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•

SDO access to the manufacturerspecific object 2009h – Network Configuration

•

access via Layer Setting Services

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.

Table 4: Communication object identifier for the encoder

COBID calculation
[Dec]
[Hex]

ID ranges
[Dec]
[Hex]

Function

Direction as
seen from
the encoder

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, Heart‐
beat, Boot-up

Send

2020 07E4h

Transmit-LSS

Send

2021 07E5h

Receive-LSS

Receive

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.

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 140,

page 83

The encoder supports the following baud rates:

INTEGRATION IN CANOPEN

8016869/1EF3/2021-12-08 | 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

Subject to change without notice

Содержание AHM36 IO-Link

Страница 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 ...

Страница 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 ...

Страница 3: ...ation 13 3 3 2 PDO mapping 13 4 Product description 14 4 1 Special features 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 18 4 3 Controls and status indicators 18 5 Integration in CANopen 19 5 1 Communication profile 19 5 1 1 CANopen in the OSI model 19 5 1 2 Communication channel...

Страница 4: ...of the Transmit PDOs 52 6 3 4 Transmission types 54 6 3 5 Objects and their subindices that can be mapped 56 6 4 Encoder profile specific objects 57 6 4 1 Encoder parameters 58 6 4 2 Objects for the electronic cam mechanism CAM 60 6 4 3 Objects for diagnostics 63 6 5 Manufacturerspecific objects 67 6 5 1 Objects for the encoder configuration 68 6 5 2 Objects that provide status information 73 7 Co...

Страница 5: ...2 Alarms warnings and status 91 8 4 3 Error during the SDO transfer 91 9 Annex 93 9 1 Conformities and certificates 93 9 1 1 Compliance with EU directives 93 9 1 2 Compliance with UK statutory instruments 93 CONTENTS 8016869 1EF3 2021 12 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 ...

Страница 6: ...ncoder are to be integrated They also address people who initialize the use of the AHS AHM36 CANopen und 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 installa tion mounting and operation of the AHS AHM36 CANopen und AHS AHM36 CANopen Inox in an industrial environment 1 4 Informatio...

Страница 7: ...follow the instructions 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 6 Abbreviations used CAN Controller Area Network CANopen CANopen is a registered trademark of CAN in Automation e V CMR Counts per Measuring Range CNR_D Customized Number of Revo...

Страница 8: ...R Physical Measuring Range PRS Physical Resolution Span per revolution RTR Remote Transmission Request request telegram for PDOs SDO Service Data Object 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 1EF3 2021 12 08 SICK Subject to change without notice ...

Страница 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 ...

Страница 10: ...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 applicabl...

Страница 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 21 Changing node ID and or baud rate using the object 2009h To change th...

Страница 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...

Страница 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 52 b Configure a trigger event using the CoS event handling configuration see table 121 page 71 b Change the transmission type in the objects 1800h 1803h see Parameter of the Transmit PDOs page 52 Pay attention to the inhibition...

Страница 14: ...06 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 Absolute Encoder in 36 mm design C C C C C C Electrosensitive magnetic ...

Страница 15: ...apted 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 AHS AHM36 CANopen und AHS 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 ...

Страница 16: ...utions is predefined 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 f...

Страница 17: ...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 PRODUCT DESCRIPTION 4 8016869 1EF3 2021 12 08 SICK O...

Страница 18: ...oint 2 and the upper switching point 3 which can be configured via CANopen see Objects for the electronic cam mechanism CAM page 60 4 3 Controls and status indicators The AHS AHM36 CANopen und AHS AHM36 CANopen Inox Absolute Encoder has one status LED LED Figure 6 Position of the LED The LED is multicolored see table 141 page 89 shows the meaning of the signals 4 PRODUCT DESCRIPTION 18 O P E R A T...

Страница 19: ...nd AHS AHM36 CANopen Inox see Objects and their subindices that can be mapped page 56 Figure 7 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 COBID The COB IDs are based on the node IDs for the individua...

Страница 20: ...n also be used for communication see Process Data Objects PDO page 30 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 Figur...

Страница 21: ...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...

Страница 22: ...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...

Страница 23: ...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...

Страница 24: ...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...

Страница 25: ... 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...

Страница 26: ... 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...

Страница 27: ...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...

Страница 28: ...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...

Страница 29: ...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...

Страница 30: ...change 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 12 Example for Transmit PDO and Receive PDO 8 data bytes are available on the transmission of the process data Table 29 Format of the Transmit PDOs COB ID Data 0180h Node ID Byte 0 Byte 1 Byte ...

Страница 31: ...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 purpos...

Страница 32: ... This event is defined in object 2007h see table 121 page 71 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...

Страница 33: ...sly 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 µs1 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 ...

Страница 34: ...et 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 startup configuration 5 8 1 EDS file To be able to integrate the AHS AHM36 CANopen and AHS AHM36 CANopen Inox straightforwardly in a C...

Страница 35: ...nfiguration dialog box 101b 5h Figure 16 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 resolu tion and total resolution applied Code sequence The code sequence defines which direction of rotation increases t...

Страница 36: ...ange The total resolution is configured using the object 6002h see table 79 page 59 Figure 18 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...

Страница 37: ...he 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 80 page 59 The encoder immediately ado...

