User manual CANopen
Contents
1. Sub index 00h Description number of entries Access ro Data type UNSIGNED 8 EEPROM no Default 2h Sub index Oth Description The manufacturer identification number vendor ID for the company SIKO GmbH allocated by the CiA see www can cia org Access ro Data type UNSIGNED 32 EEPROM no Default 195h Sub index 02h Description indicates the display version ASCIl coded Access ro Data type UNSIGNED 32 EEPROM no Default CAN Data content Byte 0 Byte 1 Byte 2 Byte 3 43h C 41h A 4Eh N 00h Date 13 02 2015 Page 29o0f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 1200h Server SDO parameter Sub index 00h Description largest sub index supported Access ro Data type UNSIGNED 8 EEPROM no Default 2h Sub index Oth Description COB ID Client gt Server rx Access ro Data type UNSIGNED 32 EEPROM yes Default 00000600h Node ID Sub index 02h Description COB ID Server gt Client tx Access ro Data type UNSIGNED 8 EEPROM no Default 00000580h Node ID Object 1400h Receive PDO1 parameter asynchronous operational mode AP04 Sub index 00h Description largest sub index supported Access ro Data type UNSIGNED 8 EEPROM no Defaul2. Date 13 02 2015 Page 160f 47 Art no 84783 Rev status 61 15 Passive state intelligente Weg und Winkelmess Systeme If value 11h is in the error register the meaning of bytes 3 6 in the emergency telegram will be changed The value 11h indicates errors that have occurred during transfer of data on the CAN bus see description Error codes The encoder has changed to the Error With diminished interference on the CAN bus the encoder returns automatically to the nor mal state designated Error active Otherwise if interference continues to increase the en coder will change to the bus off state with subsequent restart characterized by a boot up message and an additional emergency message byte3 and byte4 0 Emergency message in the case of bus errors AP04 COB ID Byte 0 Byte1 Byte 2 Byte 3 Byte 4 Byte 5 Byte6 Byte 7 80h Node ID Error Code Error Transmit Receive 00h 00h 00h Register Error Error Counter Counter As with the SDO error messages pre defined error messages are assigned to the EMERGENCY object as well A subset of these error codes described in the CAN Application Layer DS301 is used by the AP04 They are described in the table below Byte 0 Byte 1 Error Code Error Codes Description 0000h no error 8120h encoder is in the Error Passive Mode 8140h recover
3. COB ID Process data in binary code 11bits Byte 0 LSB Byte 1 Byte 2 Byte 3 MSB RPDO1 Position value in two s complement representation 200h Node ID RPDO2 300h Node ID Date 13 02 2015 Page 140f 47 Art no 84783 Rev status 61 15 Transfer of the SDO data parameterization intelligente Weg und Winkelmess Systeme The object directory of the position indicator can be accessed via an SDO message All device pa rameters are stored in this object directory under standardized addresses indexes and can be writ ten to and read by means of SDOs In the expedited request response mode SDO will only be communicated between two units Two SDO services are available SDO tx AP04 master SDO rx master AP04 AP04 The SDO identifiers cannot be changed SDO messages are set up as follows 580h Node ID 600h Node ID COB ID Command Index Sub index Service data parameters SDO Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Node ID read write LSB MSB LSB MSB For the meaning of index sub index and data please refer to chapter 6 Directory of objects The command byte specifies the length of the service data parameters In the case of the AP04 the following command bytes are valid Command byte Type Function 23h SDO rx Initiate Download Request Send parameter to AP04 ex
4. At present the product family of absolute indicators consists of the following 2 types AP04 with RS485 interface AP04 with CAN interface CANopen Both versions are available in hollow shaft design and standard dimensions with 20 mm shaft diameter Although designed with a bus interface the position indicator is very compact The AP04 functions with the following communication protocols CAN CANopen interface SN3 RS485 with SIKONETZ3 protocol SN4 RS485 with SIKONETZ4 protocol SSP RS485 with Service Standard protocol 2 Brief description In general Absolute position indicator with a 20 mm hollow shaft suitable for direct shaft mounting Set point and actual value are displayed via the 2 line LC display In case of non conformance of actual value and set point a di rection indication arrow is shown The direction of the arrow indicates into which direction the shaft should be rotated in order to arrive at the set point The user can set the threshold of deviation where the arrows will be shown Addionally various visualization tasks can be realized by means of two coloured LEDs green and red The device parameters can be adjusted by means of 3 keys The set point can be changed and individual device parameters adjusted via the integrated CAN bus interface AP04 Date 13 02 2015 Page 5of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme a gt t Scanning is magnetically incr
5. 1 0 3 not used S 4 battery warning battery voltage OK battery voltage near lowest tolerable value 8 oe U6 not used z Object 6506h Supported Warnings Sub index 00h Description The object indicates which warnings are supported Access ro Data type UNSIGNED 16 EEPROM no Default 0010h Bit 4 Battery warning is supported Object 6507h Profile and Software Version Sub index 00h Description The object indicates the encoder profile used CANopen Device profile for encoders and the version number of the firmware state Access ro Data type UNSIGNED 32 EEPROM no Default 00100301h Data content Firmware Version Profile Version AP04 Byte 3 High Byte 2 Low Byte 1 High Byte 0 Low 00h 10h 03h Oth Date 13 02 2015 Page 45 of 47 Art no 84783 Rev status 61 15 Object 6508h Operating Time intelligente Weg und Winkelmess Systeme Sub index 00h Description Operation time counter not implemented in the AP04 Access ro Data type UNSIGNED 32 EEPROM no Default FFFFFFFFh shows that the function is not supported Object 6509h Encoder Zeroing Value Sub index 00h Description The difference between encoder value and the position value scaled and off set with preset and or Manufacturer Offset is output via this object
6. new target value 1500 direct travel to target position e Case 2 gt new target value 500 The positioning aid arrows of AP04 requires that the target position 500 will be exceeded by the loop width object 5F 14h Upon reaching the loop target position 400 target position loop width the positioning arrows will be reversed and travel to the target position 500 is enabled AP04 Date 13 02 2015 Page 39o0f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 5F16h Read target value Sub index 00h Description Read target value Access rw writable in the Pre Operational and Operational states write access only via PDO Data type UNSIGNED 32 EEPROM no Default Oh Value range 0 4 294 967 296 Oh FFFFFFFFh Any attempt at writing on this object via SDO will result in an error message error code 06010000h Object 5F18h External Heartbeat source Sub index 00h Description Event triggering an external heartbeat timer object 5FO9h Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM yes Default Oh Value range 0 1 0 Timer is triggered when receiving a PDO target value 1 Timer is triggered when receiving a sync Object 5F19h AP04 status AP04 Sub index 00h Description The status byte informs about the current state
7. 00h Description The Position value of the encoder is set to this preset calibration value when Position value measured value calibration value offset value see object 6004h Access rw writable in the Pre Operational and Operational states Data type SIGNED 32 EEPROM yes Default Oh Value range 0 4 294 967 296 Oh FFFFFFFFh Object 6004h Position value AP04 Sub index 00h Description This object provides the position value of the encoder offset with the scaling factors preset and Manufacturer Offset Access ro Data type SIGNED 32 EEPROM no The position value of the AP04 is calculated by using the following formula Encoder value Encoder zeroing value RF Preset value Manufacturer Offset Date 13 02 2015 Position value encoder value encoder zeroing value RF preset value Manufac turer Offset absolute value sensed by the encoder sensor system absolute value at the time of zeroing Calculation scaling factor readout per revolution 720 see Object 6300h see Object 2100h Page 42 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme With the AP04 the total measuring range is subdivided into a negative and positive value range 1 2 total measuring range 0 1 2 total measuring range 1 Therefore the representation of the position value is in the 2 complement format in a signed 32 bit
