SICK AHM36 CANopen Operating Instructions Manual Download

Page: 14 / 95

Product description

This chapter provides information on the special features and properties of the Abso‐
lute 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

Table 3: Special features of the encoder variants

Properties

Single‐
turn
Encode
r Basic

Multi‐
turn
Encode
r Basic

Single‐
turn
Encode
r
Advanc
ed

Multi‐
turn
Encode
r
Advanc
ed

Single‐
turn
Encode
r Inox

Multi‐
turn
Encode
r 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

Electronic CAM switches

Absolute Encoder in 36 mm design

Electrosensitive, magnetic scanning

Flexible cable outlet/M12 male con‐
nector

Large number of mechanical adapta‐
tion options

Compact design

PRODUCT DESCRIPTION

O P E R A T I N G I N S T R U C T I O N S | AHS/AHM36 CANopen
AHS/AHM36 CANopen Inox

8016869/1B4I/2021-03-08 | SICK

Subject to change without notice

Summary of Contents for AHM36 CANopen

Page 1: ...O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox Absolute Encoder ...

Page 2: ...ble within the limits of the legal determination of Copyright Law Any modi fication abridgment or translation of this document is prohibited without the express written permission of SICK AG The trademarks stated in this document are the property of their respective owner SICK AG All rights reserved Original document This document is an original document of SICK AG 1 2 O P E R A T I N G I N S T R ...

Page 3: ...eatures 14 4 2 Operating principle of the encoder 15 4 2 1 Scaleable resolution 15 4 2 2 Preset function 15 4 2 3 Round axis functionality 16 4 2 4 Electronic cam mechanism 17 4 3 Controls and status indicators 18 5 Integration in CANopen 20 5 1 Communication profile 20 5 1 1 CANopen in the OSI model 20 5 1 2 Communication channels 20 5 1 3 Topology 21 5 2 Node IDs and COB IDs 21 5 3 Baud rate 22 ...

Page 4: ...fic objects 58 6 4 1 Encoder parameters 59 6 4 2 Objects for the electronic cam mechanism CAM 61 6 4 3 Objects for diagnostics 64 6 5 Manufacturerspecific objects 68 6 5 1 Objects for the encoder configuration 69 6 5 2 Objects that provide status information 74 7 Commissioning 83 7 1 Electrical installation 83 7 1 1 Connection of the AHS AHM36 CANopen and AHS AHM36 CANopen Inox 83 7 2 Settings on ...

Page 5: ...d status 92 8 4 3 Error during the SDO transfer 92 9 Annex 94 9 1 Conformity with EU directives 94 CONTENTS 8016869 1B4I 2021 03 08 SICK O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 5 Subject to change without notice ...

Page 6: ...S 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 includ...

Page 7: ...munication Object Identifier address of the communication object CoS Change of State CPR Counts Per Revolution resolution per revolution EDS Electronic Data Sheet EEPROM Electrically Erasable Programmable Readonly Memory EMGY Emergency Message LSS Layer Setting Services services for the configuration of Node ID and baud rate NMT Network Management Node ID Node Identifier node address PDO Process D...

Page 8: ...ons for action CAUTION 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 1 ABOUT THIS DOCUMENT 8 O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 8016869 1B4I 2021 03 08 SICK Subject to change without notice ...

Page 9: ...ion of devices in the related applica tion Knowledge of automation systems Knowledge of CANopen Knowledge of automation software 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 regula tions and meets the quality requirements as per ISO 9001 2008 as well as those of an environment ...

Page 10: ...m 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 appl...

Page 11: ... 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 manufacturerspecific object 2009h using Layer Setting Services see Baud rate page 22 Changing node ID and or baud rate using the object 2009h To change th...

Page 12: ...load the EDS file b 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 b 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 paramet...

Page 13: ...clic output of the Transmit PDOs by the encoder there are the following options b Change the event timer in the objects 1800h 1803h see Parameter of the Transmit PDOs page 53 b Configure a trigger event using the CoS event handling configuration see table 121 page 72 b Change the transmission type in the objects 1800h 1803h see Parameter of the Transmit PDOs page 53 Pay attention to the inhibition...

