-16

Cyclic Timer

6300h .0 … .2

Array UINT-8

CAM State Register

6301h .0 … .2

R/W

Array UINT-8

CAM Enable Register

6302h .0 … .2

R/W

Array UINT-8

CAM Polarity Register

6310h … 6317h

.0 … .2

R/W

Array UINT-32

CAM-1 … 8 – Lower Limit setting

6320h … 6327h

.0 … .2

R/W

Array UINT-32

CAM-1 … 8 – Upper Limit setting

6330h … 6337h

.0 … .2

R/W

Array UINT-16

CAM-1 … 8 – Hysteresis setting

6500h

UINT-16

Operating Status

6501h

UINT-32

Physical Resolution Span (PRS) Singleturn Resolution

6502h

UINT-16

Number of Revolutions

6503h

UINT-16

Alarm Status

6504h

UINT-16

Supported Alarms

6505h

UINT-16

Warning Status

6506h

UINT-16

Supported Warnings

6507h

UINT-32

Version Of Profile & Software

6508h

UINT-32

Operating Time

6509h

INT-32

Internal Offset Value

650Ah

.0 … .3

Array UINT-32

Module Identification 650Bh

UINT-32

Serial Number

Table 73: Impl emented encoder profile specific objects

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6.4.1 Encoder parameters

Object 6000h – Operating Parameters

Object

Access

Data type

Designation

Data values

6000h

R/W

UINT-16

Operating Parameters

See Table 75

Table 74: Object 6000h

Bit

Designation Description

Data values

RT-SYNC mode

The encoder determines the position every 250 µs2). A Transmit PDO with a transmission type of 1 … 240

(see Table 67 on page 58) always “takes” the last position value, which may already be 250 µs old.

If the RT SYNC mode is active, then the formation of the position is synchronized with the SYNC messages from the master. This means the position value is determined at exactly the point at which the request for the Transmit PDO arrives.

In this case it is not possible to determine a speed value, the speed is output as 0.

0 Not active

1 Active

14 … 3

Reserved

–

Scaling

The bit enables scaling with objects 6001h and 6002h.

0 Not active

1 Active

Commissioning diagnostic control

1 Always active

Code sequence (cw, ccw)

The code sequence defines the direction of rotation, viewed on the shaft, in which the position value increases.

 Clockwise = increasing position value on

clockwise revolution of the shaft

 Counterclockwise = increasing position value on

counterclockwise revolution of the shaft

0 cw

1 ccw

Table 75: Object 6000h – details

)

Additional latency time due to sensor-internal processes: 500 µs.

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Object 6001h – Counts Per Revolution (CPR)

The resolution per revolution is configured using this parameter.

NOTE

The parameter is not used if the round axis functionality is activated.

Object

Access

Data type

Designation Description

Data values [default value]

6001h

R/W

UINT-32

Counts Per Revolution (CPR)

Number of steps per revolution

AHx36 Basic = 00000001h … 00000FFFh [00000FFFh]

AHx36 Advanced / Inox = 00000001h … 00003FFFh [00003FFFh]

Table 76: Object 6001h

Object 6002h – Total Measuring Range

The total resolution required is configured using this parameter.

Object

Access

Data type

Designation Description

Data values

6002h

R/W

UINT-32

Total Measuring Range

Total resolution

AHS36 Basic = 1 … 00001000h

AHS36 Advanced / Inox = 1 … 00004000h

AHM36 Basic = 1 … 01000000h

AHM36 Advanced / Inox = 1 … 04000000h

Table 77: Object 6002h

Object 6003h – Preset Value

The position value of the encoder is set to a preset value using this parameter. In this way, e.g., the encoder’s zero position can be adjusted to the machine’s zero point.

Object

Access

Data type

Designation Description

Data values

6003h

R/W

UINT-32

Preset Value

Preset value

–

Table 78: Object 6003h

NOTE

 On writing the value to the object, it is immediately applied as a new position

value.

 The preset value must lie within the measuring range configured.

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Object 6004h – Position Value

The actual position value can be output using this object.

Object

Access

Data type

Designation Description

Data values

6004h

UINT-32

Position Value

Current position value

–

Table 79: Object 6004h

NOTE

An error code (Err_PosVal) can also be output instead of the position value (see Table 124 on page 83). The output of the Err_PosVal must be configured using the object 6000h (see Table 74 on page 62).

Object 6030h – Speed Value

The actual speed can be read using this object.

Object Subindex

Access

Data type

Designation Description

Data values

6030h

Array INT-16

Speed Value

– .0 R INT-16

Number of entries

.1 R INT-16

Speed Value Speed in 16 Bit

–32,768 … +32,767

Table 80: Object 6030h

Object 6200h – Cyclic Timer

Object

Access

Data type

Designation Description

Data values

6200h

R/W

UINT-16

Cyclic Timer

PDO cycle time in ms

0000h … FFFFh

Table 81: Object 6200h

NOTE

Object 6200h is linked with object 1800.05h (see Table 63 on page 56). Modified values are mutually applied.

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6.4.2 Objects for the electronic cam mechanism (CAM)

A so-called electronic cam mechanism can be configured using the encoder. One CAM channel with up to eight cam switching positions is supported. Each position parameter is defined by its minimum switching point (objects 6310h to 6317h), its maximum switching point (objects 6320h to 6327h) and its switching hysteresis (objects 6330h to 6337h).

Object 6300h – CAM State Register

The cam switching states are output using the object 6300h.

Object Subindex

Access

Data type

Designation

Data values

6300h

Array UINT-8

CAM State Register

– .0 R UINT-8

Number of entries

.1 R UINT-8

Channel 1

00h … FFh

.2 R UINT-8

Channel 2

00h … FFh

Table 82: Object 6300h

Bit

Designation

Data values

Cam 8

0 Not active

1 Active

Cam 7

0 Not active

1 Active

Cam 6

0 Not active

1 Active

Cam 5

0 Not active

1 Active

Cam 4

0 Not active

1 Active

Cam 3

0 Not active

1 Active

Cam 2

0 Not active

1 Active

Cam 1

0 Not active

1 Active

Table 83: Object 6300h – details

If, for instance, the value read is 01h (00000001b), then cam 1 is active. None of the other cams are active. If, for instance, the value read is 88h (10001000b), then cams 8 and 4 are active. None of the other cams are active.