8. 6001h Measuring units per parameterization of the resolution in steps revo 41 Revolution lution of the encoder 6002h Total measuring range parameterization of the total measuring range of 42 in measuring units the encoder 6003h Preset Value parameterization of a pre set calibration value 42 6004h Position Value position value offset with pre set and manufac 44 turer offset value 6200h Cycle Timer PDO1 value in ms identical with object 1800h sub index 5 43 6500h Operating Status indicates the sense of rotation and scaling func 43 tion currently set 6501h Resolution indicates the maximum possible resolution in 43 steps revolution 6502h_ Number of distin indicates the maximum possible number of revo 44 guishable Revolutions lutions 6503h Alarms indication of error states 44 6504h Supported Alarms indicates which alarm messages are supported 44 6505h Warnings indication of warnings 45 6506h Supported Warnings indicates which warnings are supported 45 6507h Profile and Software indicates the version number of the device profile 45 Version used and the version number of the encoder s firmware 6508h Operating Time outputs the value FFFFFFFFh function is not 46 supported 6509h Offset Value corresponds with the encoder s zero point value 46 650Ah Module Identification device specific parameters Manufacturer offset 46 Manufacturer min position value Manufacturer max position value can be repre
9. access attempt generates error message Sub index 05h is not used access attempt generates error message Object 1A00h Transmit PDO1 Mapping parameter Sub index 00h Description number of objects mapped Access ro Data type UNSIGNED 8 EEPROM no Default 2h Sub index Oth Description Describes the 1 portion of the PDO1 message data bytes 0 to 3 Access ro Data type UNSIGNED 32 EEPROM no Default 60040020h Object 6004h 32bit position value Sub index 02h Description Describes the 2 portion of the PDO1 message data byte 4 Access ro Data type UNSIGNED 8 EEPROM no Default 5F190008h Object 5F19h 8bit AP04 status Date 13 02 2015 Page 34o0f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 1A01h Transmit PDO2 Mapping parameter Sub index 00h Description number of objects mapped Access ro Data type UNSIGNED 8 EEPROM no Default 2h Sub index Oth Description Describes the 1 portion of the PDO2 message data bytes 0 to 3 Access ro Data type UNSIGNED 32 EEPROM no Default 60040020h Object 6004h 32bit position value Sub index 02h Description Describes the 2 portion of the PDO2 message data byte 4 Access ro Data type UNSIGNED 8 EEPROM no Default 5F190008h Object 5F19h 8bit AP04 status Object 2001h Manuf
10. are addressed Command byte ee Description State sina taa State Oth Start_Remote_Node change from state Pre 1 Operational or Stopped to Operational 02h Stop_Remote_Node change to state Stopped 2 80h Enter_PRE OPERATIONAL_ State change to state 3 Pre Operational 81h Re initialization of CAN connection warm start 82h Reset AP04 warm start NMT status After initializing the encoder is in the Pre Operational state SDO parameters can be read and written in this state To request PDOs the encoder must first be switched to the Opera tional state AP04 Date 13 02 2015 Page 180f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Power on or software reset a Re initialization D CAN card A Init lt Initialization S A CAN communication A P Sy 7 poe a vaN Per 7 BootUp Message gt E ra I Pre Operational a 3 1 Stopped oe ue Fig 1 CAN status diagram The individual NMT states Init After initialization the encoder logs in at the CAN bus with a boot up message Afterwards the encoder changes automatically to the Pre operational state The COB ID of the boot up message is made up of 700h and the node ID COB ID Byte 0 700h Node ID 00h Pre Operational Mode SDOs can be read and written in the Pre Operational Mode Operational Mode In the
11. content of the PDO1 message Access ro Data type UNSIGNED 32 EEPROM no Default 5F160020h object 5F16h 32bit Object 1601h Receive PDO2 Mapping parameter Sub index 00h Description number of objects mapped Access ro Data type UNSIGNED 8 EEPROM no Default th Sub index Oth Description Describes the content of the PDO2 message Access ro Data type UNSIGNED 32 EEPROM no Default 5F160020h object 5F16h 32bit Object 1800h Transmit PDO1 parameter asynchronous operation mode Date 13 02 2015 AP04 Sub index 00h Description largest sub index supported Access ro Data type UNSIGNED 8 EEPROM no Default 5h Sub index Oth Description COB ID of the PDO1 Access rw writable in the Pre Operational state only Data type UNSIGNED 32 EEPROM yes Default 40000180h Node ID Bit30 1 RTR for this PDO not released bit is always set Page 32of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Sub index 02h Description Transmission Type Access ro Data type UNSIGNED 8 EEPROM no Default FEh 254 PDO has asynchronous characteristics PDOs are sent de pending on the Event Timer This value cannot be changed Sub index 03h is not used access attempt generates error message Sub index 04h is not used access
12. faults pre sent at the mounting site of the encoder Access ro Data type UNSIGNED 32 EEPROM no Default 0 Data content Byte 0 Byte 1 Byte 2 Byte 3 Receive Error Counter Transmit Error Counter Date 13 02 2015 Page 24o0f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme For details on the above mentioned counters refer to the relevant CAN bus publications Object 1003h Pre defined Error Field the object stores the 8 error states that have occurred last the entry under sub index 0 indicates the number of errors saved each newly error state added is stored under sub index 1 Previous error messages yslip in their position by one digit the whole error list is deleted by writing the value 0 at sub index 0 The entries in the error list have the format described in Emergency Service Sub index 00h Description number of the error messages stored Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM no Default 0 Value range 0 8 Sub index Oth 08h Description error messages that occurred Access ro Data type UNSIGNED 32 EEPROM no Default 0 Object 1005h COB ID SYNC message Sub index 00h Description Defines the COB ID of the synchronization object SYNC Access rw writable in the Pre Operat
13. no such event occurs the AP04 will change to the Pre operational state Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM yes Default 300 12Ch Value range 0 65535 Oh FFFFh the numerical value corresponds to a multiple of 1 ms The function is disabled by writing the value 0 Object 5FOAh Node ID Object 5F10h Target window Object 5F11h Decimal places AP04 Sub index 00h Description Node ID of AP04 Access rw writable in the Pre Operational and Operational states The ID set here will become valid only after re initialization of communication or power up Data type UNSIGNED 8 EEPROM yes Default Oh Value range 1 127 1h 7Fh Sub index 00h Description max valid deviation from target value if actual value is within the window target value achieved Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 32 EEPROM yes Default 5h Value range 0 4 294 967 296 Oh FFFFFFFFh Sub index 00h Description Number of decimal places Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM yes Default Oh Value range 0 4 Oh 4h Date 13 02 2015 Page 37 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess S
14. of AP04 Access ro writable in the Pre Operational and Operational PDO states only Data type UNSIGNED 8 EEPROM yes Default Oh Value range 0 2Fh The bits of the status byte have the following meaning Bit 7 6 5 4 3 2 1 0 0 lt off gt off increm meas 0 Batt ok ACT lt TARG Not IN POS 1 lt on gt on increm meas set Batt warn ACT gt TARG IN POS Any attempt at writing on this object will result in an error message error code 06010000h Date 13 02 2015 Page 40 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 6000h Operating Parameters o Sub index 00h Description This object influences the encoder s sense of rotation and the scaling function Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 16 EEPROM yes Default Oh Bit definition Bit 14 Bit 3 Bit 2 Bit 1 Bit 0 Function not used Scaling not used Sense of rotation Bit 0 disabled CW Bit 1 enabled E CCW Explanation of the functions sense of rotation ascending position values with clockwise CW encoder rotation view at the display E sense of rotation ascending position values with counter clockwise CCW encoder rotation view at the display Scaling disabled The encoder