Page 14: ...Nopen interface C C C C C C Supports the encoder profile CiA DS 406 C C C C C C Diagnostic functions via CANopen C C C C 12 bit singleturn resolution 1 to 4 096 steps C C 14 bit singleturn resolution 1 to 16 384 steps C C C C 12 bit multiturn resolution 1 to 4 096 revolutions C C C 24 bit total resolution C 26 bit total resolution C C Round axis functionality C C Electronic CAM switches C C Absolu...

Page 15: ...turn encoders are used if more than one shaft revolution must be acquired abso lutely 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 ...

Page 16: ...ameters entered Example with transmission ratio A rotating table for a filling system is to be controlled The resolution per revolution is predefined 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 ...

Page 17: ...xample 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 reso...

Page 18: ...CANopen see Objects for the electronic cam mechanism CAM page 61 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 4 PRODUCT DESCRIPTION 18 O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 8016869 1B4I 2021 03 08 SICK Subject to change without notice ...

Page 19: ... see table 141 page 90 shows the meaning of the signals PRODUCT DESCRIPTION 4 8016869 1B4I 2021 03 08 SICK O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 19 Subject to change without notice ...

Page 20: ...d AHS AHM36 CANopen Inox see Objects and their subindices that can be mapped page 57 Figure 8 CANopen in 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 COB ID The COB IDs are based on the node IDs for the individua...

Page 21: ... also be used for communication see Process Data Objects PDO page 31 5 1 3 Topology The AHS AHM36 CANopen and AHS AHM36 CANopen Inox is integrated in the CAN open trunk using Tconnectors the Tconnectors are available as accessories The trunk must be terminated at the end using a 120Ohm terminator In this way reflections are prevented This action is not necessary on the stubs to the encoders Figure...

Page 22: ...nd 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 Heart beat Boot up Send 2020 07E4h 2020 07E4h Transmit LSS Send 2021 07E5h 2021 07E5h Receive LSS Receive Example The encoder is given the node ID 5 it then sends emergency messages via the ID 133 T...

Page 23: ...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 Format of an LSS telegram NOTE An LSS t...

Page 24: ...zation successful 01h parameter invalid FFh contains a specific error code Byte 2 error extend The error extension is manufacturerspecific and always 00h on the AHS AHM36 CANopen and AHS AHM36 CANopen Inox Configure Bit Timing Parameters The baud rate is configured based on a baud rate table using this command Table 10 Format of the Configure Bit Timing Parameters command COB ID Byte 0 Byte 1 Byte...

Page 25: ...te 6 Byte 7 07E5h 17h 00h 00h 00h 00h 00h 00h 00h Response Table 14 Response to the Store Configuration command 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 00h 00h 00h 00h 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...

Page 26: ... 50h 00h 00h 00h 00h 00h 00h 00h 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...

Page 27: ... Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 00h CCD Node ID 00h 00h 00h 00h 00h 00h Table 22 Meaning of byte 0 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...

Page 28: ...es to the Initialization status with the Reset Node com mand 12 13 und 14 The encoder switches to the Initialization status with the Reset Communica tion command 5 5 3 Boot up message To signal that a device is ready for operation after switching on a socalled bootup message is sent This message uses the ID from the NMT Error Control protocol and is permanently linked to the device address set 700...

Page 29: ...h 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 Preoperational 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 T...

Page 30: ...r 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 The data area of a CAN telegram maximum 8 bytes long is configured by an SDO as follows Table 28 Format of the SDO COB ID CCD Index Subin dex Data 600h Node ID Byte 0 Byte 1 Byt...

Page 31: ...e process data Table 29 Format of the Transmit PDOs COB ID Data 0180h Node ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 5 7 1 PDO mapping The format of the Transmit PDOs between the master and the encoder must be harmonized by means of socalled 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 ...

Page 32: ...ion Data values 180xh Communication Parameter for the 1st Transmit PDO 0 Number of entries 5 1 COB ID 00000180h Node ID 2 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 transmis sion 253 Request by RTR telegram asynchronous transmis sion 254 Applicationspecific triggering 255 Devicesp...

Page 33: ...ason 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 b Change the event timer in the objects 1800h 1803h see Parameter of the Transmit PDOs page 53 b Configure a trigger event using the CoS event handling configuration see table 121 page 72 b Change the transmission type in the objects 1800h 1803h...

Page 34: ...ronized to the Sync messa ges from the master The AHS AHM36 CANopen and AHS AHM36 CAN open 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 syn...