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Object 6301h – CAM Enable Register

Each cam switching position on the CAM channel must be enabled individually in the encoder. The individual cams are enabled by writing the appropriate value to the object 6301h, subindex .1 or subindex .2.

Every cam switching position that is to be used must be set to 1 in binary notation.

Object Subindex

Access

Data type

Designation Description

Data values

6301h

R/W

Array UINT-8

CAM Enable Register

– .0 R UINT-8

Number of entries

R/W

UINT-8

Channel 1

00h … FFh

R/W

UINT-8

Channel 2

00h … FFh

Table 84: Object 6301h

Bit

Designation

Data values

Cam 8

0 Not used

1 Used

Cam 7

0 Not used

1 Used

Cam 6

0 Not used

1 Used

Cam 5

0 Not used

1 Used

Cam 4

0 Not used

1 Used

Cam 3

0 Not used

1 Used

Cam 2

0 Not used

1 Used

Cam 1

0 Not used

1 Used

Table 85: Object 6301h – details

If, for instance 4Ah (01001010b) is transmitted in the subindex, the cams 2, 4 and 7 are used. All other cams are not used.

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Object 6302h – CAM Polarity Register

Using the CAM Polarity Register it can be defined whether the cams are output as active high or active low. By default the cams are defined as active high. They therefore output 1 when the cam switching position is reached.

Object Subindex

Access

Data type

Designation Description

Data values

6302h

R/W

Array UINT-8

CAM Polarity Register

– .0 R UINT-8

Number of entries

R/W

UINT-8

Channel 1

00h … FFh

R/W

UINT-8

Channel 2

00h … FFh

Table 86: Object 6302h

Bit

Designation

Data values

Cam 8

0 High active

1 Low active

Cam 7

0 High active

1 Low active

Cam 6

0 High active

1 Low active

Cam 5

0 High active

1 Low active

Cam 4

0 High active

1 Low active

Cam 3

0 High active

1 Low active

Cam 2

0 High active

1 Low active

Cam 1

0 High active

1 Low active

Table 87: Object 6301h – details

Objects 6310h … 6317h – CAM 1 … 8, Lower Limit setting

The lower switching point of a cam switching position is defined using the Lower Limit. Each individual cam switching position (CAM 1 to CAM 8) has its own Lower Limit object (6310h = cam 1 … 6317h = cam 8).

NOTE

 The lower switching point can only be configured, i.e. its value changed, if the

upper switching point for the same CAM has already been set (see Table 89 on page 68).

 The value for the lower switching point must be lower than the value for the upper

switching point.

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Object Subindex

Access

Data type

Designation Description

Data values [default value]

6310h … 6317h

R/W

Array UINT-32

CAM-1 … 8, Lower Limit

– .0 R UINT-32

Number of entries

R/W

UINT-32

Channel 1

0 … PMR3) – 1 [0]

R/W

UINT-32

Channel 2

0 … PMR3) – 1 [0]

Table 88: Object 6310h … 6317h

Objects 6320h … 6327h – CAM-1 … 8, Upper Limit setting

The upper switching point for a cam switching position is defined using the Upper Limit. Each individual cam switching position (CAM 1 to CAM 8) has its own Upper Limit object (6320h = cam 1 … 6327h = cam 8).

Object Subindex

Access

Data type

Designation Description

Data values [default value]

6320h … 6327h

R/W

Array UINT-32

CAM-1 … 8, Upper Limit

– .0 R UINT-32

Number of entries

R/W

UINT-32

Channel 1

0 … PMR3) – 1 [PMR – 1]

R/W

UINT-32

Channel 2

0 … PMR3) – 1 [PMR – 1]

Table 89: Object 6320h … 6327h

Objects 6330h … 6337h – CAM-1 … 8, Hysteresis setting

The width of the hysteresis of the switching points can be defined using the CAM hysteresis. For each individual cam switching position (CAM 1 to CAM 8) a dedicated CAM hysteresis can be set (6330h = cam 1 … 6337h = cam 8).

Object Subindex

Access

Data type

Designation Description

Data values

6330h … 6337h

R/W

Array UINT-16

CAM-1 … 8, Hysteresis

– .0 R UINT-16

Number of entries

R/W

UINT-16

Channel 1

0000h … FFFFh

R/W

UINT-16

Channel 2

0000h … FFFFh

Table 90: Object 6330h … 6337h

)

Physical measuring range, depending on the encoder type.

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6.4.3 Objects for diagnostics

Object 6500h – Operating Status

Object

Access

Data type

Designation

Data values

6500h

UINT-16

Operating Status

See Table 92

Table 91: Object 6500h

Bit

Designation

Data values

15 … 13

Reserved

–

Support additional Error Code

0 No

1 Yes

11 … 3

Reserved

–

Scaling

0 Not active

1 Active

Commissioning diagnostic control

0 Not active

1 Active

Code sequence (cw, ccw)

0 cw

1 ccw

Table 92: Object 6500h – details

Object 6501h – Physical Resolution Span (PRS), Singlet urn Resolution

Object

Access

Data type

Designation Description

Data values

6501h

UINT-32

PRS, Singleturn Resolution

Physical singleturn resolution

AHx36 Basic = 00001000h

AHx36 Advanced / Inox = 00004000h

Table 93: Object 6501h

Object 6502h – Number of Revolutions

Object

Access

Data type

Designation Description

Data values

6502h

UINT-16

Number of Revolutions

Physical multiturn resolution

AHS36 Basic/Advanced / Inox = 0001h

AHM36 Basic/Advanced / Inox = 1000h

Table 94: Object 6502h

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Object 6503h – Alarm Status

Object

Access

Data type

Designation Description

Data values 6503h

UINT-16

Alarm Status

See Table 96

Table 95: Object 6503h

Bit

Designation

Data values

15 … 13

Reserved

–

EEPROM error

Dependent of Bit 15 and 7 of object 2010.01h (see Table 124 on page 83)

0 Not active

1 Active

11 … 1

Reserved

–

Position error

Dependent of Bit 14, 12 … 6 and 4 of object

2010.01h (see Table 124 on page 83)

0 Not active

1 Active

Table 96: Object 6503h – details

NOTE

The related bit remains active until the alarm is reset by the encoder and the encoder can again determine a correct position. The bit then changes to inactive again.

