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Operating Instructions

Chapter

3

AFS60/AFM60 EtherNet/IP

11

Product description

3.2

Operating principle of the encoder

The AFS60/AFM60 EtherNet/IP acquires the position of rotating axes and outputs the
position in the form of a unique digital numeric value. Optical acquisition of the rotary
position value is from an internal coded disk.

The AFS60 EtherNet/IP is a singleturn encoder

Singleturn encoders are used if the absolute position of the shaft for one revolution is
required.

The AFM60 EtherNet/IP is a multiturn encoder

Multiturn encoders are used if the absolute position is required for more than one shaft
revolution.

3.2.1

Scaleable resolution

The steps per revolution and the total resolution can be scaled and adapted to the related
application.
The steps per revolution can be scaled in integers from 1 … 32,767 (Basic) or from
1 … 262,144 (Advanced). The total resolution of the AFM60 EtherNet/IP must be 2

H

times

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

8018909/1EH9/2021-12-16

Subject to change without notice

© SICK AG• Germany • All rights reserved

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Summary of Contents for AFM60 S01

Page 1: ...O P E R A T I N G I N S T R U C T I O N S AFS60 S01 S02 EtherNet IP AFM60 S01 S02 EtherNet IP incl WEB and FTP functionality Absolute Encoder GB ...

Page 2: ...rotected by the law of copyright Whereby all rights established therein remain with the com pany SICK AG Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law Alteration or abridgement of the document is not permitted without the explicit written approval of the company SICK AG ...

Page 3: ...therNet IP architecture 13 3 3 2 EtherNet IP communication 14 3 4 CIP object model 16 3 4 1 Identity Object 18 3 4 2 Assembly Object 22 3 4 3 Position Sensor Object 27 3 5 Configurable functions 34 3 5 1 IP address 34 3 5 2 Slave Sign of Life 35 3 5 3 Code sequence 35 3 5 4 Scaling 35 3 5 5 Steps per revolution x 35 3 5 6 Total resolution measuring range x 35 3 5 7 Preset 36 3 5 8 Velocity measuri...

Page 4: ...software 43 4 3 4 Configuration via the configuration assembly 47 4 4 Configuration examples 49 4 4 1 Reading temperature 49 4 4 2 Setting preset value 56 4 5 Test notes 63 5 Fault diagnosis 64 5 1 In the event of faults or errors 64 5 2 Support 64 5 3 Diagnostics 64 5 3 1 Error and status indications on the LEDs 64 5 3 2 Self test via EtherNet IP 66 5 3 3 Warnings alarms and errors via EtherNet I...

Page 5: ...strial environ ment 1 3 Information depth These operating instructions contain information on the AFS60 AFM60 EtherNet IP Absolute Encoder on the following subjects product features electrical installation commissioning and configuration fault diagnosis and troubleshooting conformity The operating instructions do not contain any information on the mounting of the AFS60 AFM60 EtherNet IP You will f...

Page 6: ... Nominator nominator of the customized number of revolutions Counts Per Range Dynamic Host Control Protocol Device Level Ring EtherNet IP Adapter Developers Kit development environment for EtherNet IP devices Electronic Data Sheet Electrically Erasable Programmable Read only Memory Field Programmable Gate Array electronic component that can be programmed to provide an application specific circuit ...

Page 7: ...low LED is flashing Green The green LED is off Instructions for taking action are shown by an arrow Read carefully and follow the instructions for action 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 Note Red Yellow Green Take action WARNING 8018909 1EH9 2021 12 16 Sub...

Page 8: ...elated application Knowledge of automation systems e g Rockwell ControlLogix Controller Knowledge of EtherNet IP Knowledge of the usage of automation software e g Rockwell RSLogix 2 2 Correct use The AFS60 AFM60 EtherNet IP Absolute Encoder is an instrument that is manufactured in accordance with recognized industrial regulations and meets the quality requirements as per ISO 9001 2008 as well as t...

Page 9: ... to be present in the vicinity of the system during installation The system is to be installed in accordance with all applicable safety regulations 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 safety regulations may result in injury or damage to the system The current and vol...

Page 10: ...bust nickel coded disk for harsh environments High precision and reliability Large ball bearing spacing of 30 mm High level of resistance to vibration Optimal rotational accuracy Compact design Face mount flange servo flange and blind hollow shaft 15 bit singleturn resolution 1 to 32 767 steps 18 bit singleturn resolution 1 to 262 144 steps 27 bit total resolution 30 bit total resolution 12 bit mu...

Page 11: ...ne revolution is required The AFM60 EtherNet IP is a multiturn encoder Multiturn encoders are used if the absolute position is required for more than one shaft revolution 3 2 1 Scaleable resolution The steps per revolution and the total resolution can be scaled and adapted to the related application The steps per revolution can be scaled in integers from 1 32 767 Basic or from 1 262 144 Advanced T...