Страница 38: ... 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 50 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...

Страница 39: ...h 1803h see Parameter of the Transmit PDOs page 52 b Configure a trigger event using the CoS event handling configuration see table 121 page 71 b Change the transmission type in the objects 1800h 1803h see Parameter of the Transmit PDOs page 52 5 8 5 Speed measurement The speed measurement is configured using the object 2002h Speed Calculation Configuration see table 116 page 69 Figure 23 Example ...

Страница 40: ...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 69 Figure 25 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...

Страница 41: ...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 60 INTEGRATION IN ...

Страница 42: ...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 42 Table 35 Numerical example configuration of Channel 1 Cam 1 of the cam switch Object number xxxx ...

Страница 43: ... The effect of the hysteresis settings on the switching point is shown in see table 36 page 43 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...

Страница 44: ...rent data types e g UINT8 UINT32 UINT32 UINT16 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...

Страница 45: ... which the content is not clear from the overview see table 38 page 44 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 45 Table 40 Object 1000h details Bit Description Data values 31 24 The device type is output in the bits 31 16 01h ...

Страница 46: ... 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...

Страница 47: ...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...

Страница 48: ... ters The parameters for all object types are saved see table 53 page 48 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...

Страница 49: ...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...

Страница 50: ...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...

Страница 51: ...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 21 0201h 027Fh 2 R W UINT 8 Transmi...

Страница 52: ...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 application specific triggering 1 ms 0 32 767 0 NOTE Object 1800 05h is linked with object 6200h see table 83 page 60 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...

Страница 53: ...ssion Type Transmission type see table 69 page 54 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 application specific 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...

Страница 54: ...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 71 The two trigge...

Страница 55: ...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 56 2 R W UINT 16 2015h Temperature Value 3 R W UINT 32 2016...

Страница 56: ... table 101 page 65 6300h 1 2 8 8 CAM State Register Channel 1 Channel 2 63000108h 63000208h see table 84 page 60 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 73 2014h 32 Time Counter 20140020h see table 132 page 79 2015h 16 Temperature Value 20150010h see table 133 page 79 2016h 32 Position Value Raw 20160020h see table 1...

Страница 57: ...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...

Страница 58: ...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 ...

Страница 59: ... 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...

Страница 60: ...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...

Страница 61: ...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...

Страница 62: ...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...

Страница 63: ...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...

Страница 64: ...n Data values 6503h R UINT 16 Alarm Status see table 98 page 64 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 73 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 73 0 Not active 1 Active NOTE The related bit remains acti...

Страница 65: ...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...

Страница 66: ... 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...

Страница 67: ...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...

Страница 68: ...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 70 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...

Страница 69: ...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...

Страница 70: ...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...

Страница 71: ... 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...

Страница 72: ...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 ...

Страница 73: ... 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...

Страница 74: ...lue the Err_PosVal is output and makes it possible to identify an error based on the cyclic process data see table 81 page 59 The output of the Err_PosVal must be configured using the object 6000h see table 76 page 58 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 ...

Страница 75: ...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...

Страница 76: ... 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...

Страница 77: ...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...

Страница 78: ...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 ...

Страница 79: ...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 ...

Страница 80: ...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...

Страница 81: ...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 OBJECT LIBRARY 6 8016869 1EF3 2021 12 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 81 Subject to change without notice ...

Страница 82: ... product information for the AHS AHM36 CANopen und 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 28 Connection types The connecti...

Страница 83: ... s 50m 250m NOTE The baud rate of the encoder can be configured in the following manner using object 2009h see table 124 page 73 by accessing via Layer Setting Services see Baud rate page 21 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 21 7 3 Configuration The AHS AHM36 CA...

Страница 84: ... 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 Baud rate page 21 Figure 31 Integration in TwinCAT with EDS file b Start the TwinCAT system manager b Choose on the context menu fo...

Страница 85: ... tree b On the Online tab click Advanced The Advanced settings dialog box is opened Figure 34 Advanced settings dialog box b Choose Offline via EDS file and the appropriate EDS file using the Browse button COMMISSIONING 7 8016869 1EF3 2021 12 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 85 Subject to change without notice ...

Страница 86: ...T 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 b Click OK or Yes 7 COMMI...

Страница 87: ...ht 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 COMMISSIONING 7 8016869 1EF3 2021 12 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 ...

Страница 88: ...using the CoS event handling configuration see table 121 page 71 b Change the transmission type in the objects 1800h 1803h see Parameter of the Transmit PDOs page 52 7 4 Tests before the initial commissioning CAUTION 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...

Страница 89: ...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 Status of the CANopen state machine Preoperational O Green Status of the CANopen state machine Operational Error messages o Off No supply voltage...

Страница 90: ...000h 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 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 8210h 11h PDO not executed...

Страница 91: ...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 incompat...

Страница 92: ...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 8 FAULT DIAGNOSIS 92 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 1EF3 2021 12 08 SICK Subject to change without notice ...

Страница 93: ... standards and or technical specifications stated in the EU declaration of conformity have been used as a basis for this 9 1 2 Compliance with UK statutory instruments UK declaration of conformity extract The undersigned representing the following manufacturer herewith declares that this declaration of conformity is issued under the sole responsibility of the manufacturer The product of this decla...

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