15. tem design as well as the use of simplified devices CANopen has been optimized for fast data ex change in real time systems The organization CAN in Automation CiA is responsible for the applicable standards of the respec tive profiles AP04 Date 13 02 2015 Page 10of 47 Art no 84783 Rev status 61 15 The AP04 intelligente Weg und Winkelmess Systeme The position indicator AP04 with CANopen interface fulfils the conditions specified in the CANopen Application Layer and Communication Profile CiA Draft Standard 301 version 4 02 and in the CANopen Device profile for encoders CiA Draft Standard 406 version 3 1 CAN 2 0A CANopen enables easy access to all device and communication parameters synchronisation of several devices automatic configuration of networks cyclic and event triggered data traffic CANopen consists of four communication objects COB with different features Process Data Objects PDOs for real time data Service Data Objects SDOs for parameter and program transfer Network Management NMT Predefined objects for synchronization emergency message The description of the device functionality via an object directory is the central element of the CAN open standard The object directory is subdivided into an area containing general information on the device device identification manufacturer s name etc and communication parameters and an area describing the s
16. the position value encoder internally 2002h Zero encoder set position value to value 0 condition pre set 36 value 0 2003h Enable for zeroing indicates whether zeroing via key actuation is 36 enabled 2004h Enable for incremen indicates whether setting the position value as an 36 tal measurement incremental measurement via key actuation is enabled 5FO9h External heartbeat timer expected heartbeat cycle time 37 5FOAh Node ID Node ID 37 Change only active after re initialization 5F10h Target window max deviation from target value if actual value 37 within the window target value achieved AP04 Date 13 02 2015 Page 22of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Index Name Description see page 5F11h Decimal places Number of decimal places 37 5F12h Display orientation 0 or 180 38 and LED Function of the LEDs 5F13h_ display divisor 38 5F14h Loop width Width of the loop 38 5F15h_ Loop direction Direction from which travel to target value must 39 be started 5F16h_ Read target value Read current target value write access only via 40 PDO 5F18h_ Trigger source of ext Signal which triggers external heartbeat 40 heartbeat 5F19h Device status is attached to position value in PDO 40 6000h Operating Parameters setting of sense of rotation and scaling function 41
17. Access ro Data type SIGNED 32 EEPROM yes Encoder zeroing value encoder value position value preset value manufacturer offset Scaling factor Object 650Ah Module Identification AP04 The Manufacturer Offset value Sub index 1 the smallest sub index 2 and the largest sub index 3 position value can be read out via this object Sub index 00h Description contains the number of additional sub indexes Access ro Data type UNSIGNED 8 EEPROM no Default 3h Sub index 01h Description manufacturer specific offset value is added to the position value see object 2001h Access ro Data type SIGNED 32 EEPROM yes Default Oh Date 13 02 2015 Page 46 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 650Bh Serial Number AP04 Sub index 02h Description Minimum transferable position value Access ro Data type SIGNED 32 EEPROM no Default 5242880 Sub index 03h Description Maximum transferable position value Access ro Data type SIGNED 32 EEPROM no Default 5242880 Sub index 00h Description Provides the serial number of the encoder not supported with the AP04 Access ro Data type UNSIGNED 32 EEPROM no Default FFFFFFFFh function is not implemented Date 13 02 2015 Page 47 of 47 Art no 84783 Re
18. B Least significant bit byte MSB Most significant bit byte NMT Network Management Service element of CAL responsible for initialization configura tion and error handling on the network PDO Process Data Object Object for exchanging process data RTR Remote Transmission Request data request telegram SDO Service Data Object communication object that enables the master to access the object directory of a node AP04 Date 13 02 2015 Page 4of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme gt gt SYNC Synchronization telegram Bus stations respond to the SYNC command by sending their process values Figures if not explicitly stated otherwise decimal values are given as figures without an extension e g 1234 binary values are marked after the figure with a b e g 19011b hexadecimal values with an h e g 280h Intended use The AP04 position indicator is a high precision measuring instrument It serves exclusively for the acquisition and output of position values for processing and providing measured values as electrical output signals for an upstream control as well as for the indication of target values and positioning aids The AP04 must be used exclusively for these applications Conversion or alteration of the device not approved by SIKO is forbidden for safety reasons Refrain from any operation that may compromise safety with the device The AP04 product family
19. CANopen network nodes Each network node can be monitored by a higher order master via the so called Node Guard or alternatively announce its ability to communicate by cyclic sending of a so called heartbeat message The heartbeat method is intended for the AP04 One or several network subscribers can receive this message and thus monitor the as signed subscriber In object 1017h Producer Heartbeat Time the time of the heartbeat interval can be depos ited The value 0 disables heartbeat The heartbeat message consists of the COB ID and an additional byte In this byte the cur rent NMT state is deposited COB ID 700h Node ID Byte 0 NMT state Date 13 02 2015 Page 20of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme NMT states 0 Boot Up 4 Stopped 5 Operational 127 Pre Operational 6 Directory of objects In the object directory of a CANopen device all features and parameters of this device are deposited Specific parameters of the objects directory are deposited in a power failure safe memory of the encoder and are copied into the main memory during power on or re initialization Access to the directory of objects is via the SDO services described in section Transfer of the SDO data parameteri zation The object directory is subdivided into three separate areas standard objects applicable to all CANopen instrume
20. acturer offset Sub index 00h Description The offset enables the shifting of a scaled value range The offset value is added to the position value in the encoder Positive as well as negative values are permitted Position value measured value calibration value offset value Access rw Data type SIGNED 32 EEPROM yes Default Oh Value range The minimum or maximum values to be entered depend on the values en tered in object 650Ah sub index 2 or sub index 3 respectively The latter depend on the parameterized value of the total of measuring steps lower_limit 2 total of measuring steps 5242880 upper_limit 2 total of measuring steps 1 5242779 5242880 lt offset lt 5242779 AP04 Date 13 02 2015 Page 35o0f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 2002h Zeroing of encoder value Sub index 00h Description The object enables zeroing of the measured value Position value measured value calibration value offset value Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM no Default no Value range 0 1 writing the value 1 on sub index 0 sets the position value to 0 After renewed zeroing the figure 1 will be output in case of read access Example Measured value 214 calibration value 400 offset value 0 results in position value 614 see obj
21. attempt generates error message Sub index 05h Description Event Timer Access rw writable in the Pre Operational state only Data type UNSIGNED 16 EEPROM yes Value range 0 65535 1h FFFFh the numerical value corresponds to a multiple of 1 ms The service is disabled by writing the value 0 The content of this object is identical with object 6200h If value is changed whilest timer is running new value will only be displayed when timer has run off Object 1801h Transmit PDO2 parameter synchronous operation mode AP04 Sub index 00h Description largest sub index supported Access ro Data type UNSIGNED 8 EEPROM no Default 5h Sub index Oth Description COB ID of the PDO2 Access rw writable in the Pre Operational state only Data type UNSIGNED 32 EEPROM yes Default 00000280h Node ID Sub index 02h Description Transmission Type Access rw writable in the Pre Operational state only Date 13 02 2015 Page 330f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Data type UNSIGNED 8 EEPROM yes Default th PDO has synchronous characteristics Value range th FOh 240 the PDO will be sent following every SYNC command FDh 253 encoder responds to RTR request Sub index 03h is not used access attempt generates error message Sub index 04h is not used