Page 12: ...ned by the transmission ratio 12 5 of the rotary table gearing The total resolution is then 9 1000 9000 steps to be realized in 12 5 revolutions of the encoder This ratio cannot be realized via the steps per revolution and the total reso lution as the total resolution is not 2H times the steps per revolution The application problem can be solved using the round axis functionality Here the steps pe...

Page 13: ...y integrated into a star topology The system can also be integrated in a Device Level Ring DLR in order to achieve a higher reliability and less wiring effort The AFS60 AFM60 EtherNet IP supports Device Level Ring Fig 2 Example of an EtherNet IP network in a star topology Fig 3 Example of an EtherNet IP network in a Device Level Ring Encoder Encoder Switch PLC HMI Encoder Encoder PLC HMI 8018909 1...

Page 14: ...established between two devices within the CIP to transfer e g I O data such as position velocity etc from the encoder to the controller see also section 3 4 3 Position Sensor Object on page 27 Implicit messaging uses UDP IP via port 2222 As a result a fast data rate is used Explicit messaging is used in EtherNet IP for communication that does not need to take place in real time Explicit messaging...

Page 15: ...nsists of several nested protocols The IP datagram is transported in the user data of the Ethernet data field The TCP segment or the UDP datagram are transported in the user data of the IP datagram The CIP protocol is transported in the user data of the TCP segment or of the UDP datagram Fig 5 Ethernet FRAME Fig 6 Ethernet data field Header Transmission sequence Data field Trailer 46 1500 Byte IP ...

Page 16: ...EtherNet IP These include the current values of for example a configuration or an input Typical attributes are configu ration or status information The behavior defines how a device reacts as a result of external events such as changed process data or internal events such as lapsing timers Services are used to access classes or the attributes of a class or to generate specific events These service...

Page 17: ...es all attributes for the programming of the encoder parameters such as the scaling Set Get 1 F4h Port Object Includes the available ports port name and node address Get 1 F5h TCP IP Interface Object Includes the attributes for TCP IP such as IP address subnet mask and gateway or acquisition of the IP address via DHCP or hardware switches Set Get 1 F6h Ethernet Link Object Includes connection spec...

Page 18: ...f object instances in this class UINT 0001h 3 Get Number of object instances in this class UINT 0001h 4 Get Optional attribute list STRUCT 6 Get Highest existing class attribute ID UINT 0007h 7 Get Highest implemented instance attribute UINT 0067h Class attribute 5 is not implemented Fig 8 Connections for the Identity Object Tab 5 Class services of the Identity Object Tab 6 Class attributes of the...

Page 19: ...code 03h Singleturn 04h Multiturn UINT 4 04h Get Revision Contains the firmware revision number in the format XX XX STRUCT Get Major Revision First part of the revision number e g 01 depending on the release UINT 0001h Get Minor Revision Last part of the revision number e g 02 depending on the release UINT 0002h 5 05h Get Status Device status flags WORD See Tab 9 6 06h Get Serial Number Serial num...

Page 20: ...stablished 0 1 Reserved 0 2 Configured 0 Device with standard configuration 1 No standard configuration 0 3 Reserved 0 4 7 Extended Device Status Field Vendor specific status bits See Tab 10 8 Minor Recoverable Status 0 No error 1 Recoverable error device not in error status 0 9 Minor Unrecoverable Status 0 No error 1 Recoverable error device not in error status 0 10 Major Recoverable Status 0 No ...

Page 21: ...or 0011 No I O connection established 0100 Configuration in non volatile memory EEPROM failed 0101 Serious error bit 10 or bit 11 1 0110 At least one connection in the Run operating mode 0111 At least one connection exists all in Idle operating mode 1000 1111 Reserved Tab 10 Bits 4 to 7 of the instance attribute Status 8018909 1EH9 2021 12 16 Subject to change without notice SICK AG Germany All ri...

Page 22: ...NT 0067h Class attributes 4 and 5 are not implemented The encoder supports only Input and Listen Only connections Number Connection Description Bits Bytes 1 Input Position value 32 4 2 Input Position value Warning and alarm flags 32 8 5 3 Input Position value Velocity 32 32 8 4 5 101 Input Error Position value 32 32 8 102 Input Error Position value Warning and alarm flags 32 32 8 9 103 Input Error...

Page 23: ...e 3 Position value most significant byte 2 4 Warning Alarm 0 Position value least significant byte 1 Position value 2 Position value 3 Position value most significant byte 4 Velocity value least significant byte 5 Velocity value 6 Velocity value 3 7 Velocity value most significant byte Fig 9 Connections for the I O assembly Tab 14 Data format of the attributes of the I O assembly 01h Identity F4h ...

Page 24: ...r 2 Fault header 3 Fault header most significant byte 4 Position value least significant byte 5 Position value 6 Position value 7 Position value most significant byte 102 8 Warning Alarm 0 Fault header least significant byte see Tab 25 on page 67 1 Fault header 2 Fault header 3 Fault header most significant byte 4 Position value least significant byte 5 Position value 6 Position value 7 Position v...