Page 35: ...ured in the encoder s startup 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 an...

Page 36: ...the total resolution NOTE Only if the parameter Scaling is configured to 1 are the values entered for the resolu tion 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 i...

Page 37: ... 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 Table 33 Examples for total resolution Resolution per revolution n Total resolution 1 000 3 8 000 8 179 5 261 728 2 0...

Page 38: ...ion 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 80 page 60 The encoder immediately adopts the preset value that is written to the object as the new position value Figure 20 Example for the parameteriza...

Page 39: ... 0 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 Process Data Objects page 51 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 tab...

Page 40: ...h 1803h see Parameter of the Transmit PDOs page 53 b Configure a trigger event using the CoS event handling configuration see table 121 page 72 b Change the transmission type in the objects 1800h 1803h see Parameter of the Transmit PDOs page 53 5 8 5 Speed measurement The speed measurement is configured using the object 2002h Speed Calculation Configuration see table 116 page 70 Figure 24 Example ...

Page 41: ...lution 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 EndlessShaft Configuration see table 115 page 70 Figure 26 Example for the parameterization of object 2001h The total resolution can be scaled from 1 67 108 864 Advanced Inox as an integer The nominator 2001 0...

Page 42: ...s divisor for the number of revolutions 16 384 5 8 7 Electronic cam mechanism An electronic cam mechanism can be configured using the encoder Two socalled 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 Objects for the electronic cam mechanism CAM page 61 5 INTEGRATION I...

Page 43: ...ect Cam 1 in channel 1 is to be configured as follows When the switching threshold is reached the cam state is 1 The lower switching point is set to 1 000 The upper switching point is set to 2 000 The hysteresis is 100 steps The values will be written to the object register as per see table 35 page 43 Table 35 Numerical example configuration of Channel 1 Cam 1 of the cam switch Object number xxxx ...

Page 44: ... The effect of the hysteresis settings on the switching point is shown in see table 36 page 44 Table 36 Numerical example effect of hysteresis on the upper and lower switching point Start position End position Counting direc tion CAM State dec Note 0 1 099 0 1 100 2 000 1 Actual lower switching thresh old Lower Limit Settings Hyste resis settings counting direc tion 2 001 3 000 0 Actual upper swit...

Page 45: ...ent data types e g UINT8 UINT32 UINT32 UINT 16 6 2 Standard objects Table 38 Implemented standard objects Objekt Sub index Access Data type Designation 1000h R UINT 32 Device Type 1001h R UINT 8 Error Register 1003h R W Record Predefined Error Field 1005h R W UINT 32 COB ID SYNC Message 1008h R STRG Device Name 1009h R STRG Hardware Version Number 100Ah R STRG Software Version Number 100Ch R W UIN...

Page 46: ... which the content is not clear from the overview see table 38 page 45 Object 1000h Device Type This object specifies the device type and the device profile implemented Table 39 Object 1000h Object Access Data type Designation Data values 1000h R UINT 32 Device Type see table 40 page 46 Table 40 Object 1000h details Bit Description Data values 31 24 The device type is output in the bits 31 16 01h ...

Page 47: ... R UINT 32 Error 4 00000000h FFFFFFFFh 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 Table 44 Object 1003h de...

Page 48: ...h R STRG 8 Byte Hardware Version Number E g HW_01 01 depending on the release Object 100Ah Software Version Number Table 49 Objekt 100Ah Object Access Data type Designation Data values 100Ah R STRG 8 Byte Software Version Number E g SW_01 01 depending on the release Object 100Ch Node Guarding Guard Time Table 50 Object 100Ch Object Access Data type Designation Description Data values 100Ch R W UIN...

Page 49: ... ters The parameters for all object types are saved see table 53 page 49 Table 53 Object 1010h details 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 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 2...

Page 50: ...values 1014h R W will not be saved UINT 32 COBID Emergency Message Communication object identifier of the emer gency 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 Object 1015h Emergency Inhibit Time Table 57 Object 1015h Object Access Data type Designation Description Data values 1015h R W UINT 1...

Page 51: ...e 60 Object 1018h details Bit Designation 31 24 Device Code 23 16 YY Jahr 15 10 WW Woche 9 0 Sequential number 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 receiv...