22. default values are loaded Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 32 EEPROM no Default Oh Data content Bit 31 1 0 Bit 0 0 Encoder does not permit loading of default parameters 1 Encoder permits loading of default parameters Object 1014h COB ID Emergency Object Sub index 00h Description Defines the COB ID of the Emergency object EMCY Access rw writable in the Pre Operational state only Data type UNSIGNED 32 EEPROM yes Default 80h Node ID Data content Bit 31 0 EMCY object exists is valid 1 EMCY object does not exists is invalid Bit 30 always 0 Bit 29 0 11bits identifier CAN 2 0A 1 29bits identifier CAN 2 0B not supported Bit 28 11 0 if bit 29 0 Bit 10 0 X bits 10 0 of the EMCY COB ID Date 13 02 2015 Page 28 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 1017h Producer Heartbeat Time Sub index 00h Description defines the cycle time of the heartbeat monitoring service Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 16 EEPROM yes Default Oh Value range 10 65535 Ah FFFFh the numerical value corresponds to a multiple of 1 ms Value 0 disables the service values in the range of 1 9 trigger an error message Object 1018h Identity Object
23. ect 6004h Index Index Sub Data 0 Data 3 COB ID Command Low High index LSB Data 1 Data 2 MSB 600h Node ID 23h 02h 20h 00h Oth 00h 00h 00h Measured value 0 results in position value 400 This function does not depend on zeroing enable via keyboard object 2003h Object 2003h Enable zeroing of encoder value via keyboard Sub index 00h Description Zeroing via key is enabled with this object Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM yes Default no Value range 0 Zeroing via key disabled 1 Zeroing via 1 key enabled Object 2004h Incremental measurement enable Date 13 02 2015 AP04 Sub index 00h Description Switching on incremental measurement function via t key is enabled with this object Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM yes Default no Value range 0 Incremental measurement function via t key disabled 1 Incremental measurement function via t key enabled Page 36 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 5F09h External Heartbeat Timer Sub index 00h Description If a value gt 0 is entered here the AP04 will expect an event to occur in this interval s object 5F18h If
24. ect serves only for information that the encoder automatically stores specific parameters in the EEPROM The Store Parameter command is not required for parameter storage Sub index 00h Description describes the number of entries present in sub index 1 Access ro Data type UNSIGNED 8 EEPROM no Default 1h Date 13 02 2015 Page 26of 47 Art no 84783 Rev status 61 15 AP04 intelligente Weg und Winkelmess Systeme Sub index Oth Description describes the behavior of the encoder how parameters are stored in the EEPROM Access ro Data type UNSIGNED 32 EEPROM no Default 2h Data content Bit 31 2 0 Bit 1 0 encoder does not store parameters automatically 1 encoder stores parameters automatically following write access to relevant object Bit 0 0 encoder does not store parameter by command 1 encoder stores parameter by command The following table represents the parameters which are stored non volatilely in the EEPROM Object Sub index Description Default value 1005h Oh SYNC ID 80h 1014h Oh EMCY ID 80h Node ID 1017h Oh Producer Heartbeat Time Oh 1400h 1h RPDO1 ID 40000200h Node ID 1401h 1h RPDO2 ID 40000300h Node ID 1800h 1h TPDO1 ID 40000180h Node ID 1800h 5h PDO1 Event Timer Oh 1801h 1h PDO2 ID 80000280h Node ID 1801h 2h PDO2 Transmission Type
25. ed from Bus Off Byte 2 Error Register Bit no Description set bit indicates general error condition bit is set with every error occurring 4 communication error is set when a CANbus communication error occurs acknowledgement form C and stuff error 8 Manufacturer specific instrumental error battery dead Byte 3 Byte 4 Alarms Bit no Description 0 Position value invalid if bit set 1 14 Battery warning critical charge condition 15 Battery alarm battery dead Byte 5 Byte 6 Warnings Bit no Description 4 battery status critical Byte 7 not used Date 13 02 2015 Page 17of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme gt _ S fee Network Management Services NMT The network management can be subdivided into two groups NMT service for device control serves for initializing starting and stopping of the encoder NMT service connection monitoring heartbeat Description of the NMT commands The commands are transferred as unconfirmed objects broadcast messages and are set up as follows COB ID Byte 1 Byte 2 Oh Command byte Node number node ID The COB ID for NMT commands is always zero highest priority The node ID is transferred in byte 2 of the NMT command The node number corresponds with the node ID of the desired station With node number 0 all bus stations
26. elmess Systeme Index Name Description see page 100Ah Manufacturer Soft software version of the encoder 26 ware Version 1010h Store Parameters the object indicates non volatile storage of pa 26 rameters by the encoder with no user input 1011h Restore Parameters the object indicates that the encoder automatical 28 ly loads parameters from the non volatile memory 1014h COB ID Emergency COB ID of the Emergency object 28 Object 1017h Producer Heartbeat setting of the cycle time of the heartbeat timer 29 Time 1018h Identity Object contains the manufacturer number and device 29 variant assigned by CiA 1200h Server SDO Parameter SDO parameter 30 1400h Receive PDO1 Com Receive PDO for asynchronous operating mode 30 munication Parameter 1401h Receive PDO2 Com Receive PDO for synchronous operating mode 31 munication Parameter 1600h Receive PDO1 Map 31 ping Parameter 1601h Receive PDO2 Map 32 ping Parameter 1800h Transmit PDO1 Transmit PDO for the asynchronous operation 32 Communication Pa mode timer controlled rameter 1801h Transmit PDO2 Transmit PDO for the synchronous operation 33 Communication Pa mode including output of the position value via rameter RTR 1A00h Transmit PDO1 Map 34 ping Parameter 1A01h Transmit PDO2 Map 35 ping Parameter 2001h Manufacturer Offset manufacturer specific offset value is added to 35
27. emental In the currentless state scanning and saving of changes of the posi tion value are battery supported The battery can be replaced The battery symbol on the display will blink when the battery voltage falls below a critical level If the battery voltage falls below a minimum level the symbol will glow permanently Display and interface are active with external power supply only Display 2 lines of each 5 7 segment readings 4 special characters lt gt incremental measure symbol H Battery symbol L__ Displayable number range 19999 to 99999 If this number range is exceeded the FULL message will be displayed However the value is available for transmission via interface In normal mode first display line shows actual position value and second line target value Keyboard The AP04 has C3 t and keys serving for adjustment of device parameters t Key By pressing the t key the incremental measurement function is switched on or off During this action the incremental measurement symbol H gt is shown or hidden on the display For this purpose the incremental measurement function must be enabled During configuration the current value can be changed by means of the key Ke If the key is pressed for more than 5 s then the current position value is zeroed after releasing the key For doing this zeroing must be enabled Position value 0 calibration value offset val
28. eter 35 Object 2001h Manufacturer offset 35 Object 2002h Zeroing of encoder value 36 Object 2003h Enable zeroing of encoder value via keyboard 36 Object 2004h Incremental measurement enable 36 Object 5FO9h External Heartbeat Timer 37 Object 5FOAh Node ID 37 Object 5F10h Target window 37 Object 5F11h Decimal places 37 Object 5F12h Display orientation and LED 38 Object 5F13h Display divisor 38 Object 5F14h Loop width 38 Object 5F15h Loop direction 39 Object 5F16h Read target value 40 Object 5F18h External Heartbeat source 40 Object 5F19h AP04 status 40 Object 6000h Operating Parameters 41 Object 6001h Display per revolution APU 41 Object 6002h Total Measuring Range Total of measurement steps 42 Object 6003h Preset value 42 Object 6004h Position value 42 Object 6200h Cycle Timer 43 Object 6500h Operating Status 43 Object 6501h SingleTurn resolution 43 Object 6502h Number of distinguishable revolutions 44 Object 6503h Alarms 44 Object 6504h Supported Alarms 44 Object 6505h Warnings 45 Object 6506h Supported Warnings 45 Object 6507h Profile and Software Version 45 Object 6508h Operating Time 46 Object 6509h Encoder Zeroing Value 46 Object 650Ah Module Identification 46 Object 650Bh Serial Number 47 AP04 Date 13 02 2015 Page 3of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme gt a S SIKO fee 1 General Informaton This user manua