Page 25: ... be configured via the configuration assembly Config Fig 10 Connections for the configuration assembly 01h Identity F4h 06h Connection Manager 04h Assembly 23h Position Sensor F5h F6h Network 02h Message Router 48h QoS 47h DLR 8018909 1EH9 2021 12 16 Subject to change without notice SICK AG Germany All rights reserved ...

Page 26: ..._D least significant byte 21 CNR_D 22 CNR_D 23 CNR_D most significant byte 24 Velocity measuring unit least significant byte 25 Velocity measuring unit most significant byte 26 Not used 100 27 Not used The structure of the configuration assembly is fixed During the initialization of the encoder it reads the data from the control system The Heartbeat connection point for input connections of the PL...

Page 27: ...alues of one attribute 10h Set_Attribute_Single Sets the values of an attribute 15h Restore Restores all parameters last saved in non volatile memory 16h Save Saves all parameters in the non volatile memory Fig 11 Connections for explicit messages to the Position Sensor Object Tab 16 Class services of the Position Sensor Object 01h Identity F4h 06h Connection Manager 04h Assembly 23h Position Sens...

Page 28: ... NV 4 Name Description Data type Min Max Default value 1 01h Get V Number of Attributes Number of attributes in this class UINT 0000h 003Eh 2 02h Get V Attribute list List of the supported attributes Array of Bytes 10 0Ah Get V Position Value Signed Current position value DINT 11 0Bh Get NV Position Sensor Type 01h Singleturn 02h Multiturn UINT 0001h 0002h 0002h 12 0Ch Set NV Direction Counting Co...

Page 29: ... ID22 and 23 is dropped below exceeded Bit 0 Out of range Bit 1 Over range Bit 2 Under range Bit 3 7 Reserved Byte 00h 22 16h Set NV Position Low Limit Lower limit for the position DINT 00000000h 3FFFFFFFh 00000000h 23 17h Set NV Position High Limit Upper limit for the position DINT 00000000h 3FFFFFFFh 3FFFFFFFh 24 18h Get V Velocity Value Current velocity The format is determined by ID25 and 26 D...

Page 30: ...INT 0810h 31 1Fh Set NV Accelera tion reso lution Minimum resolution of the acceleration measurement DUINT 1 32 20h Set NV Minimum Accelera tion Set point DINT 0 33 21h Set NV Maximum Accelera tion Set point Minimum maximum acceleration If the acceleration drops below exceeds this value the warning flag ID47 is set DINT 3FFFFFFFh 41 29h Get V Operating Status Operating status of the encoder Bit 0 ...

Page 31: ...No warning 1 Warning BOOL 50 32h Get NV Operating Time Saved operating time in 0 1h 6 min UDINT 0 51 33h Get NV Offset Value Offset value is calcula ted on the initialization of the preset function DINT 00000000h 100 64h Get V Tempera ture Value Actual temperature with 5 accuracy 40 to 100 C or 40 to 212 F INT F060h 2710h 101 65h Set NV Tempera ture Value Format 1200h C Celsius 1201h F Fahrenheit ...

Page 32: ...Dh Get NV Max Velocity Highest velocity that the encoder has reached since start up in counts ms UDINT 110 6Eh Get NV Max Acce leration Highest acceleration that the encoder has reached since start up in counts ms UDINT 111 6Fh Get NV Max Temp Highest operating temperature saved in C 100 UDINT 4 000 112 70h Get NV Min Temp Lowest operating temperature saved in C 100 UDINT 10 000 113 71h Get NV Num...

Page 33: ...V UINT 9 500 30 500 24 000 121 70h Get V Max power supply voltage Maximum operating voltage in V saved in EEPROM UINT 0 33 24 000 122 7Ah Get V Preset Offset Value Offset value calculated from the preset value 6 DINT 00000000 125 7Dh Set NV Endless Shaft Func tionality round axis function ality Activates round axis functionality 0 Off 1 On BOOL 0 126 7Eh Set NV Number of Rotations nominator Nomina...

Page 34: ...therNet IP is set from the factory to obtain the IP address from a DHCP server For this purpose the three decade switches under the screw cover on the AFS60 AFM60 EtherNet IP see Fig 13 on page 37 must be set to 255 887 or to 889 999 Setting the IP address If the IP address is configured fix only the least significant byte 1 254 can be con figured 192 168 1 xxx is preset permanently The subnet mas...

Page 35: ...reasing position value on counterclockwise revolution of the shaft 3 5 4 Scaling Scaling makes it possible to scale the steps per revolution and the total resolution Only if the parameter Scaling is configured to Enable are the values entered for the steps per revolution and the total resolution applied 3 5 5 Steps per revolution x The resolution of the AFS60 AFM60 EtherNet IP Basic is max 32 768 ...