Page 52: ...NT 8 10h UINT 16 20h UINT 32 6 3 2 Parameter of the Receive PDO Object 1400h Communication Parameter for the 1st Receive PDO Table 63 Object 1400h Object Sub index 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 2 1 R W UINT 32 COB ID 0200h Node ID see table 4 page 22 0201h 027Fh 2 R W UINT 8 Transmi...

Page 53: ...time between two transmissions 0 1 ms 0 65 535 0 4 Reserved 5 R W UINT 16 Event Timer Timer for device specific or applica tion specific triggering 1 ms 0 32 767 0 NOTE Object 1800 05h is linked with object 6200h see table 83 page 61 Modified values are mutually applied Objekt 1801h Communication Parameter for the 2nd Transmit PDO Table 66 Object 1801h Object Sub index Access Data type Designation...

Page 54: ...ssion Type Transmission type see table 69 page 55 0 255 255 3 R W UINT 16 Inhibition Time Idle time between two transmissions 0 1 ms 0 65 535 0 4 Reserved 5 R W UINT 16 Event Timer Timer for device spe cific or applicationspe cific triggering 1 ms 0 32 767 0 Object 1803h Communication Parameter for the 4th Transmit PDO Table 68 Object 1803h Object Sub index Access Data type Designation Description...

Page 55: ...he application specific and device specific triggering only differ in that with device spe cific 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 121 page 72 The two trigge...

Page 56: ...2h Time Coun ter Sec Object 1A02h Mapping Parameter for the 3rd Transmit PDO Table 72 Object 1A02h default subindices Object Sub index 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 3 1 R W UINT 16 6030 01h Speed Value 16 Bit see table 74 page 57 2 R W UINT 16 2015h Temperature Value 3 R W UINT 32 2016...

Page 57: ... table 101 page 66 6300h 1 2 8 8 CAM State Register Channel 1 Channel 2 63000108h 63000208h see table 84 page 61 2010h 1 2 3 16 16 16 STW 1 Device Status Word S_STAT A S_STAT B S_STAT C 20100110h 20100210h 20100310h see table 125 page 74 2014h 32 Time Counter 20140020h see table 132 page 80 2015h 16 Temperature Value 20150010h see table 133 page 80 2016h 32 Position Value Raw 20160020h see table 1...

Page 58: ...h 0 2 R 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 R UINT 16 Operating Status 6501h R UINT 32 Physical Resolution Span PRS S...

Page 59: ...e possible Access to object 2022 hex absolute diagnos tic data stored permanently Switching between relative and absolute diagnostic data in object 2012 hex is no longer required 0 Not active 1 Active 11 3 Reserved 2 Scaling The bit enables scaling with objects 6001h and 6002h 0 Not active 1 Active 1 Commissioning diagnostic control 1 Always active 0 Code sequence cw ccw The code sequence defines ...

Page 60: ... g the encoder s zero position can be adjusted to the machine s zero point Table 80 Object 6003h Object Access Data type Designation Description Data values 6003h R W UINT 32 Preset Value Preset value 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 Object 6004h Position Value The actual positi...

Page 61: ...annel 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 Table 84 Object 6300h Object Sub index Access Data type D...

Page 62: ...at is to be used must be set to 1 in binary notation Table 86 Object 6301h Object Sub index Access Data type Designation Description Data values 6301h R W Array UINT 8 CAM Enable Register 0 R UINT 8 Number of entries 2 1 R W UINT 8 Channel 1 00h FFh 2 R W UINT 8 Channel 2 00h FFh Table 87 Object 6301h details Bit Designation Data values 7 Cam 8 0 Not used 1 Used 6 Cam 7 0 Not used 1 Used 5 Cam 6 0...

Page 63: ...0 High active 1 Low active 0 Cam 1 0 High active 1 Low active 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 switc...

Page 64: ...idth 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 Table 92 Object 6330h 6337h Object Sub index Access Data type Designation Description Data values 6330h 6337h R W Array UINT 116 CAM 1 8 Hysteresis 0 R UINT 16 Number of entries 2 1 R W UINT 16...

Page 65: ...n Data values 6503h R UINT 16 Alarm Status see table 98 page 65 Table 98 Object 6503h details Bit Designation Data values 15 13 Reserved 12 EEPROM error Dependent of Bit 15 and 7 of object 2010 01h see table 126 page 74 0 Not active 1 Active 11 1 Reserved 0 Position error Dependent of Bit 14 11 6 and 4 of object 2010 01h see table 126 page 74 0 Not active 1 Active NOTE The related bit remains acti...