Object 6504h – Supported Alarms

Object

Access

Data type

Designation Description

Data values

6504h

UINT-16

Supported Alarms

Alarms implemented in the encoder

1001h

Table 97: Object 6504h

Bit

Designation

Data values

15 … 13

Manufacturer-specific

0 Not supported

EEPROM error

1 Supported

11 … 2

Reserved

– 1 Commissioning diagnostics

0 Not supported

Position error

1 Supported

Table 98: Object 6504h – details

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Object 6505h – Warning Status

Object

Access

Data type

Designation Description

Data values 6505h

UINT-16

Warning Status

0000h … FFFFh

Table 99: Object 6505h

NOTE

Unlike alarms, the encoder can still form a correct position value if warnings have occurred.

Bit

Description

Data values

Supply voltage outside the permissible range

0 Not active

1 Active

Reserved

–

Operating temperature outside the permissible range

0 Not active

1 Active

Frequency/rotational speed outside the range allowed

0 Not active

1 Active

11 … 1

Reserved

–

Maximum frequency/rotational speed outside the range allowed

0 Not active

1 Active

Table 100: Object 6505h – details

NOTE

The related bit remains active until the warning is reset by the encoder. It then changes to inactive again.

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Object 6506h – Supported Warnings

Object

Access

Data type

Designation Description

Data values

6506h

UINT-16

Supported Warnings

Warnings implemented in the encoder

B003h

Table 101: Object 6506h

Bit

Description

Data values

Supply voltage outside the permissible range

1 Supported

Reserved

–

Operating temperature outside the permissible range

1 Supported

Frequency outside the permissible range

1 Supported

11 … 6

Reserved

–

Reference point not reached

0 Not supported

Battery voltage too low

0 Not supported

Max. operating time exceeded

0 Not supported

CPU watchdog status

0 Not supported

Minimum internal LED current in the sensors reached

0 Not supported

Maximum frequency exceeded

1 Supported

Table 102: Object 6506h – details

Object 6507h – Version Of Profile & Software

Object

Access

Data type

Designation Description

Data values

6507h

UINT-32

Version Of Profile & Software

The first two bytes contain the software version, the next two the profile version.4)

00000000h … FFFFFFFFh

Table 103: Object 6507h

Bit

Description

Example values

31 … 24

First part of the software version

03h

3.1

23 … 16

Last part of the software version

01h

15 … 8

First part of the profile version

01h

1.40

7 … 0

Last part of the profile version

40h

Table 104: Object 6507h – details

)

Internal manufacturer software version, can vary from the objects 100Ah and 1018h.

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Object 6508h – Operating Time

Object

Access

Data type

Designation Description

Data values

6508h

UINT-32

Operating Time

Operating time in units of

0.1 h

00000000h … FFFFFFFFh

Table 105: Object 6508h

Object 6509h – Internal Offset Value

Object

Access

Data type

Designation Description

Data values

6509h

UINT-32

Internal Offset Value

Offset value, calculated from the Preset function 6003h or 2000h and 2005h (see section 4.2.2 on page 17)

00000000h … FFFFFFFFh

Table 106: Object 6509h

Object 650Ah – Module Identification

Object Subindex

Access

Data type

Designation Description

Data values [default value]

650Ah

Array UINT-32

Module Identification

– .0 R UINT-32

Number of entries

.1 R UINT-32

Manufacturer Offset Value

Manufacturer-specific offset

[0]

.2 R UINT-32

Position Value Minimum

Lowest position value

[0]

.3 R UINT-32

Position Value Maximum

Highest position value

PMR5) – 1

Table 107: Object 650Ah

Object 650Bh – Serial Number

Object

Access

Data type

Designation Description

Data values

650Bh

UINT-32

Serial Number

YYWWxxxx (year/week/sequential number)

Serial number

Table 108: Object 650Bh

)

Physical measuring range, depending on the encoder type.

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6.5 Manufacturer-specific objects

In the manufacturer-specific objects a differentiation is made between the following object types:

 objects for the encoder configuration  objects that provide status information

Object Subindex

Access

Data type

Designation

2000h

R/W

UINT-16

Control Word 1

2001h

.0 … .3

R/W

Array UINT-32

Endless-Shaft Configuration

2002h

.0 … .6

R/W

Array UINT-16

Speed Calculation Configuration 2004h

R/W

UINT-32

Configuration Install Service

2005h

R/W

UINT-32

Configuration Preset Value

2006h

.0 … .4

R/W

Record

Physical Measuring Range Limits

2007h

.0 … .8

R/W

Record

CoS-Event Handling Configuration 2008h

R/W

Record

Diagnosis Service-A Configuration

2009h

.0 … .3

R/W

Record

Network Configuration

Table 109: Implemented manufacturer-specific objects for the encoder config uration

Object Subindex

Access

Data type

Designation

2010h

.0 … .3

Array UINT-16

Device Status Word (STW-1)

2011h .0 … .8

Array UINT-32

Real Scaling Parameter Settings

2012h

.0 … .15

Record

Diagnosis Service Parameter

2013h

.0 … .16

Record

Diagnosis Error Logging Parameter

2014h

UINT-32

Time Counter

2015h

UINT-16

Temperature Value

2016h

UINT-32

Position Value, Raw

2017h

INT-32

Speed Value 32-Bit

2018h

.0 … .2

Array UINT-16

Time Counter Signals 2019h

UINT-32

Internal Process Cycle Time

Table 110: Implemented manufacturer-specific objects that provide status information

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6.5.1 Objects for the encoder configuration

Object 2000h – Control Word 1

This object sets the encoder to a preset value.