29. ev status 61 15 O O oooO DDOAN NN OTD BO aA aan sr A h ee eee N O O m ww N c l AUU O o N e a l O O O N N _ l intelligente Weg und Winkelmess Systeme SIKO ee Detailed description of objects 24 Object 1000h Device Type 24 Object 1001h Error Register 24 Object 1002h Manufacturer Status Register 24 Object 1003h Pre defined Error Field 25 Object 1005h COB ID SYNC message 25 Object 1008h Manufacturer Device Name 26 Object 1009h Manufacturer Hardware Version 26 Object 100Ah Manufacturer Software Version 26 Object 1010h Store Parameters 26 Object 1011h Load Default Parameters 28 Object 1014h COB ID Emergency Object 28 Object 1017h Producer Heartbeat Time 29 Object 1018h Identity Object 29 Object 1200h Server SDO parameter 30 Object 1400h Receive PDO1 parameter asynchronous operational mode 30 Objekt 1401h Receive PDO2 parameter synchronous operational mode 31 Objekt 1600h Receive PDO1 Mapping parameter 31 Object 1601h Receive PDO2 Mapping parameter 32 Object 1800h Transmit PDO1 parameter asynchronous operation mode 32 Object 1801h Transmit PDO2 parameter synchronous operation mode 33 Object 1A00h Transmit PDO1 Mapping parameter 34 Object 1A01h Transmit PDO2 Mapping param
30. file for assignment of special proprietary func tions The AP04 supports class C2 Date 13 02 2015 Page 11 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme 5 Data transfer according to the CANopen communication model The communication model underlying CANopen provides two types of communication mechanisms Unconfirmed transfer of data having a length of max 8 bytes Process Data Objects PDOs These data is transferred with high priority low COB identifier PDOs are broadcast messages and provide their data to all addressees on the bus at the same time Confirmed transfer also of longer data sets parameters between two stations with direct access to the entries of the addressee s object directory Service Data Objects SDOs As a rule these pa rameters are transferred acyclically e g only once when the system is started and have therefore low priority high COB identifier The priority of the message objects is determined via the COB identifier CANopen message structure tomer has the possibility of changing these identifiers via SDO access to meet his require For easier management of the identifiers CANopen uses the Pre Defined Connection Set Here all identifiers are defined in the object directory with standard values However the cus ments However only 11 bit identifiers are supported CAN 2 0A The 11bit identifier COB identifier consists of a 4bit functi
31. ge of selected parameter 06090036h Maximum value smaller than minimum value 08000020h Parameters cannot be transferred to application or stored 08000022h Parameters cannot be transferred to application or stored due to the current device status SDO examples Request of value by a master with a slave Operating Status object 6500h COB ID Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 600h Node ID 40h 00h 65h 00h x x x x Response to the request by the slave COB ID Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 580h Node ID 42h 00h 65h 00h a b c d Writing a value from master to a slave object 1800 sub index 5 Event Timer COB ID Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 600h Node ID 23h 00h 18h 05h E8h 03h 00h 00h Response from slave to writing the value COB ID Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 580h Node ID 60h 00h 18h 05h 00h 00h 00h 00h Emergency Service Internal device errors or bus problems trigger an emergency message The corresponding telegram is set up as follows COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte7 80h Node ID Error Code Error Reg Alarms object Warnings object 00h ister 6503h 6505h
32. instructions of the User Information 3 Start up Prior to starting up the display the following work should be performed Correct assembly see AP04 User Information Correct connection of the supply and bus lines see AP04 User Information Setting of the Node ID must be present in the system only once Setting of the CAN baud rate valid for the system Setting of additional configuration parameters if necessary Switching on the supply voltage The AP04 will be initialized after switching on the supply voltage A display test is executed during initialization the LEDs are lighted consecutively and the configuta tion parameters are loaded from the non volative memory into the RAM of the controller With the display still unconfigured all parameters are set to their default values See to it that the bus will be connected only after correct adjustment of baud rate and ID The AP04 functions with the data last parameterized After completing the initialization procedure the AP04 with CAN interface sends a specific NMT command the Boot Up Message which informs the system about the availability of the display The AP04 is now in the Pre Operational Mode In this state the display can be parameterized via SDO commands in accordance with the requirements of the application This applies to configura tion parameters as well as to the way it makes available to the system its position values asyn chronous or synchronous data
33. ional state only Data type UNSIGNED 32 EEPROM yes Default 80h Data content Bit 31 not defined Bit 30 0 encoder generates no SYNC message 1 encodes generates SYNC messages Bit 29 0 11bits identifier CAN 2 0A 1 29bits identifier CAN 2 0B not supported Bit 28 11 0 if bit 29 0 Bit 10 0 X bits 10 0 of the SYNC COB ID AP04 Date 13 02 2015 Page 25o0f 47 Art no 84783 Rev status 61 15 Object 1008h Manufacturer Device Name intelligente Weg und Winkelmess Systeme Sub index 00h Description short encoder designation in ASCII Access const Data type Visible_String EEPROM no Default AP04 Data content Byte 0 Byte 1 Byte 2 Byte 3 41h A 50h P 30h 0 34h 4 Object 1009h Manufacturer Hardware Version Sub index 00h Description hardware version in ASCII Access const Data type Visible_String EEPROM no Default V002 Data content Byte 0 Byte 1 Byte 2 Byte 3 56h V 30h 0 30h 0 35h 5 Object 100Ah Manufacturer Software Version Sub index 00h Description hardware version in ASCII Access const Data type Visible_String EEPROM no Default V016 Data content Byte 0 Byte 1 Byte 2 Byte 3 48h H 30h 0 30h 0 39h 9 Object 1010h Store Parameters AP04 This obj
34. l Mode via the Node Start NMT command Node number Oh 1Fh 0 31 COB ID Command byte Oh th If the Node ID of the display is indicated as the node number then only this display will start If the value 0 is transmitted for the node number then all devices connected to the bus will start Now the display can transmit its position value as specified via PDO1 or PDO2 respectively Synchronous transmission The device supports this type of transmission with its factory setting If the AP04 receives a SYNC telegram in the operational mode the display will respond with the position value plus the status byte For a more detailed description of transmission refer to section Transmission of process data To make possible synchronous transmission of the position value the PDO2 must be enabled bit31 of the COB ID PDO2 to 0 default Furthermore a value between 1 and 240 FOh must be written in object 1801h sub index 2 1 default Another possibility of transmitting the PDO2 consists in the response to a RTR To this purpose the value 253 FDh must be written to object 1801h sub index 2 Asynchronous cyclic transmission PDO1 is responsible for this type of transmission The position value plus status byte is cyclically sent in accordance with the time parameterized in object 1800h sub index 5 Stopping Transmission of the Position Value AP04 General To stop data transmission f
35. l is valid for the absolute position indicator AP04 with firmware version 1 03 or higher and is intended to provide the necessary information for handling this device The User Information AP04 contains important information on warranty safety mechanical assembly electrical connection as well as commissioning of the AP04 Please read that information carefully as well The present User Manual will provide a detailed description of the functionality of the CANopen inter face The communication options via RS485 are described in the Supplement to the User Information AP04 RS485 Definitions This symbol precedes passages in the text that should be read particularly carefully to ensure flawless use of the device and to exclude dangers This symbol provides important information for proper handling of the display Disregard of these hints may result in failures of functioning of the display or its environment This symbol indicates instructions for actions CAL CAN Application Layer Application layer layer 7 in the CAN communication model CAN Controller Area Network CiA CAN in Automation International Association of Users and Producers of CAN products COB Communication Object Transport unit in the CAN network CAN message Data is sent within a COB via the network COB ID COB Identifier Unambiguous identification of a CAN message The identifier determines the priority of the COB on the network ID Identifier see COB ID LS