Page 36: ...stem or other items 3 5 8 Velocity measuring unit Using this parameter you can define the units in which the velocity is transmitted Possible units are counts s counts ms turns s turns min turns h The factory setting is turns min 3 5 9 Round axis functionality The round axis functionality removes the restriction that the total resolution must be 2H times the steps per revolution The shaft is consi...

Page 37: ...ime the encoder is started up all connection parameters such as IP address DHCP etc are set to the settings last saved in the non volatile memory 3 6 Controls and status indicators The AFS60 AFM60 EtherNet IP Absolute Encoder has five LEDs Three of the LEDs indicate the operating status Net Mod and Encoder two the status of the Ethernet interface Link 1 and Link 2 The LEDs are multi colored Tab 23...

Page 38: ...g and commissioning the device 4 1 Electrical installation Switch the power 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 connection plugs and sockets see the data sheet of the AFS60 AFM60 EtherNet IP WARNING SICK...

Page 39: ...to be assigned otherwise irreparable damage could be caused to the AFS60 AFM60 EtherNet IP Pin Signal Core color 7 Function 1 TxD White orange Ethernet 2 RxD White gray Ethernet 3 TxD Orange Ethernet 4 RxD Green Ethernet Connect the shield to the encoder housing Pay attention to the maximum cable lengths Mount all cables with strain relief 7 On the usage of pre wired cables Fig 14 Position of the ...

Page 40: ...tion The AFS60 AFM60 EtherNet IP can be integrated into both a Rockwell control system and into a system with a Schneider control system Within the Rockwell system the encoder is configured with the aid of a configuration as sembly In the case of a Schneider control system an EDS file can be loaded to integrate the encoder in the system All software notes are displayed in English All software note...

Page 41: ... factory to obtain the IP address from a DHCP server Start the BOOTP DHCP server as a rule on the Start menu on your PC notebook in Rockwell Software BOOTP DHCP Server BOOTP DHCP Server In the program window for the BOOTP DHCP server the AFS60 AFM60 EtherNet IP appears as a bus user with its MAC address however without an IP address assigned The Mod LED on the AFS60 AFM60 EtherNet IP flashes green...

Page 42: ...herNet IP via RSLinx Classic With the aid of the tool RSLinx Classic you can again check whether the IP address set is detected by the control system Start RSLinx Classic as a rule on the Start menu on your PC notebook in Rockwell Software RSLinx RSLinx Classic Click on the RSWho button in the program Then open the path AB_ETHIPG1 Ethernet The encoder can be seen with its IP address Fig 19 Integra...

Page 43: ...ardware Example Type 1756GL61 ControlLogix5561 Controller dependent on the controller Name Test name name can be selected as required Description Commissioning AFM60 EIP can be selected as required Chassis Type 1756GA4 4GSlot ControlLogix Chassis dependent on the chassis Create In storage location can be selected as required Click OK The RSLogix 5000 Name window is opened Type and Chassis Type mus...

Page 44: ...ect the module 1756IEN2TR Click OK The New Module dialog box will open On the General tab assign a name in the Name field in the IP Address field the IP address and select the Slot Click OK In Controller Organizer in 1756 Backplane 1756IA4 the selected module 1756IEN2TR with name appears along with the symbol for Ethernet Fig 23 Adding commu nication interface Fig 24 Selecting commu nication inter...

Page 45: ...en the Communication tree In the Communication tree select the module ETHERNET MODULE Generic Ethernet Module Click OK The Module Properties module name dialog box is opened In the Module Properties module name dialog box enter the settings for Input Output as well as Configuration Fig 26 Integrating encoder Fig 27 Selecting module Fig 28 Entering module properties 8018909 1EH9 2021 12 16 Subject ...

Page 46: ...king the communication To check the communication between control system and encoder the data the control system receives from the encoder can be displayed In the Controller Organizer open the Controller Testaufbau folder Controller Tags In the Controller Tags in the Name column open the AFM60_Encoder I AFM60_Encoder I Data item Displayed data in the example in Fig 31 AFM60_Encoder I Data 0 fault ...

Page 47: ...sembly during the start process configure in the Module Properties in the Connection Parameters the Assembly Instance for Configuration as 100 and its size Size as 28 bytes To set the parameters for the configuration assembly place the control system in the Offline mode Fig 32 Settings for the configuration assembly Fig 33 Mode for the configuration assembly 8018909 1EH9 2021 12 16 Subject to chan...

Page 48: ...mn in the AFM60_Encoder C AFM60_Encoder C Data item The low byte is displayed before the high byte Counts steps per revolution CPR 4 096 1000h C Data 4 00h and C Data 5 10h Total resolution CMR 32 768 8000h C Data 8 00h and C Data 9 80h Direction of revolution cw 0 C Data 12 00h Scaling on 1h C Data 13 01h Velocity format 1F0Fh C Data 24 0Fh and C Data 25 1Fh Note Fig 34 Example data for a configu...