Object

Access

Data type

Designation

Data values

2000h

R/W

UINT-16

Control Word 1

See Table 112

Table 111: Object 2000h

Bit

Designation Description

Data values

15 … 13

Reserved

–

Preset Function Request (PreReq)

Sets the preset value that is passed with the object 2005h (see Table 117 on page 78).

0 Inactive

1 Active

Preset Mode = Shift Positive

The preset value is added to the current position value.

0 Inactive

1 Active

Preset Mode = Shift Negative

The preset value is subtracted from the current position value.

0 Inactive

1 Active

9 … 1

Reserved

–

Preset Mode = Preset Zero

Sets the position value to 0.

0 Inactive

1 Active

Table 112: Object 2000h – details

NOTE

 If no preset mode with bit 11, 10 or 0 is specified, then the preset value from

object 2005h is applied as the position value.

 Bits 11, 10 and 0 must be used exclusively. If several of these three bits have the

value 1, then the preset function is not executed.

 The preset function is triggered with the rising edge (transition of bit 12 from

0 to 1). To set a preset value again, the bit must therefore be reset to 0.

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Object 2001h – Endless-Shaft Configuration

Object Subindex

Access

Data type

Designation Description

Data values [default value]

2001h

R/W

Array UINT-16

Endless-Shaft configuration

– .0

R/W

UINT-16

Number of entries

R/W

UINT-16

Control of Endless-Shaft Mode

Activates the round axis functionality

2 Active

1 Not active

R/W

UINT-16

Number of Revolutions, Nominator

Nominator for the number of revolutions (CNR_N)

1 … 2,048 [2,048]

R/W

UINT-16

Number of Revolutions, Divisor

Divisor for the number of revolutions (CNR_D)

1 … 2,048 [1]

Table 113: Object 2001h

NOTE

The Round axis functionality can only be used with the multiturn encoder. It is only executed if scaling has been enabled using object 6000h.

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Object 2002h – Speed Calculation Configuration

Object Subindex

Access

Data type

Designation Description

Data values [default value]

2002h

R/W

Array UINT-16

Speed Calculation Configuration

– .0

R/W

UINT-16

Number of entries

R/W

UINT-16

Operation Control

Controls the mode for the speed calculation

0 Not active

1 Active

R/W

UINT-16

Format: measuring units

Speed measuring unit

0 cps

1 cp100ms

2 cp10ms

3 rpm

4 rps

R/W

UINT-16

T1 Update Time in MS

Refresh time in ms

AHS36 = 2

AHM36 = 1 … 50

[2]

R/W

UINT-16

T2 Integration Time

Integration cycle dependent on T1

1 … 200

[200]

R/W

UINT-16

Upper Limit Warning in rpm

Maximum speed, a warning is output if the speed exceeds this value.

AHS36B: [9,000] AHM36B: [6,000] AHS36A: 0 … 6,100 AHM36A: 0 … 6,100

R/W

UINT-16

Lower Limit Warning in rpm

Minimum speed, a warning is output if the speed drops below this value.

[0]

Table 114: Object 2002h

The speed is calculated from the average of several measurements. The integration cycle T2 defines the number of values from which the average is calculated. The refresh time T1 defines the time between the individual measurements.

Example:

If T1 = 2 ms and T2 = 200, then the speed is calculated from the last 0.4 s.

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Object 2004h – Configuration Install Service

Object

Access

Data type

Designation

Data values

2004h

R/W

UINT-32

Configuration Install Service

See Table 116

Table 115: Object 2004h

Service Codes

Description

44656632h

Loads the factory parameters for the communication (PDO mapping).

44656633h

Loads the factory manufacturer-specific parameters and the factory parameters for the encoder profile.

70100100h

Reset-0, simulates switching on/off the encoder (power-on). Parameters will not be saved.

70100101h

Reset-1, simulates switching on/off the encoder (po wer-on). Parameters (Offset, Preset value and Offset for round axis) will be saved.

Table 116: Object 2004h – Service Codes

Object 2005h – Configuration Preset Value

A preset value is transferred to the encoder using this parameter. This preset value must be set using the object 2000h (see Table 111 on page 75).

Object

Access

Data type

Designation

Data values

2005h

R/W

UINT-32

Configuration Preset Value

0 … CMR-1

Table 117: Object 2005h

NOTE

The preset value must lie within the measuring range configured.

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Object 2006h – Physical Measuring Range Limits

Object Subindex

Access

Data type

Designation Description

Data values [default value]

2006h

R/W

Record

Physical Measuring Range Limits

– .0 R UINT-8

Number of entries

R/W

INT-16

Temperature Lower Limit

Defines the lower limit for the internal operating temperature6) in °C.

AHx36 Basic = –20 … +70 [–20]

AHx36 Advanced / Inox = –40 … +100 [–40]

R/W

INT-16

Temperature Upper Limit

Defines the upper limit for the internal operating temperature6) allowed in °C.

AHx36 Basic = –20 … +85 [+85]

AHx36 Advanced / Inox = –40 … +120 [+120]

R/W

UINT-16

Supply voltage Lower Limit

Defines the lower limit for the supply voltage allowed in mV.

9000 … 30,000 [10,000]

R/W

UINT-16

Supply voltage Upper Limit

Defines the upper limit for the supply voltage allowed in mV.

10,000 … 30,000 [30,000]

Table 118: Object 2006h

)

The internal operating temperature of the encoder can be higher than the ambient temperature due to self-heating. It is affected, among

other issues, by the rotational speed and the heat dissipation in the installation situation.

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Object 2007h – CoS-Event Handling Configuration

This object is used to output a Change of State message. The parameters define the trigger value for the CoS message.

NOTE

 The value 0 signifies that the parameter is inactive, that is no CoS message is

triggered.