36. lue will be exceeded by this value in case of loop travel Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 32 EEPROM yes Default Oh Value range 0 4 294 967 296 Oh FFFFFFFFh Date 13 02 2015 Page 380f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme gt a S fee Description of loop travel see object 5F15h loop travel Object 5F15h Loop direction Sub index 00h Description Loop direction travelling to the target value is always in this direction Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM yes Default 524944h Value range Oh 524944h Oh direct write 45h ASCII E counter clockwise 49h ASCII I clockwise 524944h ASCII DIR direct response to read If the AP04 is operated on a spindle then the spindle play can be compensated by means of loop positioning In this case travelling to the target value is always from the same direction Loop width Loop travel I lt l l l l l l l l Target value Example Counting direction l i e which clockwise rotation increasing position value object 6000h bit 0 0 Loop width 100 Object 5F14h 100 The direction from which every target position shall be driven to is Object 5F15h current position value 1000 e Case 1 gt
37. nts 1h 1FFFh CiA DS 301 manufacturer specific objects 2000h 5FFFh device specific objects 6000h BFFFh CiA DS 406 The address index pointing to each entry in the object directory is also standardized in the profiles ex cept for the manufacturer specific area This fact ensures that all instruments always provide the func tions described in the profile standard and optional functions under the same index This is a pre condition of an open system and of exchangeability of the instruments The entries of the object directory are addressed by a 16 bit index Each index can be further subdivided by a sub index Overview of objects Index Name Description see page 1000h Device Type indicates the device profile and the encoder type 24 1001h Error Register indicates error states of the encoder 24 1002h Manufacturer Status indicates the contents of the CAN bus specific 24 Register FransmitErrorCounter or ReceiveErrorCoun ter respectively 1003h Pre Defined Error the object stores the 8 error states that have oc 25 Field curred last 1005h COB ID SYNC message Setting of the COB ID of the SYNC object 25 1008h Manufacturer Device Short designation of the device type 26 Name 1009h Manufacturer Hard hardware version of the encoder 26 ware Version AP04 Date 13 02 2015 Page 21 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Wink
38. on code and a 7bit node number Bit no 10 9 8 5 4 3 2 1 0 Type Function code Node number node ID Assignment xX X 0 X xX X x x Hint Thus a maximum of 127 different node numbers can be set node number 0 is illegal Hint Only a maximum of 31 bus stations is permitted The function code informs about the type of message and its priority The higher the value of the identifier the lower the priority AP04 Date 13 02 2015 Page 12o0f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme gt _ S SIKO ne Function code The following function codes have been defined in the Pre defined Connection Set only the function codes used by the AP04 are represented Object Function code Resulting COB ID Moa aerrcerreriniee NMT 0000b 0 SYNC 0001b 128 80h 1005h EMERGENCY 0001b 128 80h Node ID 1014h PDO1 tx 0011b 384 180h Node ID 1800h PDO1 rx 0100b 512 200h Node ID 1400h PDO2 tx 0101b 640 280h Node ID 1801h PDO2 rx 0110b 768 300h Node ID 1401h SDO tx 1011b 1408 580h Node ID 1200h SDO rx 1100b 1536 600h Node ID 1200h HEARTBEAT 1110b 1792 700h Node ID 1017h l tx and rx seen from the position indicator Node number node ID The 7bit node number is set on the AP04 via configuration and displayed upon pressing the key du
39. on value in two s complement representation Status byte 180h Node ID see object 6004h see object TPDO2 5F19h 280h Node ID The bits of the status byte have the following meaning Bit 7 6 5 4 3 2 1 0 0 1 lt off gt off Increm Meas 0 Batt ok ACT lt TARG Not IN POS lt on gt on Increm Meas set Batt warn ACT gt TARG IN POS Synchronous data transfer factory setting The AP04 is delivered with this type of transmission preset and the AP04 responds to a SYNC tele gram received by sending the TPDO message To be able to send process data synchronously a value between 1 and 240 FOh must be written in object 1801h sub index 2 In synchronous operation the PDO2 is requested by a master via the SYNC telegram SYNC COB ID 80h If the PDO2 is to be requested via an RTR telegram then the value 253 FDh must be written in object 1801h sub index 2 Asynchronous data transfer If a PDO is to be sent cyclically then the cycle time must be entered into object 1800h sub index 5 in milliseconds The PDO1 will not be sent if the value Oms is written The function is disabled The minimum value to be set is 1 1 ms From bus master to AP04 target value AP04 By means of PDO transmission from the bus master to the AP04 RPDO the target value can be transferred to the display The following PDOs are accepted
40. operational mode the encoder sends the PDOs requested Additionally SDOs can be read and written Stopped Mode Only NMT communication is possible in the Stopped Mode No SDO parameters can be read or written State change The following applies to all commands listed below If node number Oh is sent the command will apply to all nodes connected AP04 Date 13 02 2015 Page 19o0f 47 Art no 84783 Rev status 61 15 Heartbeat AP04 intelligente Weg und Winkelmess Systeme gt a S SIKO T Start Remote Node 1 With the Start_Remote_Node command the encoder is set to the Operational Mode state COB ID Command byte Node number Oh th Oh 1Fh 0 31 Stop Remote Node 2 With the Stop_Remote_Node command the encoder is set to the Stopped state COB ID Command byte Node number Oh 2h Oh 1Fh 0 31 Enter_PRE OPERATIONAL Mode 3 Change to the Pre Operational state COB ID Command byte Node number Oh 80h Oh 1Fh 0 31 Re initialization of CAN parameters 4 COB ID Command byte Node number Oh 81h Oh 1Fh 0 31 Re initialization of the CAN card 5 COB ID Command byte Node number Oh 82h Oh 1Fh 0 31 Two optional monitoring mechanisms are intended for ensuring proper functioning of the
41. pecific device functionality An entry object of the object directory is identified via a 16bit index and an 8b bit sub index By means of these entries the application objects of a device e g position value with encoders are made accessible in a standardized form via the network The functionality and features of a CANopen device can be described in the ASCII format as a standardized Electronic Data Sheet EDS The EDS file of the AP04 can be downloaded from the homepage of SIKO GmbH under the follow ing file name www siko de Furthermore it is to be found on the CD provided with the AP04 AP04_CAN eds encoder device profile CiA Draft Standard 406 This profile describes a manufacturer independent and binding specification of the interface for rota ry encoders The profile defines which CANopen functions are used and how they are to be used This standard enables the creation of an open and manufacturer independent bus system The device profile is divided into two object classes Standard class C1 describes all basic functions which the encoder must contain The extended class C2 contains a wide range of additional functions that must either be sup ported by these encoders mandatory or are optional Thus devices of the C2 class contain all the C1 and C2 mandatory functions as well as manufacturer dependent additional optional functions Additionally an addressing range is defined in the pro
42. pedited data length 4bytes 2Bh SDO rx Initiate Download Request Send parameter to AP04 expedited 2Bytes from 4 Datenbytes valid 2Fh SDO rx Initiate Download Request Send parameter to AP04 expedited 1Bytes from 4 Datenbytes valid 60h SDO tx Initiate Download Response Acknowledgement of data acquisition to master 40h SDO rx Initiate Upload Request Request parameter from AP04 42h SDO tx Initiate Upload Response Parameter to master expedited unspecified number of bytes data length 4bytes 80h SDO tx Abort Domain Transfer AP04 reports error code to master Date 13 02 2015 Page 15o0f 47 An error message command 80h replaces the normal response in case of a fault The error message includes communication protocol errors as well as object directory access errors e g write attempt on read only object wrong index etc Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme The error codes are described in the CANopen profile DS 301 or in the encoder profile DSP 406 respectively The table below shows the error codes used in the AP04 Error code Description 06010000h Wrong access to an object 06010001h Read access to Write Only 06010002h Write access to Read Only 06020000h Object doesn t exist in the object directory 0607001 0h Wrong data type incorrect data length 0609001 th Sub index does not exist 06090030h Wrong value ran
