User manual SIKONETZ5
Contents
1. ssseessseeeee seen eene eene enn nnne nennen thee ntes tese sre sn ne 38 SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 3 of 38 General Information 1 General Information 1 1 Documentation The following documents are associated with this document e The data sheet describes the technical data the dimensions the pin assignment the accessories and the order key e The installation instructions describe the mechanical and electrical installation with all safety relevant conditions and the associated technical specifications e The User manual for position indicator commissioning and integration into a fieldbus system You can also download these documents at http www siko global com en de service downloads This manual is valid for software version V1 01 or newer 2 Display and Control Keys 2 1 General The position indicator has a two line display with special characters and three control keys The keys serve for position indicator parameterization and control One LED 1 serves for position monitoring LED1 Fig 1 Control elements SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 4 of 38 Display and Control Keys 2 2 LCD display The The display range is limited to 19999 99999 Values outside this 0 n range are displayed with FLILL With supply voltage applied to the position indicator the 1st line2. 9999 26 Ox1F Calibration rw Integer32 Value range 9999 9999 value 27 0x20 Target window1 rw Unsigned16 Value range 0 9999 30 Ox21 Positioning rw Unsigned8 0 direct mode 1 loop 2 loop 31 0x22 Loop length rw Unsigned16 Value range 0 9999 8 0x28 Operating mode rw Unsigned8 0 absolute position display 1 differential value 2 Modulo 20 0x30 Displayed value rw Unsigned8 0 set point 2 display line 1 OFF 28 0x31 Target window2 rw Unsigned16 Value range 0 9999 29 0x32 Target window2 rw Unsigned16 0 OFF visualization 1 LED 1 glows green 2 LED 1 glows red 17 0x33 Display divisor rw Unsigned8 0 application to display application and interface 1 application to display only 32 0x34 Differential rw Unsigned8 O Diff actual position set value point calculation 1 Diff set point actual position 10 0x35 Key function rw Unsigned8 0 key function disabled enable 1 incremental incremental measurement key function measurement enabled 34 0x63 Voltage of ro Integer16 Output of voltage 1 100 V battery 0x65 Device code ro Unsigned8 1 APO4 35 0x67 Software version ro Unsigned16 Versions number Bx 101 corresponds to V1 01 SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 35 of 38 SIKO APO4 RS485 SIKONETZ5 Communication via SIKONETZ5 Parameter Adr hex no acc to chapter 4 Name
3. Access Format Description OxAO S command WO Unsigned16 1 all parameters to default Caution All parameter classes will be reset After restart the factory settings will be active this applies to node address and baud rate as well 2 only standard parameters to default 5 bus parameters to default 7 calibration 9 software reset OxA8 Programming mode On Off temporary WO Unsigned8 Programming interlock depending on the parameter Configuration programming mode 0 Programming mode Off Write parameter disabled Write attempts are acknowledged with an error message 1 Programming mode On Write parameter enabled see chapter 8 7 2 Programming interlock OxAA Freeze actual position WO Unsigned8 1 Freeze actual position The current actual value is cached until next reading of the actual position 0xC3 Start alignment WO Unsigned8 see chapter 6 3 Alignment travel OxCA Switching the bus protocol WO Unsigned8 Configuration of bus protocol 0 SIKONETZ5 1 Service protocol Parameter changes become active only after cold start or software reset 36 OxDO Response delay rw Unsigned8 Response delay 0 no delay 1 10 number of program cycles OxFA Status word ro Unsigned16 see chapter 8 3 5 Status word OxFC Differential value ro Integer32 se
4. Loop length 0 9999 Loop length see chapter 3 3 Loop positioning 32 Differential value calculation Calculation of the differential value 0 Differential value actual position set point 1 Differential value actual position actual position 33 System Status Word Read only System Status Word see chapters 7 3 System Status Word and 8 3 5 Status word 34 Voltage of battery Read only Battery voltage Values in 1 100 V 35 Software version Read only Software version SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Warnings Errors No Name Selection Default Description S CP value 36 Response 0 10 0 Response delay S 2Z P delay 0 no delay 1 10 number of internal program cycles waited until an SN5 bus telegram is replied to Thus the response to a telegram can be delayed until the master is ready to receive The value 10 corresponds to a delay of approx 5 ms Table 7 Parameter description 5 Warnings Errors 5 1 Warnings Warnings do not influence the acquisition of the absolute position value Warnings are deleted after removing the cause Possible warnings e Battery voltage for absolute position detection is below limit gt immediately exchange battery This warning is displayed with a blinking battery symbol L