 All CoS events are linked with an OR operator. I.e. if several CoS events are

defined, the corresponding PDO is transmitted on the change of any individual event.

Object Subindex

Access

Data type

Designation Description

Data values [default value]

2007h

R/W

Record

CoS-Event Handling Configuration

– .0 R UINT-8

Number of entries

R/W

UINT-32

CoS_PosVal_Scal

CoS triggering by the scaled position value (Object 6004h)

0 … ½ CMR

[0]

R/W

UINT-32

CoS_PosVal_RAW

CoS triggering by the unscaled position value (Object 2016h)

0 … ½ PMR – 1

[0]

R/W

UINT-32

CoS_SpeedVal_RAW

CoS triggering by the speed value (Object 6030.01h)

0 … ½ Speedmax – 1

[0]

R/W

UINT-16

CoS_TempVal

CoS triggering by the temperature value (Object 2017h)

0 … 100

[0]

R/W

UINT-16

CoS_FLAG-xx Status

CoS triggering by various objects (see Table 120)

0 … FFFF

[0] .6 … .8

– – Reserved

–

Table 119: Object 2007h

Bit

15 … 12

Bit

11 … 8

Bit

7 … 4

Bit

3 … 0

CoS trigger criterion

– – –

0001

CAM State Register, Channel 1 (Object 6300.01h)

– – –

0010

CAM State Register, Channel 2 (Object 6300.02h)

– – 0001

–

Alarm Status (Object 6503h)

– – 0010

–

Warning Status (Object 6505h)

–

0001 – –

State Flag 1, S_STAT-A (Object 2010.01h)

–

0010 – –

State Flag 2, S_STAT-B (Object 2010.02h)

–

0100 – –

State Flag 3, S_STAT-C (Object 2010.03h)

Table 120: Object 2007h – CoS_FLAG-xx Status

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Object 2008h – Diagnosis Service-A Configuration

Using the object it can be defined how the entries in the object 2012h are handled (see Table 128 on page 85).

Object Subindex

Access

Data type

Designation Description

Data values

2008h

R/W

Record

Diagnosis Service-A Configuration

– .0 R UINT-8

Number of entries

R/W

UINT-16

Defines how the entries in the diagnostics table are handled.

1 = Relative (Entries can be deleted.) 9 = Absolute

1, 9 [1]

R/W

UINT-16

Deletes the entries in the diagnostics table.

Table 121: Object 2008h

Object 2009h – Network Configuration

Object Subindex

Access

Data type

Designation Description

Data values [default value]

2009h

R/W

Record

Network Configuration

–

.0 R UINT-8

Number of entries

R/W

UINT-32

Access code

Write protection for the following parameters

98127634h .2

R/W

UINT-8

Node ID Node address of the encoder in CANopen

1 … 127 [5]

R/W

UINT-8

Baud rate index (see Table 11 on page 26)

0 … 8 [4]

Table 122: Object 2009h

6.5.2 Objects that provide status information

Object 2010h – STW-1 – Device Status Word

Object Subindex

Access

Data type

Designation Description

Data values

2010h

Array UINT-16

STW-1 – Device Status Word

– .0 R UINT-16

Number of entries

.1 R UINT-16

State Flag 1, S_STAT-A

0000h … FFFFh

.2 R UINT-16

State Flag 2, S_STAT-B

0000h … FFFFh

.3 R UINT-16

State Flag 3, S_STAT-C

0000h … FFFFh

Table 123: Object 2010h

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Bit

Description

Error code of the emergency message

Err_PosVal

Memory error:

Invalid EEPROM checksum on initialization

5080h

–12

Reserved

–

Error of the Sync multi counter:  Speed exceeds the upper limit of 12,500 rpm

 Number of current errors on the calculation of

the singleturn position above the limit of 10 errors

1060h

–11

Reserved

–

Position error:

Invalid or no synchronization from the singleturn counter to the multiturn counter

5051h

–8

Position error:

Singleturn position incorrect

5050h

–7

Position error:

Error on the calculation of the vector length Sin² + Cos² in the multiturn stage

5051h

–6

Position error:

Error on the calculation of the vector length Sin² + Cos² in the singleturn stage

5050h

–5

Position and memory error:

Invalid communication with the I2C device in the main module

5070h

–4

Position error:

Error on the calculation of the amplitude values Sin + Cos in the singleturn stage

5050h

–3

Warning in relation to the speed:

Current measured value outside of the minimum or maximum limit

1050h

–

Position error:

Error on the calculation of the amplitude values, Sin + Cos in the multiturn stage

5051h

–2

Warning in relation to the supply voltage:

Current measured value outside of the minimum or maximum limit

3100h

–

Reserved

–

Warning in relation to the temperature:

Current measured value outside of the minimum or maximum limit

4200h

–

Warning:

General start-up error at power-on

–

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Table 124: Object 2010h – State F lag 1 (S_STAT-A)

NOTE

 If several errors occur, the position value –16 is output.  Instead of the position value, the Err_PosVal is output and makes it possible to

identify an error based on the cyclic process data (see Table 79 on page 64). The output of the Err_PosVal must be configured using the object 6000h (see Table 74 on page 62).

Bit

Description

Memory error caused by invalid checksum on reading the EEPROM during encoder initialization:

 In the area of the sensor configuration data

 In the area of the device configuration data

 In the area of the diagnostics of the basic process data

 In the area of the diagnostics of the service data

 In the area of the user configuration, communication mapping

Reserved

 In the area of the user configuration, parameters for the electronic cam

mechanism (CAM)

 In the area of the user configuration, basic parameters

7 … 6

Reserved

Warning, speed exceeds configured maximum value

Warning, triggered on executing the preset function. The preset value is outside the measuring range (CMR).

Warning, occurred on changing or writing parameter values:  In the area of the manufacturer-specific objects

Reserved

 In the area of the encoder profile specific objects

 In the area of the PDO configuration

Table 125: Object 2010h – State Flag 2 (S_STAT-B)

Bit

Description

15 … 13

Reserved

Preset function has been triggered and confirmed by object 2000h (see Table 111 on page 75).