43. ring operation Node number 0 is reserved and must not be changed by any node Therefore resulting node numbers are in the range of 1 127 Any freshly set node number is only taken over after the next reset power on of the encoder Ex works the position indicator is delivered with node number 1 Transmission of process data The four PDO services PDO1 tx PDO1 rx PDO2 tx and PDO2 rx are available From the AP04 to the bus master position value status byte PDO transfer from the display to the bus master TPDO can be initiated as a result of various events asynchronous controlled by an internal device timer synchronous as a response to a SYNC telegram as a response to a RTR telegram Both PDOs provide the current position as well as a status byte of the display and are determined via objects 1800h 1801h 1A00h 1A01h 2800h 2801h and 6200h AP04 Date 13 02 2015 Page 130f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme With the AP04 TPDO1 is assigned to asynchronous and TPDO2 to synchronous process data transfer As a standard TPDO2 is enabled after each power on of the encoder and must be disa bled on request via SDO Request of the position value via RTR telegram is also only possible via TPDO2 The TPDO message has the following structure COB ID Process data in binary code 11bits Byte 0 LSB Byte 1 Byte 2 Byte 3 Byte 4 MSB TPDO1 Positi
44. rom the display the display can be switched back to the Stopped Mode or to the Pre Operational Mode Stop Mode command COB ID Command byte Node number Oh 2h Oh 1Fh 0 31 Pre Operational Mode command COB ID Command byte Node number Oh 80h Oh 1Fh 0 31 All devices connected to the bus are addressed via node address 0 Date 13 02 2015 Page 9of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Synchronous transmission Naturally there is no synchronous transmission if no SYNC telegram is received or no RTR is ob tained Asynchronous transmission Asynchronous i e timer controlled transmission is suppressed if the timer value is set to 0 See ob ject 1800h 4 General information on the CAN bus Originally the CAN bus CAN Controller Area Network was developed by Bosch and Intel for fast and low cost data transmission in the car industry Today it is also used in industrial automation The CAN bus is a field bus which enables communication of devices actuators and sensors of different manufac turers The standards are defined by the Association CAN in Automation CiA CAN bus features Bus medium is a shielded twisted pair cable The CAN bus is a multi master bus i e several CAN stations can request the bus at the same time The message with the highest priority determined by the iden
45. rp i i je oh Ne Ow OLAS at inteltigente Weg und Winkelmess Systeme TERRE me _ Ts SIKO ry User manual Absolute Position Indicator with CANopen interface AP04 intelligente Weg und Winkelmess Systeme Table of contents 1 General Informaton Definitions Intended use The AP04 product family 2 Brief description In general Display Keyboard Battery buffering 3 Start up Switching on the supply voltage Configuration Parameter list Configuration via keyboard Configuration via CAN interface Sending the position value Synchronous transmission Asynchronous cyclic transmission Stopping Transmission of the Position Value 4 General information on the CAN bus CAN bus features CANopen The encoder device profile CiA Draft Standard 406 5 Data transfer according to the CANopen communication model CANopen message structure Function code Node number node ID Transmission of process data From the AP04 to the bus master position value status byte From bus master to AP04 target value Transfer of the SDO data parameterization Emergency Service Network Management Services NMT Description of the NMT commands Command byte NMT status The individual NMT states State change Heartbeat 6 Directory of objects Overview of objects AP04 Date 13 02 2015 Page 2of 47 Art no 84783 R
46. s number Object 6200h Cycle Timer Object 6500h Operating Status Sub index 00h Description Defines the cycle time with which the PDO1 is output The value is fixed linked identical with the value indicated under object 1800h sub index 5 The timer controlled output is activated as soon as a cycle time was parame terized within the value range and the encoder switched over to the Opera tional Mode Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 16 EEPROM no Default Oh Value range 0 Cycle timer is disabled 1 65535 cycle time in ms Sub index 00h Description The object indicates the settings programmed with object 6000h sense of rotation scaling enable Access ro Data type UNSIGNED 16 EEPROM yes Default no Bit definition see Object 6000h Object 6501h SingleTurn resolution AP04 Sub index 00h Description The object indicates the maximum possible encoder resolution Access ro Data type UNSIGNED 32 EEPROM no Default 720 Date 13 02 2015 Page 43 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 6502h Number of distinguishable revolutions Sub index 00h Description The object indicates the maximum possible number of encoder revolutions Acces
47. s ro Data type UNSIGNED 16 EEPROM no Default 7281 Object 6503h Alarms Sub index 00h Description In addition to the errors reported via the emergency messages this object provides further encoder specific error messages In the case of an error the associated bit is set to 1 Access ro Data type UNSIGNED 16 EEPROM no Default Oh Bit definition Bit Function Value 0 Value 1 0 position error no error position value invalid 4 one 11 not used 12 battery warning battery voltage OK battery voltage near low est tolerable value 13 battery error battery OK or still in tolerable battery discharged range 14 15 not used Object 6504h Supported Alarms Sub index 00h Description The object indicates which alarm messages are supported The relevant bits are set Access ro Data type UNSIGNED 16 EEPROM no Default 3001h Bit 0 position error Bit 12 battery warning Bit 13 battery alarm AP04 Date 13 02 2015 Page 44of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 6505h Warnings Sub index 00h Description Warnings indicate that tolerances of internal encoder parameters have been exceeded However unlike with alarm messages the position value can be valid in case of a warning Access ro Data type UNSIGNED 16 EEPROM no Default Oh Bit definition Bit Function Value 0 Value
48. sented via sub indexes 650Bh Serial Number outputs the value FFFFFFFFh function is not 47 supported AP04 Date 13 02 2015 Page 23 0f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Da S gt Detailed description of objects Object 1000h Device Type Sub index 00h Description Information on device type and device profile Access ro Data type UNSIGNED 32 EEPROM no Default 00030196h Data content Device profile number Encoder type Byte 0 Byte 1 Byte 2 Byte 3 96h Oih 03h 00h 0196h 406 CANopen Device Profile for Encoders version 3 01 0003h Single turn angle encoder absolute with battery buffered electronic revolu tion counter Object 1001h Error Register Sub index 00h Description Device errors occurring are indicated here Access ro Data type UNSIGNED 8 EEPROM no Default no Data content Bit Meaning 0 set bit indicates the occurrence of any error condition 4 set bit indicates communication error on the CAN bus Acknowl edgement Form CRC and Stuffbit 1 3 5 7 not used Object 1002h Manufacturer Status Register AP04 Sub index 00h Description The counts of the registers Transmit Error Counter and Receive Error Coun ter can be read via this object The contents of these registers provide information on the transmit
49. t 2h Sub index Oth Description COB ID of RPDO1 Access rw Data type UNSIGNED 32 EEPROM yes Default 40000200h Node ID Bit30 1 RTR for this PDO not released bit is always set Date 13 02 2015 Page 300f 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Sub index 02h Description Transmission Type Access ro Data type UNSIGNED 8 EEPROM no Default FFh 255 cannot be changed update with PDO receipt Objekt 1401h Receive PDO2 parameter synchronous operational mode Sub index 00h Description largest sub index supported Access ro Data type UNSIGNED 8 EEPROM no Default 2h Sub index Oth Description COB ID of RPDO2 Access rw Data type UNSIGNED 32 EEPROM yes Default 40000300h Node ID Bit30 1 RTR for this PDO not released bit is always set Sub index 02h Description Transmission Type Access ro Data type UNSIGNED 8 EEPROM no Default FFh 255 cannot be changed update with PDO receipt Objekt 1600h Receive PDO1 Mapping parameter Sub index 00h Description number of objects mapped Access ro Data type UNSIGNED 8 EEPROM no Default 1h Date 13 02 2015 AP04 Page 31 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Sub index Oth Description Describes the