Page 49: ...t you must download the program to the control system Finally you can test the program 4 4 1 Reading temperature In the first example the temperature of the encoder is to be read with the aid of the parameter 64h Temperature Value Defining and declaring variables As the initial step the variables TEMP_Trigger TEMP_OneShot TEMP_Value and TEMP_Message must be defined and declared for the program Fir...

Page 50: ... triggered if an edge change from 0 to 1 occurs in the variable TEMP_Trigger Select again New Tag In the New Tag dialog box enter TEMP_OneShot in the Name field in the Data Type select the data type BOOL and click OK A further variable must be added that will then contain the temperature value later see Tab 19 on page 28 ID100 64h Temperature Value Fig 37 Definition of the variable TEMP_Trigger Fi...

Page 51: ...at obtains the temperature value from the control system Select again New Tag In the New Tag dialog box enter TEMP_Message in the Name field select in the Data Type field the data type MESSAGE and click OK Fig 41 shows the resulting variable structure for reading the temperature acyclically Fig 39 Definition of the variable TEMP_Value Fig 40 Definition of the variable TEMP_Message 8018909 1EH9 202...

Page 52: ...trigger the read temperature process On the Favorites tab select the ExamineOn block and add it to the MainRoutine The related variable must be assigned to this input in our example the variable TEMP_Trigger Click on the question mark A drop down menu is opened Select the variable TEMP_Trigger Fig 41 Variable structure for reading the temperature Fig 42 Opening MainRoutine Fig 43 Adding ExamineOn ...

Page 53: ... block Click on the question mark A drop down menu is opened Select the variable TEMP_OneShot In the next step the message must be configured to read the temperature value from the encoder On the Input Output tab select the MSG block and add it to the MainRoutine Fig 45 Adding ONS block Fig 46 Allocation of the variable TEMP_OneShot to ONS Fig 47 Adding MSG block 8018909 1EH9 2021 12 16 Subject to...

Page 54: ...iguration tab Service Type Get Attribute Single see Tab 16 on page 27 Instance 1 as only one device is connected to the control system Class 23 h Position Sensor Object see Tab 4 on page 17 Attribute 64 h Temperature Value see Tab 19 on page 28 Destination TEMP_Value Fig 48 Allocation of the variable TEMP_Message to MSG Fig 49 Opening configu ration dialog box for the MSG block Fig 50 Configuratio...

Page 55: ...ed Select the encoder connected The encoder is applied in the Path field Close the Message Path Browser dialog box using OK Transferring program to the control system Finally the program is transferred to the control system From the Offline menu select the Download command Accept the next message Note Fig 51 Communication tab Fig 52 Selecting encoder Fig 53 Selected encoder Fig 54 Transferring the...

Page 56: ...e initial step the variables PRESET_Trigger PRESET_OneShot PRESET_Value and PRESET_Message must be defined and declared for the program First the variable PRESET_Trigger is added this variable controls the process In the Controller Organizer using the right mouse button click Controller Tags and select New Tag The New Tag dialog box opens Fig 55 Display of the temperature value in TEMP_Value Fig 5...

Page 57: ...er Select again New Tag In the New Tag dialog box enter PRESET_OneShot in the Name field select in the Data Type field the data type BOOL and click OK A further variable must be added that will then contain the preset value later see Tab 19 on page 28 ID19 13h Preset Value Select again New Tag In the New Tag dialog box enter PRESET_Value in the Name field select in the Data Type field the data typ...

Page 58: ...reset value Defining process sequence After you have defined and declared the variables the program blocks must be inserted in the ladder logic and the variables assigned as appropriate In Tasks Main Task MainProgramm open the MainRoutine window If the process sequence for writing a preset value is to run in parallel with the previous example then a new thread must be added Fig 60 Definition of th...

Page 59: ...ab select the ExamineOn block and add it to the MainRoutine The related variable must be assigned to this input in our example the variable PRESET_Trigger Click on the question mark A drop down menu is opened Select the variable PRESET_Trigger Fig 63 Adding Rung block Fig 64 Adding ExamineOn block Fig 65 Allocation of the variable PRESET_Trigger to ExamineOn 8018909 1EH9 2021 12 16 Subject to chan...

Page 60: ...s block Click on the question mark A drop down menu is opened Select the variable PRESET_OneShot In the next step the message must be configured to write the preset value to the encoder On the Input Output tab select the MSG block and add it to the MainRoutine Fig 66 Adding ONS block Fig 67 Allocation of the variable PRESET_OneShot to ONS Fig 68 Adding MSG block SICK AG Germany All rights reserved...

Page 61: ... connected to the control system Class 23 h Position Sensor Object see Tab 4 on page 17 Attribute 13 h Preset Value see Tab 19 on page 28 Source Element PRESET_Value Source Length 4 PRESET_Value is the fourth variable added On executing the example program the preset value is taken from this variable and written to the attribute 13h of the Position Sensor Object Fig 69 Allocation of the variable P...