11 … 4

Reserved

Status information on saving internal diagnostic data:

Bit 3 = 1 and Bit 2 = 0: Save operation complete

Bit 3 = 0 and Bit 2 = 1: Save operation requested and operation in progress

Saving the configuration data using the Save command (object 1010h, see Table 50 page 51):

Bit 1 = 1 and Bit 0 = 0: Save operation complete

Bit 1 = 0 and Bit 0 = 1: Save operation requested and operation in progress

Table 126: Object 2010h – State Flag 3 (S_STAT-C)

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Object 2011h – Real Scaling Parameter Settings

Object Subindex

Access

Data type

Designation Description

Data values

2011h

Array UINT-32

Real Scaling Parameter Settings

– .0 R UINT-32

Number of entries

.1 R UINT-32

Endless-Shaft Operation Mode

1 Not active

2 Active

.2 R UINT-32

Endless-Shaft Offset

Offset of the endless shaft function

00000000h … 40000000h

.3 R UINT-32

Internal PMR Shift Value

Internal PMR shift value

–

.4 R UINT-32

CNR_N, Number of Revolutions, Nominator

Nominator for the number of revolutions

1 … 2,048 .5 R UINT-32

CNR_D, Number of Revolutions, Divisor

Divisor for the number of revolutions

1 … 2,048 .6 R UINT-32

CMR, Counts per Measuring Range

Total resolution

1 … 40000000h

.7 R UINT-32

CPR, Counts Per Revolution (Integer)

Steps per revolution, digits before the decimal separator

Ex.: at 1.555 = 1

.8 R UINT-32

CPR, Counts Per Revolution (Fract)

Steps per revolution, digits after the decimal separator

Ex.: at 1.555 = 555

Table 127: Object 2011h

Object 2012h – Diagnosis Service Parameter

NOTE

The object 2008h defines how the entries in the diagnostic table are handled (see Table 121 on page 81).

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Object Subindex

Access

Data type

Designation Description

Data values 2012h

Record

Diagnosis Service Parameter

–

.0 R UINT-8

Number of entries

.1 R UINT-32

Number of Switch-On

Power-up counter

–

.2 R UINT-32

Operating Time Moving

Operating time in s, the time during which the encoder has moved is output7).

– .3 R UINT-16

Max. Operating Speed

Maximum speed in rpm since the encoder has been in operation.

–

.4 R UINT-32

Starts with Direction Forward

Counter for start of the encoder in forward direction7)

–

.5 R UINT-32

Starts with Direction Backward

Counter for start of the encoder in backward direction7)

–

.6 R UINT-32

Starts with Alternating Directions

Counter for the number of direction changes7)

– .7 R UINT-32

Operating Hours counter

Operating hours counter (× 0.1 h)

–

.8 R INT-16

Min. Operating Temperature

Minimum operating temperature in °C

–

.9 R INT-16

Max. Operating Temperature

Maximum operating temperature in °C

– .12 R INT-16

Min. Supply voltage

Minimum supply voltage in mV

–

.13 R INT-16

Max. supply voltage

Maximum supply voltage in mV

–

.14 R UINT-32

Reserved

–

.15 R UINT-32

Counter of Diagnosis Storage

Counter for the save processes in the EEPROM

–

Table 128: Object 2012h

)

From movements with a speed >12 rpm.

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Object 2013h – Diagnosis Error Logging Parameter

Object Subindex

Access

Data type

Designation Description

Data values

2013h

Record

Diagnosis Error Logging Parameter

–

.0 R UINT-8

Number of entries

.1 R UINT-32

Warning:

General start-up error at power-on

–

.2 R UINT-32

Warning in relation to the temperature:

Current measured value outside of the minimum or maximum limit

–

.3 R UINT-32

Reserved

–

.4 R UINT-32

Warning in relation to the supply voltage:

Current measured value outside of the minimum or maximum limit

–

.5 R UINT-32

Position error:

Error on the calculation of the amplitude values, Sin + Cos in the multiturn stage

–

.6 R UINT-32

Warning in relation to the speed:

Current measured value outside of the minimum or maximum limit

–

.7 R UINT-32

Position error:

Error on the calculation of the amplitude values Sin + Cos in the singleturn stage

–

.8 R INT-16

Position and memory error:

Invalid communication with the I2C device in the main module

–

.9 R INT-16

Position error:

Error on the calculation of the vector length Sin² + Cos² in the singleturn stage

–

.10 R INT-16

Position error:

Error on the calculation of the vector length Sin² + Cos² in the multiturn stage

– .11 R INT-16

Position error:

Singleturn position incorrect

–

.12 R INT-16

Position error:

Invalid or no synchronization from the singleturn counter to the multiturn counter

–

.13 R INT-16

Reserved

–

.14 R UINT-32

Error of the Sync multi counter:  Speed exceeds the upper limit of

12,500 rpm

 Number of current errors on the

calculation of the singleturn position above the limit of 10 errors

–

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Object Subindex

Access

Data type

Designation Description

Data values .15 R UINT-32

Reserved

–

.16 R UINT-16

Memory error:

Invalid EEPROM checksum on initialization

–

Table 129: Object 2013h

Object 2014h – Time Counter

Object

Access

Data type

Designation Description

Data values

2014h

UINT-32

Time Counter

Operating hours counter in ms, starts at 0 after each power-up

00000000h … FFFFFFFFh

Table 130: Object 2014h

Object 2015h – Temperature Value

Object

Access

Data type

Designation Description

Data values

2015h

UINT-16

Temperature Value

Operating temperature in °C8)

–

Table 131: Object 2015h

Object 2016h – Position Value, Raw

Object

Access

Data type

Designation Description

Data values

2016h

UINT-32

Position Value, Raw

Position value independent of any preset value and independent of the configured scaling

AHS36 Basic = 0 … 00000FFFh

AHS36 Advanced / Inox = 0 … 00003FFFh

AHM36 Basic = 0 … 00FFFFFFh

AHM36 Advanced / Inox = 0 … 03FFFFFFh

Table 132: Object 2016h

Object 2017h – Speed Value 32-Bit

Object

Access

Data type

Designation Description

Data values

2017h

INT-32

Speed Value 32-Bit

Speed value in 32 Bit

–

Table 133: Object 2017h

)

Depending on the mounting and the encoder rotational speed, can vary by up to 15 °C from the ambient temperature.