5. SIKO APO4 RS485 SIKONETZ5 Functional Description Options Menu PATA OPE 10 Parameter display Parameter no acc To chapter 4 Description CJELA 9 Key enable time Value range 1 60 rESEE 11 Key function release for Reset calibration Selection on Reset enabled via key OFF Reset disabled via key aE 10 Key function enable for incremental measurement Selection an Incremental measurement enabled via key OFF Incremental measurement disabled via key di FF 32 Formula for calculating the differential value Selection 0 ER Differential value actual position set point ER PU Differential value actual position actual position DPEYP 8 Operating mode of the display Selection Ab5 Display of absolute actual position and set point d FF Display of absolute actual position and differential value HnSLE Display of angle values 0 360 rode System commands Selection 1 100 set all parameters to default restore factory settings i e only standard parameters to default only bus parameters to default 05 100 start equalization L2 ae I 1 I ri LI Table 6 Options menu Parameterization via interface The position indicator can be completely parameterized in the SIKONETZ5 protocol via the RS485 interface see chapter 8 8 Parameterization via SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 14 of 38
6. 3 4 1 Manual parameterization 3 4 1 1 Starting parameterization After applying supply voltage the position indicator will be on the uppermost level of the menu structure default delivery state By actuating the 5 key the set node address and baud rate is displayed Parameterization starts after expiry of the release time see chapter 4 Parameter description Parameter no 9 3 4 1 2 Value input With value input via the keys the display range is limited to 19999 99999 When entering values beyond this range via SIKONETZ5 or the service protocol FLILL will be displayed when you call up the parameter Enter values via the T key and the key Confirm values entered by pressing the S key decimal place selection key Value input key 3 4 1 3 Value selection For some parameters you can select values from a list Direct value input is not possible there Pressing the T key the value can be selected from the list By pressing the S key the selection is confirmed SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 9 of 38 Functional Description 3 4 1 4 Menu selection Hold down the key Key enable time expired yes Ending parameterization PALA End gui t Parameter Bus PATA bu see menu Bus Parameter Positioning see menu parameter Positioning PATA parameter OSI E Visualization see menu parameter Visulaiz
7. Bit Meaning Value 0 Value 1 0 direction indication gt off on 1 direction indication off on 2 Speed error not present speed is or was too high 3 Target window2 dynamic not reached reached 4 Target window1 static never reached is or was reached 5 Target window1 dynamic not reached reached SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 23 of 38 Communication via Service Protocol Bit Meaning Value 0 Value 1 6 Deviation Actual position lt 2 set Actual position gt set point point 7 Error not present present The cause of the error must be removed and acknowledged Position value output dynamic freezed Position value off on incremental measurement 10 reserved 11 Battery status warning all right critical 12 reserviert 13 key not actuated actuated 14 key not actuated actuated 15 key not actuated actuated Table 13 System Status Word 7 4 Service protocol commands list Command Length Reply Description Parameter no acc to chapter 4 Ay 2 17 APO4_SN5_ Device type software version 35 ZWVxxx gt y 0 hardware version z H y 1 software version z S By 2 10 dez xxxxxxx gt Diagnosis 34 y 3 Battery voltage 1 100 V Ey 2 11 XXXXXXXX gt Output values XXXXXXXX decimal value in increments y 0 Current set point 2 y 1 Posi
8. LED blinking function 0 LED display glows constantly when On 1 LED display glows when On SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 16 of 38 Parameter description No Name Selection value Default Description 15 Decimal places 0 4 Display Input of decimal places 0 0 1 0 0 2 0 00 3 0 000 4 0 0000 16 Display divisor Display Divisor by which the display accuracy is reduced compared with the measurement resolution 0 21 1 10 2 100 3 1000 17 Display divisor application Display transmission accuracy 0 The display divisor is applied to the set point and actual position of interface and display unit 1 The display divisor is only applied to the display unit The values are transferred via the interface with undivided resolution 18 Direction indication function Display The direction indicators show the direction of shaft adjustment required to arrive at the set target window 1 0 On 1 inverted 2 Off 19 Display orientation Display Display orientation 0 0 1 rotated by 180 20 Displayed value 2 display line Display Parameter to be displayed in the 2nd line of the display 0 set point 1 OFF 21 Programming mode configuration SIKONETZ5 0 programming not locked 1 locking