Page 62: ...ath field Close the Message Path Browser dialog box using OK Transferring program to the control system Finally the program is transferred to the control system From the Offline menu select the Download command Accept the next message Fig 72 Communication tab Fig 73 Selecting encoder Fig 74 Selected encoder Fig 75 Transferring the program to the control system SICK AG Germany All rights reserved 8...

Page 63: ...Data 1 the value now changes to 500 4 5 Test notes Commissioning requires a thorough check by authorized personnel Before you operate a system equipped with the AFS60 AFM60 EtherNet IP 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 8 Fig 76 Display of the preset value in PRESET_Value WARNING 80...

Page 64: ...ot been identified Stop the machine if you cannot clearly identify the error and or if you cannot safely rectify the malfunction 5 2 Support If you cannot remedy an error with the help of the information provided in this chapter please contact your local SICK representative 5 3 Diagnostics 5 3 1 Error and status indications on the LEDs WARNING Fig 77 Position of the LEDs Link 1 Encoder Link 2 Mod ...

Page 65: ...elf test at power on LED Net Off No operating voltage or No IP address Green No connection The device has an IP address but no CIP connection Green The device has an IP address and a CIP connection Red Warning connection timeout Cleared by reset or a new connection Red Error IP address has been assigned to another device already Red green Self test at power on LED Encoder Off No operating voltage ...

Page 66: ...Sensor Object see Tab 19 on page 28 If an error occurs bit 27 in the fault header is set see Tab 25 on page 67 On completion of the self test the diagnostics bit of attribute 13 is reset to 0 automatically 5 3 3 Warnings alarms and errors via EtherNet IP Within EtherNet IP warnings alarms and errors can be retrieved using implicit messages and also explicit messages If connections are established ...

Page 67: ...ed with attribute 22 or 23 see Tab 19 on page 28 8 Position error amplitude error of the singleturn measurement 9 Position error amplitude error of the multiturn measurement 10 Position error vector error Sin Cos of the singleturn measure ment 11 Position error vector error Sin Cos of the multiturn measure ment 1 12 15 Reserved 16 Singleturn position error error in the sensor 17 Multiturn position...

Page 68: ...ious error incorrect position values may be output This change could cause an unexpected movement that may result in a hazard for persons or damage to the system or other objects In addition the S3 LED illuminates red continuously The alarm type is coded in a bit field of attributes 44 and 45 Bit Description 0 Position error 1 Diagnostics error during self test 2 11 Reserved 12 Incorrect checksum ...

Page 69: ...low the minimum velocity configured with attribute 27 7 The velocity has exceeded the maximum velocity configured with attribute 28 8 The acceleration has dropped below the minimum acceleration configured with attribute 32 9 The acceleration has exceeded the maximum acceleration configured with attribute 33 10 The position has dropped below exceeded the minimum maximum position configured with att...

Page 70: ...urer herewith declares that the product is in conformity with the provisions of the following EU directive s including all applicable amendments and that the standards and or technical specifications stated in the EU declaration of conformity have been used as a basis for this 6 1 2 Compliance with UK statutory instruments UK declaration of conformity extract The undersigned representing the follo...

Page 71: ...b 13 Instance attributes of the Assembly Object 22 Tab 14 Data format of the attributes of the I O assembly 23 Tab 15 Data format for the attributes for the configuration assembly 26 Tab 16 Class services of the Position Sensor Object 27 Tab 17 Class attributes of the Position Sensor Object 28 Tab 18 Instance services of the Position Sensor Object 28 Tab 19 Instance attributes of the Position Sens...

Page 72: ...ntry of the IP address in the BOOTP DHCP server 41 Fig 19 Integration of the IP address in the BOOTP DHCP server 42 Fig 20 RSWho button in RSLinx Classic 42 Fig 21 Encoder on the path AB_ETHIPG1 in RSLinx Classic 42 Fig 22 Configuring the hardware 43 Fig 23 Adding communication interface 44 Fig 24 Selecting communication interface 44 Fig 25 Name of the communication interface 44 Fig 26 Integrating...

Page 73: ... Definition of the variable PRESET_OneShot 57 Fig 59 Definition of the variable PRESET_Value 57 Fig 60 Definition of the variable PRESET_Message 58 Fig 61 Variable structure for setting a preset value 58 Fig 62 Opening MainRoutine 58 Fig 63 Adding Rung block 59 Fig 64 Adding ExamineOn block 59 Fig 65 Allocation of the variable PRESET_Trigger to ExamineOn 59 Fig 66 Adding ONS block 60 Fig 67 Alloca...

Page 74: ...Chapter 6 Operating Instructions AFS60 AFM60 EtherNet IP 74 Annex SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 75: ...Operating Instructions Chapter 6 AFS60 AFM60 EtherNet IP 75 Annex 8018909 1EH9 2021 12 16 Subject to change without notice SICK AG Germany All rights reserved ...

Page 76: ...AFS60 AFM60 EtherNet IP WEB WEB and FTP functionality for EtherNet IP Encoder A d d iti o na l I nf o r mati o n GB ...