Page 66: ...outside the permissible range 0 Not active 1 Active 12 Frequency speed outside the range allowed 0 Not active 1 Active 11 1 Reserved 0 Maximum frequency speed outside the range allowed 0 Not active 1 Active NOTE The related bit remains active until the warning is reset by the encoder It then changes to inactive again Object 6506h Supported Warnings Table 103 Object 6506h Object Access Data type De...

Page 67: ... objects 100Ah and 1018h Table 106 Object 6507h details 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 Object 6508h Operating Time Table 107 Object 6508h Object Access Data type Designation Description Data values 6508h R UINT 32 Oper...

Page 68: ...anufacturer specific objects a differentiation is made between the following object types objects for the encoder configuration objects that provide status information Table 111 Implemented manufacturer specific objects for the encoder configuration Object Sub index 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 A...

Page 69: ...ription Data values 15 13 Reserved 12 Preset Function Request PreReq Sets the preset value that is passed with the object 2005h see table 119 page 71 0 Inactive 1 Active 11 Preset Mode Shift Positive The preset value is added to the current position value 0 Inactive 1 Active 10 Preset Mode Shift Negative The preset value is subtracted from the current position value 0 Inactive 1 Active 9 1 Reserve...

Page 70: ...2h Speed Calculation Configuration Table 116 Object 2002h Object Sub index 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 6 1 R W UINT 16 Operation Control Controls the mode for the speed calculation 0 Not active 1 Active 2 R W UINT 16 Format measuring units Speed measuring unit 0 cps 1 cp10...

Page 71: ...c parameters and the fac tory 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 power on Parameters Offset Preset value and Offset for round axis will be saved Object 2005h Configuration Preset Value A preset value is transferred to the encoder using this paramet...

Page 72: ... speed and the heat dissipation in the installation situation 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 define...

Page 73: ...ject 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 Object 2008h Diagnosis Service A Configuration Using the object it can be defined how the entries in the object 2012h are handled siehe Tabelle 128 auf Seite 85 Table 123 Object 2008h Object Sub index Access Data type Designation Description Data values 2008h ...

Page 74: ... 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 126 Object 2010h State Flag 1 S_STAT A Bit Description Error code of the emer gency message 15 Memory error Invalid EEPROM checksum on initialization 5080h 14 Reserved 13 Error of the Sync multi counter Speed exceeds the upper limit of 12 500 rpm or Number of current errors on the calcu...

Page 75: ...lue the Err_PosVal is output and makes it possible to identify an error based on the cyclic process data see table 81 page 60 The output of the Err_PosVal must be configured using the object 6000h see table 76 page 59 Table 127 Object 2010h State Flag 2 S_STAT B Bit Description 15 Memory error caused by invalid checksum on reading the EEPROM during encoder initialization In the area of the sensor ...

Page 76: ...Object 2011h Object Sub index Access Data type Designation Description Data values 2011h R Array UINT 32 Real Scaling Parame ter Settings 0 R UINT 32 Number of entries 8 1 R UINT 32 Endless Shaft Opera tion Mode 1 Not active 2 Active 2 R UINT 32 Endless Shaft Offset Offset of the endless shaft function 0 67108864 3 R UINT 32 Internal PMR Shift Value Internal PMR shift value 4 R UINT 32 CNR_N Numbe...

Page 77: ... Mov ing Operating time in s the time during which the encoder has moved is output1 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 direction1 5 R UINT 32 Starts with Direction Backward Counter for start of the encoder in back ward direction1 6 R UINT 32 Starts with Al...

Page 78: ...ject Sub index Access Data type Designation Description Data values 2013h R Record Diagnosis Error Log ging Parameter 0 R UINT 8 Number of entries 16 1 R UINT 16 Warning in relation to the temperature Current measured value outside of the minimum or maximum limit 3 R UINT 16 Warning in relation to the supply voltage Current measured value outside of the minimum or maximum limit 4 R UINT 16 Positio...

Page 79: ...titurn stage 10 R INT 16 Position error Singleturn position incorrect 11 R INT 16 Position error Invalid or no synchro nization from the sin gleturn counter to the multiturn counter 12 R INT 16 Reserved 13 R UINT 32 Error of the Sync multi counter Speed exceeds the upper limit of 12 500 rpm or Number of current errors on the calcu lation of the single turn position above the limit of 10 errors 14 ...