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Object 2018h – Time Counter Signals

Object Subindex

Access

Data type

Designation Description

Data values

2018h

Array UINT-16

Time Counter Signals

– .0 R UINT-16

Number of entries

.1 R UINT-16

Time Counter MSec

Time counter in ms

0000h … FFFFh

.2 R UINT-16

Time Counter Sec

Time counter in s

0000h … FFFFh

Table 134: Object 2018h

Object 2019h – Process Cycle Time

Either the internal or the external cycle time is output via this object.

Object

Access

Data type

Designation Description

Data values

2019h

UINT-32

Process Cycle Time

Cycle time in µs

125 … 100,000

Table 135: Object 2019h

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7 Commissioning

This chapter provides information on the electrical installation, configuration and commissioning of the Absolute Encoder AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.

 Please read this chapter before mounting, installing and commissioning the

device.

7.1 Electrical installation

WARNING Switch the voltage supply off!

The machine/system could unintentionally start up while you are connecting the devices.

 Ensure that the entire machine/system is disconnected during the electrical

installation.

For the electrical installation you will need male and female connectors (see product information for the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox).

7.1.1 Connection of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox

The connection on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is on the rear. It is of rotating design. As a consequence it can be used angled either upward, to the left or to the right, or (as shown) axial to the rear.

Figure 29: Connection types

The connection on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is designed either as an M12×5 male connector or as a cable outlet with flying leads.

With male connector

With cable outlet

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Figure 30: Male connector of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox

Wire color

Signal

Function

White

SHIELD

Shielding

Red

VDC

Supply voltage encoder 10 … 30 VDC

Blue

GND/CAN GND

Encoder ground

Black

CAN high

CAN signal

Pink

CAN low

CAN signal

Housing

–

Shielding

Table 136: Pin assignment of the connection plug/core color on the connecti ng cable

NOTE

 Pay attention to the maximum lenghts of the stubs (see Table 137 on page 90).  Mount all cables with strain relief.  Use twisted pair cables.

Baud rate

Length of an individual stub

Total length of all stubs

1,000 kbit/s

< 1 m

< 5 m

500 kbit/s

< 5 m

< 25 m

250 kbit/s

< 10 m

< 50 m

125 kbit/s

< 20 m

< 100 m

50 kbit/s

< 50 m

< 250 m

Table 137: Maximum length of the stubs

NOTE

The baud rate of the encoder can be configured in the following manner:

 using object 2009h (see Table 122 on page 81)  by accessing via Layer Setting Services (see section 5.4 on page 24)

7.2 Settings on the hardware

It is not possible to make any settings on the hardware. Baud rate and node ID are configured via the Layer Setting Services (see section 5.4 on page 24).

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7.3 Configuration

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox can be integrated into a control system. For this purpose an ESI file is loaded into the system.

7.3.1 Default delivery status

The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is supplied with the following parameters:

 Code sequence = cw, clockwise  Scaling = none  Resolution per revolution AHx36 Basic = 4,096  Resolution per revolution AHx36 Advanced / Inox = 16,384  Total resolution AHS36 Basic = 4,096  Total resolution AHM36 Basic = 16,777,216  Total resolution AHS36 Advanced / Inox = 16,384  Total resolution AHM36 Advanced / Inox = 67,108,864  Preset value = 0  Speed measuring unit = rpm  Round axis functionality = not activated  Nominator for the number of revolutions (Round axis functionality) = 2,048  Divisor for the number of revolutions (Round axis functionality) = 1

7.3.2 System configuration

NOTE

All configuration information relates to Beckhoff controllers that are configured and diagnostics undertaken using the configuration tool TwinCAT®.

Baud rate and device ID are configured via the Layer Setting Services (see section 5.4 on page 24).

Figure 31: Integration in TwinCAT® with EDS file

 Start the TwinCAT

system manager.

 Choose on the context menu for the CiA node in the device tree the command

Scan boxes....

PLC

EEPROM

AHS/AHM36 CANopen and

AHS/AHM36 CANopen Inox

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Figure 32: Context menu Scan boxes...

The encoder is displayed in the device tree as Box n (in the example with factory- configured node ID 5).

Figure 33: Encoder in the device tree

 On the Online tab, click Advanced....

The Advanced settings dialog box is opened.

Figure 34: Advanced settings di alog box

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 Choose Offline - via EDS file and the appropriate EDS file using the Browse

button.

NOTE

A dedicated EDS file is available for each encoder type:

 Singleturn Encoder Basic = AHS36_B_CO.eds  Multiturn Encoder Basic = AHM36_B_CO.eds  Singleturn Encoder Advanced = AHS36_A_CO.eds  Multiturn Encoder Advanced = AHM36_A_CO.eds  Singleturn-Encoder Inox = AHS36_I_CO.eds  Multiturn-Encoder Inox = AHM36_I_CO.eds

 Then change to the configuration mode of the TwinCAT

system manager.

Figure 35: Configuration mode button

Prompts are displayed as to whether the TwinCAT® system manager is to change to the configuration mode, whether the data are to be loaded from the I/O device and whether the system is to be placed in the Free Run operating mode.

Figure 36: Configuration mode prompt

Figure 37: Load I/O Devices prompt

Figure 38: Free Run prompt

 Click OK or Yes.

Figure 39: Status indication for the free run mode or configuration mode

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The status indication at the bottom right changes between Free Run in red and Config Mode in blue.

Figure 40: Online tab

All object parameters can now be read or configured on the Online tab.

NOTE

For the cyclic or acyclic output of the Transmit PDOs by the encoder, there are the following options:

 Change the event timer in the objects 1800h … 1803h (see Table 63 ff. from

page 56).