Page 77: ...esses Data integrity SICK AG uses standardized data interfaces such as standard IP technology in its products The emphasis here is on the availability of products and their features SICK AG always assumes that the integrity and the confidentiality of the data and rights which are affected by the use of these products will be ensured by the customer In all cases appropriate security measures such a...

Page 78: ...0 EtherNet IP WEB WebServer preset 23 3 3 3 AFx60 EtherNet IP WEB manual PLC Preset 24 3 3 4 AFx60 EtherNet IP WEB Button Preset 25 4 Integration of AFx60 EtherNet IP WEB encoder to the RS logix project 26 4 1 PLC Controller Input Output assembly tags generic module 27 4 2 PLC controller configuration assembly tags generic module 28 4 3 Import of RS logix Ladder Routine DataMapping_InputToConfig_G...

Page 79: ...es 104 Input Fault 32 4 Position value 32 4 Velocity 32 4 Serial number 32 4 CPR value 32 4 CMR value 32 4 cw ccw 32 4 scf 32 4 raf 32 4 CNR_N 32 4 CNR_D 32 4 Velocity format 32 4 Preset Value 32 4 Table 2 Instance attribute of output assembly object Number Connection Description Bits Bytes 106 Output Preset Value 32 4 Sync Preset Value 32 4 Note The attribute 104 and 106 are vendor specific SICK ...

Page 80: ...ficant byte 17 CPR value 18 CPR value 19 CPR value most significant byte 20 CMR value least significant byte 21 CMR value 22 CMR value 23 CMR value most significant byte 24 cw ccw value least significant byte cw ccw 1 25 cw ccw value 26 cw ccw value 27 cw ccw value most significant byte 28 Scaling function value least significant byte scf 2 29 Scaling function value 30 Scaling function value 31 Sc...

Page 81: ... 1 cw clockwise ccw counterclockwise 2 scf scaling function 3 raf round axis functionality The input assembly 104 contain the transmission of the serial number from the encoder This can be used in case of exchange the encoders due to e g a fault defect to compare wether it is a new device or the still existing because of different parameter settings If the encoders get the same IP addressing the u...

Page 82: ...edefined start position With the aid of a Preset Value the encoder can be set to any position within the measuring range The Preset Value can be set in the following manner Using the preset push button encoder Using an acyclic explicit message PLC During this process the Preset Value is transferred as an attribute ID19 of the position sensor object Using the WebServer preset WebBrowser Using the P...

Page 83: ... Implementation details There are 4 websites and a password dialogue Names of the websites and the password dialogue Diagnosis home Parameterization Set Preset Value Set to Factory Settings Password Attention To display the websites of the encoder correctly please activate Java Script in your webbrowser and maybe adapt your security settings Enter the IP address of the encoder in the webbrowser e ...

Page 84: ...e Diagnosis page is going to be updated every 2 seconds by HTML meta refresh In the text box Sensor Error Text shows the last three faults from the fault header analysis 8018909 1EH9 2021 12 16 Subject to change without notice SICK AG Germany All rights reserved ...

Page 85: ...AFS60 AFM60 EIP WEB operating instructions 10 2 4 Password for webpages Enter the password sickP Press OK SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 86: ...this page the values can be changed and programmed The new configuration is permanent stored in an EEPROM please press the Save Changes button or use the ENTER key to save the parameters 8018909 1EH9 2021 12 16 Subject to change without notice SICK AG Germany All rights reserved ...

Page 87: ...or encoder Rotary table 0 360 Given 13 7 turns of the encoder 1 turn of rotary table Target 0 1 resolution Total resolution measuring range 3600 Calculation path 137 Nominator 10 Divisor Screenshot of the Parameterization page 8018909 1EH9 2021 12 16 Subject to change without notice SICK AG Germany All rights reserved ...

Page 88: ...e Preset Value Click on the button Save Preset Value or ENTER and the Preset Value is set into the encoder The controller stores the value in his configuration by programmed data mapping see program sample 8018909 1EH9 2021 12 16 Subject to change without notice SICK AG Germany All rights reserved ...

Page 89: ... WEB operating instructions 14 2 7 Set to Factory Settings On this page you can switch back to the Factory default Settings SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 90: ...AFS60 AFM60 EIP WEB operating instructions 15 3 AFx60 EtherNet IP WEB functionality overview SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 91: ...nitial configuration over WebServer 3 1 2 Get Configuration Data to PLC configuration assembly length 0 3 1 3 Encoder damage blackout 3 1 4 Set Configuration Data to new encoder configuration assembly length 28 SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 92: ...AFS60 AFM60 EIP WEB operating instructions 17 3 1 1 AFx60 EtherNet IP WEB configuration only over WebServer SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 93: ...IP WEB operating instructions 18 3 1 2 AFx60 EtherNet IP WEB get Configuration Data to PLC configuration assembly length 0 SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 94: ...WEB operating instructions 19 3 1 4 AFx60 EtherNet IP WEB set Configuration Data to encoder configuration assembly length 28 SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 95: ...0 EIP WEB operating instructions 20 3 2 AFx60 EtherNet IP WEB Diagnostic Data Note Works with or without connected PLC SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 96: ...is process the Preset Value is transferred as an attribute ID19 of the position sensor object Using the WebServer preset output assembly 106 Using the PLC preset output assembly 106 Note Only set a Preset Value when the encoder is at standstill Warning The preset function results in an immediate change in the position value output by the encoder This change could cause an unexpected movement that ...