Page 80: ...Position value inde pendent of any preset value and independ ent of the configured scaling AHS36 Basic 0 00000FFFh AHS36 Advanced Inox 0 00003FFFh AHM36 Basic 0 00FFFFFFh AHM36 Advanced Inox 0 03FFFFFFh Object 2017h Speed Value 32 Bit Table 135 Object 2017h Object Access Data type Designation Description Data values 2017h R INT 32 Speed Value 32 Bit Speed value in 32 Bit Object 2018h Time Counter ...

Page 81: ...ting Time Mov ing Operating time in s the time during which the encoder has moved is output1 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 direction1 5 R UINT 32 Starts with Direction Backward Counter for start of the encoder in back ward direction1 6 R UINT 32 Start...

Page 82: ...y volt age in mV 13 R INT 16 Max Operating Volt age Maximum supply volt age in mV 14 R UINT 32 Reserved 15 R UINT 32 Counter of Diagnosis Storage Counter for the save processes in the EEPROM 1 From movements with a speed 12 rpm 6 OBJECT LIBRARY 82 O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 8016869 1B4I 2021 03 08 SICK Subject to change without notice ...

Page 83: ...s 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 con...

Page 84: ... Baud rate page 22 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 Baud rate page 22 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 ...

Page 85: ...d rate and device ID are configured via the Layer Setting Services see Baud rate page 22 Figure 31 Integration in TwinCAT with EDS file b Start the TwinCAT system manager b Choose on the context menu for the CiA node in the device tree the command Scan boxes Figure 32 Context menu Scan boxes The encoder is displayed in the device tree as Box n in the example with factory config ured node ID 5 COMM...

Page 86: ...eds Multiturn Encoder Advanced AHM36_A_CO eds Singleturn Encoder Inox AHS36_I_CO eds Multiturn Encoder Inox AHM36_I_CO eds b 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...

Page 87: ... Status indication for the free run mode or configuration mode The status indication at the bottom right changes between Free Run in red and Config Mode in blue COMMISSIONING 7 8016869 1B4I 2021 03 08 SICK O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 87 Subject to change without notice ...

Page 88: ... the cyclic or acyclic output of the Transmit PDOs by the encoder there are the following options b Change the event timer in the objects 1800h 1803h see Parameter of the Transmit PDOs page 53 b Configure a trigger event using the CoS event handling configuration see table 121 page 72 b Change the transmission type in the objects 1800h 1803h see Parameter of the Transmit PDOs page 53 7 COMMISSIONI...

Page 89: ...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 see On safety page 9 COMMISSIONING 7 8016869 1B4I 2021 03 08 SICK O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 89 Subject to change without notice ...

Page 90: ... this chapter please contact your local SICK STEGMANN subsidiary 8 3 Error and status indications on the LED Figure 41 Position of the LED 8 3 1 Meaning of the LED displays The LED indicates the CANopen status of the encoder and errors on the CANopen bus Table 141 Meaning of the LED displays Display Description Status indications ôKõ Green Status of the CANopen state machine Stopped ôFõ Green Stat...

Page 91: ... ter Error field The object 2010h Device Status Word is manufacturer specific The contents of the subindices 1 and 2 are written to the emergency message Table 143 Error codes and error registers 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 o...

Page 92: ...8 4 3 Error during the SDO transfer In the case of an error during the SDO transfer a socalled Abort SDO Transfer Request is transmitted with an error code The following errors are possible Table 144 Error during the SDO transfer Value Description 05030000h Toggle bit has not changed 05040000h SDO protocol timeout 05040001h Client server command invalid or unknown 05040005h Memory too small 060100...

Page 93: ... 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 FAULT DIAGNOSIS 8 8016869 1B4I 2021 ...

Page 94: ...th the provisions of the following EU directive s including all applicable amendments and that the respective standards and or technical specifica tions have been applied Complete EU declaration of conformity for download www sick com 9 ANNEX 94 O P E R A T I N G I N S T R U C T I O N S AHS AHM36 CANopen AHS AHM36 CANopen Inox 8016869 1B4I 2021 03 08 SICK Subject to change without notice ...

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