 Configure a trigger event using the CoS event handling configuration (see

Table 119 on page 80).

 Change the transmission type in the objects 1800h … 1803h (see Table 63 ff.

from page 56).

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7.4 Tests before the initial commissioning

WARNING Commissioning requires a thorough check by authorized personnel!

Before you operate a system equipped with the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox for the first time, make sure that the system is first checked and released by authorized personnel. Please read the notes in chapter 2 “On safety” on page 9.

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8 Fault diagnosis

This chapter describes how to identify and rectify errors and malfunctions of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder.

8.1 In the event of faults or errors

WARNING Cease operation if the cause of the malfunction has not been clearly identified!

Stop the machine if you cannot clearly identify or allocate the error and if you cannot safely rectify the malfunction.

8.2 SICK STEGMANN support

If you cannot remedy an error with the help of the information provided in this chapter, please contact your local SICK STEGMANN subsidiary.

8.3 Error and status indications on the LED

Figure 41: Position of the LED

LED

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8.3.1 Meaning of the LED displays

The LED indicates the CANopen status of the encoder and errors on the CANopen bus.

Display

Description

Status indications

 Green

Status of the CANopen state machine = Stopped

 Green

Status of the CANopen state machine = Pre -operational

 Green

Status of the CANopen state machine = Operational

Error messages

 Off

No supply voltage

 Red

Busoff The CANopen master is disconnected from the bus.

 Red

Invalid configuration

 Red

Counter for the internal CAN controller has reached the warning level for “error frames”.

 Red

Error within the Node Guarding telegram or the Heartbeat telegram

Table 138: Meaning of the LED displays

8.4 Diagnostics via CANopen

8.4.1 Emergency Messages

If the encoder detects an internal error, then an emergency message is sent automatically by the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox.

For this purpose a message is formed from the error code in the object 1003h (see Table 41 on page 49), the error register in the object 1001h (see Table 39 on page 48) and the Device Status Word in the object 2010h (see Table 123 on page 81).

Byte 0 1 2 3 4 5 6

Object 1003h

Object 1001h

Object

2010.01h

Object

2010.02h

Error code

Error

Error field

Table 139: Emergency Message Format

The object 2010h – Device Status Word is manufacturer-specific. The contents of the subindices .1 and .2 are written to the emergency message.

Error code of the object 1003h

Error register of the object 1001h

Description 0000h

00h

No error or reset error

8000h

01h

Generic error

3000h

05h

0000.0101b

Generic voltage error 3100h

05h

Input voltage outside the operating range

4000h

09h

0000.1001b

Generic temperature error

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Error code of the object 1003h

Error register of the object 1001h

Description

4200h

09h

Encoder temperature outside the operating range

8100h

11h

0001.0001b

Generic communication error 8110h

11h

CAN overrun (a telegram was lost)

8130h

11h

Life Guard Error

8200h

11h

Generic protocol error

8210

11h

PDO not executed due to an error in the telegram length

5000h

21h

0011.0001b

Generic error related to the device profile

5050h

21h

Encoder error in the singleturn area (from CANopen V4.3)

5051h

21h

Encoder error in the multiturn area (from CANopen V4.3)

5070h

81h

Position and memory error:

Invalid communication with the I2C device in the main module

5080h

81h

Memory error:

Invalid EEPROM checksum on initialization

1050h

81h

Warning in relation to the speed:

Current measured value outside of the minimum or maximum limit

1060h

81h

Error of the Sync multi counter:  Speed exceeds the upper limit of

12,500 rpm

 Number of current errors on the

calculation of the singleturn position above the limit of 10 errors.

Table 140: Error codes and error registers

If there is no longer an error present, the encoder transmits an emergency message with the error code 0000h and error register 0000h.

8.4.2 Alarms, warnings and status

Alarms, warnings and the encoder status can be read from the following objects:

 6503h – Alarm Status (see Table 95 on page 70)  6505h – Warning Status (see Table 99 on page 71)  2010h – STW-1 – Device Status Word (see Table 123 on page 81)

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8.4.3 Error during the SDO transfer

In the case of an error during the SDO transfer, a so-called Abort-SDO-Transfer-Request is transmitted with an error code. The following errors are possible:

Value

Description

05030000h

Toggle bit has not changed.

05040000h

SDO protocol time-out

05040001h

Client/server command invalid or unknown

05040005h

Memory too small

06010000h

Object access not supported

06010001h

Read access to an object that can only be written

06010002h

Write access to an object that can only be read

06020000h

Object does not exist in the object directory

06040041h

The object cannot be mapped in the PDO.

06040042h

The number and length of the mapped objects exceed the PDO length.

06040043h

General parameter incompatibility

06040047h

General incompatibility in the device

06060000h

Access error due to a hardware error

06070010h

Incorrect data type, length of the service parameters is incorrect

06070012h

Incorrect data type, length of the service parameters too long

06070013h

Incorrect data type, length of the service parameters too short

06090011h

Subindex does not exist.

06090030h

Parameter value range exceeded, only on write access

06090031h

Parameter value written too long

06090032h

Parameter value written too short

06090036h

Maximum value is smaller than minimum value

08000000h

Generic error

08000020h

Data can not be transmitted or saved in the application.

08000021h

Data can not be transmitted or saved in the application. Reason: local control system

08000022h

Data can not be transmitted or saved in the application. Reason: actual device status

08000023h

Dynamic object directory creation error or object directory does not exist

Table 141: Error during the SDO transfer

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9 Annex

9.1 Conformity with EU directives

EU declaration of conformity (extract)

The undersigned, representing the following manufacturer herewith declares that the product is in conformity with the provisions of the following EU directive(s) (including all applicable amendments), and that the respective standards and/or technical specifications have been applied.

Complete EU declaration of conformity for download: www.sick.com

SICK AHS36 CANopen, AHM36 CANopen, AHS36 CANopen Inox, AHM36 CANopen Inox Operating Instructions Manual

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Frequently Asked Questions

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