Page 97: ...AFS60 AFM60 EIP WEB operating instructions 22 3 3 1 AFx60 EtherNet IP WEB Preset Message SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 98: ...AFS60 AFM60 EIP WEB operating instructions 23 3 3 2 AFx60 EtherNet IP WEB WebServer preset SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 99: ...AFS60 AFM60 EIP WEB operating instructions 24 3 3 3 AFx60 EtherNet IP WEB manual PLC Preset SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 100: ...AFS60 AFM60 EIP WEB operating instructions 25 3 3 4 AFx60 EtherNet IP WEB Button Preset SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 101: ...EtherNet IP Operating Instruction part no 8018909 chapter 4 3 configuration In this example the length of configuration assembly is set to 0 byte On the following pages the automatically generated module assemblies are displayed Input assembly 104 I Data 0 13 Output assembly 106 O data 0 2 and Configuration assembly 100 C Data 0 27 SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subjec...

Page 102: ...AFS60 AFM60 EIP WEB operating instructions 27 4 1 PLC Controller Input Output assembly tags generic module SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 103: ...AFS60 AFM60 EIP WEB operating instructions 28 4 2 PLC controller configuration assembly tags generic module SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 104: ...ons 29 4 3 Import of RS logix Ladder Routine DataMapping_InputToConfig_Generic_01 L5X Rightclick to the MainProgram symbol and select Import Routine SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 105: ...AFS60 AFM60 EIP WEB operating instructions 30 4 4 Import of RS Logix ladder routine 2 SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 106: ...AFS60 AFM60 EIP WEB operating instructions 31 Notes Same naming required SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 107: ...ne 3 This implementation provides copying of used input data to configuration assembly The used parameter are listed on the data mapping overview Implementation details see on the next page SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 108: ...AFS60 AFM60 EIP WEB operating instructions 33 4 6 Configuration over PLC data mapping table SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 109: ... operating instructions 34 4 7 Data mapping implementation This routine needs to be included in the MainRoutine Open MainRoutine SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 110: ...AFS60 AFM60 EIP WEB operating instructions 35 4 8 Configuration over PLC ladder implementation MainRoutine SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 111: ...on over PLC ladder implementation JSR command Implementing command jump to sub routine Doubleclick on the first rung and insert JSR to the opening edit field Press enter SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 112: ...nstructions 37 4 10 Configuration over PLC ladder implementation select sub routine Select sub routine DataMapping_InputToConfig_Generic_01 SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 113: ...AFS60 AFM60 EIP WEB operating instructions 38 4 11 Configuration over PLC ladder implementation complete SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 114: ...AFS60 AFM60 EIP WEB operating instructions 39 4 12 PLC Preset manual preset over controller tags SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 115: ...er the search term FileZilla download in Google Install the software 5 2 Description A requirement for all further steps is a valid IP address for the encoder e g 192 168 1 14 Launch FileZilla Transfer FileZilla to the server manager Fig 1 Click the button for the server manager The server manager dialog opens SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without no...

Page 116: ...ver field e g 192 168 1 14 d The port field requires no entry 21 is the default setting e For the Connection Type please select normal f Enter host in the User field g Always enter enc123 for the Password Once all these details have been entered click the advanced button SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 117: ...rectory by clicking the button i Under default directory on server enter FIRMWARE_UPDATE_DRIVE If the encoder is already attached click the button to log into the sensor The following then appears on the monitor see Fig 4 on the next page SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 118: ...y connected to the relevant directories on the PC and encoder To now update the encoder double click the folder HOST_AFM60A_EIP_WEB V 0 19 see Fig 4 Then drag the file FupFile bin to the folder FIRMWARE_UPDATE_DRIVE see Fig 5 next side SICK AG Germany All rights reserved 8018909 1EH9 2021 12 16 Subject to change without notice ...

Page 119: ... green After the firmware has been successfully updated the encoder resets and the new application starts Warning Do not switch the encoder off before the flash process has completed The process is identical when updating the WebServer Just select the FPGA_WEB_ SW V255 0 10 directory The file name is also FupFile bin The flash process may take longer because the data is approx 6 times more SICK AG...

Page 120: ...ith declares that the product is in conformity with the provisions of the following EU directive s including all applicable amendments and that the standards and or technical specifications stated in the EU declaration of conformity have been used as a basis for this 6 1 2 Compliance with UK statutory instruments UK declaration of conformity extract The undersigned representing the following manuf...

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