50. th 2001h Oh Manufacturer Offset Oh 2003h Oh Enable for zeroing th 2004h Oh Enable for incremental measurement 1h 5FO9h Oh External heartbeat timer 300 5FOAh Oh Node ID 1h 5F10h Oh Target window 5h 5F11h Oh Decimal places Oh 5F12h Oh Display orientation LED 300h 5F13h Oh Display divisor Oh 5F14h Oh Loop reversal point Oh 5F15h Oh Loop direction Oh 5F18h Oh Trigger source of external heartbeat 1h 6000h Oh Operating Status Oh 6001h Oh Resolution 720 6002h Oh Total measurement range 5242320 6003h Oh Preset value Oh 6200h Oh PDO1 Event Timer see object 1800 5 Date 13 02 2015 Page 27 of 47 Art no 84783 Rev status 61 15 Object 1011h Load Default Parameters intelligente Weg und Winkelmess Systeme This object serves for setting the encoder to its default values see 5 2 9 To be protected against unintended loading of the default values the string load must be written in sub index 1h Index Index 4 Data 0 Data 3 COB ID Command Low High Sub index LSB Data 1 Data 2 MSB 600h ae ins ey Node ID 11h 10h Oth P 6Ch o 6Fh a 61h d 64h The write access to the respective sub indexes results in the values represented below Sub index 00h Description indicates the largest supported sub index Access ro Data type UNSIGNED 8 EEPROM no Default 1h Sub index Oth Description all
51. tifier prevails Data rate up to 1 bit s permissible with 40 m network range Closed network on both sides Theoretically up to 127 stations possible on one bus however practically only up to 32 stations due to the driver Message oriented communication The message is marked with a message identification iden tifier By means of the identifier all bus stations check whether the message is relevant for each of them All bus station receive each message at the same time Therefore synchronization is possible The identifier determines the priority of the message The lower the value of the identifier the higher is the priority of the message This enables fast transmission of important messages via the bus High transmission safety thanks to various error identification mechanisms which complement each other Localization of faulty or disabled bus stations The CAN protocol includes function monitoring of bus stations The functionality of the latter will be limited or disconnected from the network if they are faulty CANopen The CANopen profile was developed on the basis of the layer 7 specification CAL CAN Application Layer under the direction of the Steinbeis Transferzentrum f r Automatisierung Transfer centre for automation Compared to CAL only the functions appropriate for this use are included in CANo pen Thus CANopen is a subset of CAL optimized for the application and enables a simplified sys
52. transmission If no boot up message can be sent because the baud rate was set wrongly the AP04 will be rei nitialized completely warm start and will try again to send the message This becomes visible by a repeated display test If no bus is connected the AP04 will also try permanently to send the boot up message but will only be reinitialized after a defined number of failed attempts AP04 Date 13 02 2015 Page 7 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Configuration Parameter list For a detailed description of the parameters refer to section Detailed description of objects Parameter Value range Default Meaning Note Object Id 1 127 1 Bus address 5FOAh baud 125 250 500 1000 250 Baud rate in kbit s APU 0 59999 720 Readout per revolution 6001h dlV 1 10 100 1000 1 Display divisor 5F13h dlr LE E Sense of rotation cw or ccw 6000h dEZ 0 0 0 0 00 0 000 0 0000 0 0 Display of decimals 5F11h OFFSt 9999 9999 0 Offset value 2001h CAL 9999 9999 0 Calibration value 6003h FOSEt 0 1 1 Zeroing enable 2003h FCEtt 0 1 1 Incremental measurement enable 2004h InPOS 0 9999 5 Deviation window from setpoint to actual val 5F10h ue Loop 0 9999 0 Loop reversal point in display unit 5F14h LPdlr dlr I E dlr Positioning direction for loop 5F15h GrEEn 0 1 1 green LED is lighted when target windo
53. ue Upon pressing the button rESEt will be displayed blinking in the lower line for 5 s and statically after wards until after releasing the button During configuration the key serves for acknowledging the current value and switching over to the next parameter Key The key has several functions By pressing the key the set bus address 1 in the example and baud rate 250 kbit s will be dis played E g Id 1 250 When actived during more than 15 s AP04 will switch to configuration mode Display will then show the first configuration menu point AP04 Date 13 02 2015 Page 6of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Da S SIKO eee Battery buffering The battery makes possible the detection of currentless displacement Battery life is approx 5 to 8 years depending on the duration of battery operation including storage and frequency of currentless adjust ments Battery voltage is checked at intervals of approx 5 min If battery voltage drops below a specified value the battery symbol L___ will blink on the display The battery is nearly empty If the battery volt age continues to drop L___ will be displayed permanently The battery should be replaced as soon as the battery symbol appears on the display The battery can be replaced by the SIKO distribution partners or at the SIKO main factory For battery replacement it is mandatory to follow the
54. v status 61 15
55. w 5F12h reached rEd 0 1 1 red LED is lighted when position outside the 5F12h target window1 FLASh 0 1 0 LED blinks when switched on 5F12h CodE 0 99999 0 For SIKO internal test purposes diagnosis 00100 Trimming travel 11100 Load factory settings 1011h dISPL 0 180 0 Display orientation 5F12h Configuration via keyboard In the configuration mode the necessary parameters are set To this purpose the parameter is indicated in the 1 line of the display and the associated value in the 2 line Using the t key the current value can be changed at the blinking position in case of multi digit numbers or completely e g e gt dir The key serves for advancing to the next digit in case of multi digit numbers By pressing the key the set value will be acknowledged and saved non volatilely If no key is pressed the configuration mode will be exited after approx 30 s without saving the val ue last displayed i e the original value is left unchanged Configuration via CAN interface Except for the baud rate all parameters can be configured via the CAN interface For a detailed de scription of parameter objects refer to section 6 Directory of objects AP04 Date 13 02 2015 Page 8of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Sending the position value Before the display can send its position value the AP04 must be switched to the Operationa
56. works with preset readout per revolution or measur ing units per revolution Any attempt at changing the readout per revolution via object 6001h will result in an error message Scaling enabled The readout per revolution object 6001h can be parameterized Object 6001h Display per revolution APU AP04 Sub index 00h Description This parameter sets the desired resolution per revolution max 720 increments per revolution Access rw writable in the Pre Operational and Operational states if the Scal ing bit see object 6000h is set Data type UNSIGNED 32 EEPROM yes Default 720 Value range 1 FFFFFFFFh Example APU 400 position 0 When the shaft is moved by one revolution the new position will be 400 Date 13 02 2015 Page 41 of 47 Art no 84783 Rev status 61 15 intelligente Weg und Winkelmess Systeme Object 6002h Total Measuring Range Total of measurement steps Sub index 00h Description This parameter sets the total number of measuring steps number of countable revolutions multiplied with set APU Access ro readable in the Pre Operational and Operational states Data type UNSIGNED 32 EEPROM no Default 5242320 Value range 7281 4294967295 FFFFFFFFh Any attempt at writing on this object will result in an error message error code 06010002h Object 6003h Preset value Sub index
57. ysteme Object 5F12h Display orientation and LED Object 5F13h Display divisor Sub index 00h Description Display orientation 0 or 180 additionally LED functionality Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 32 EEPROM Basic functions yes Default 768 300h Value range 0 14516 88B4h Data content Reserved for future use LED Display Byte 3 Byte 2 Byte 1 Byte 0 00h 00h 0 56 0 or 180 B4h Coding Byte 0 Display Oh 0 B4h 180 Byte 1 LED bit 0 0 LED green OFF bit 0 1 LED green ON when position in target window bit 1 0 LED red OFF bit 1 1 LED red ON when position outside target window bit 3 1 LEDs blink when ON bit 4 1 LED green ON independent of target window bit 5 1 LED red ON independent of target window Only bits 0 3 are saved non volatilely Sub index 00h Description Display divisor Access rw writable in the Pre Operational and Operational states Data type UNSIGNED 8 EEPROM yes Default 1h Value range 0 3 Oh 3h 0 Indication of the position value 10000 1 Indication of the position value 1000 2 Indication of the position value 100 3 Indication of the position value 10 Object 5F14h Loop width AP04 Sub index 00h Description Loop width the target va
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