9. Parameter description 4 Parameter description Column Explanation S S Parameter transferred is saved in the device non volatilely 2 Parameter transferred is saved in the device volatilely C Parameter class 1 Standard parameter 2 Bus parameter P Write access to the parameter can be locked via the Configuation programming mode parameter no 21 No Name Selection Default Description S CP value 1 Actual Read Absolute actual position j as position only 2 Set point 999999 0 Absolute target position P n Can be displayed by the indicator 999999 19999 99999 3 Node address 0 31 1 SIKONETZ5 S 2P Setting the SIKONETZ5 node address Parameter changes become active only after cold start or software reset Service protocol no function 4 Baud rate 0 2 1 Baud rate of the RS485 interface S 2 P RS485 0 19200 1 57600 2 115200 Parameter changes become active only after cold start or software reset 5 Protocol 0 1 0 Protocol of the RS485 interface S 2 P 0 SIKONETZ5 1 Service protocol Parameter changes become active only after cold start or software reset 6 Bus Timeout 0 20 0 SIKONETZ5 52 P Bus Timeout values in x100 ms 0 Function disabled see chapter 8 7 1 Bus Timeout Service protocol no function SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 15 of 38 Parameter d
10. Positioning monitoring SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 7 of 38 Functional Description 3 3 Loop positioning NOTICE The LED display refers always to the actual set point not to the loop value Target window1 is also applied to the loop length If the position indicator is operated on a spindle or an additional gear the spindle or external gear backlash can be compensated by means of loop positioning In this case travelling to the target value is always from the same direction This direction of approach can be defined Example The direction from which every target position shall be driven to is positive e ase 1 new position is greater than actual position Direct travel to the target position E Case 2 new position is smaller than actual position The position indicator s arrows show that the set point is to be overrun by the loop length Afterwards the set point is approached in positive direction direction Positioning in positive Positioning loop Loop length IS Positioning in negative direction Set point Fig 3 Positioning Loop SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 8 of 38 Functional Description 3 4 Parameterization of the position indicator The position indicator can be completely parameterized via the keys as well as via the bus interface
11. SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 26 of 38 Communication via Service Protocol Command Length Reply Description Parameter no acc to chapter 4 yy 18 Displayed value 2 display line 20 yy 19 Differential value calculation 32 yy 20 reserved yy 21 Baud rate RS485 yy 22 Node address yy 23 Response delay 36 1 2 wou gt Software reset 1 2 wou gt Calibration see chapter 6 1 Calibration 1 2 xy Output system status word hex for the meaning of the individual bits see Table 13 System Status Word x High Byte y Low Byte SXXXXX 6 2 wou gt Reset device to basic state System commands x 00100 Start alignment see chapter 6 System commands x 11100 all parameters into basic state Caution All parameter classes will be reset After restart the factory settings will be active this applies to bus protocol and baud rate as well x 11101 only standard parameters into basic state x 11102 only bus parameters into basic state x 11103 Acknowledge error x 11104 Acknowledgement target window1 static description see chapter 3 2 Position monitoring x 11105 activate bootloader Ty 2 2 Enter sense of rotation y 0 i sense of rotation cw y 1 e sense of rotation ccw 23 SIKO APO4 RS485 SIKONETZ5 Date 15
12. and in the system status word or status word see chapter 7 3 System Status Word and accoordingly chapter 8 3 5 Status word 5 2 Errors Error states are signalled via display and interface Pending errors can be read via the interface For returning to normal operation the errors must be acknowledged or deleted via the 9S key or bus interface For signaling and acknowledging in the service protocol see chapter 7 3 System Status Word and accoordingly SIKONETZ5 chapter 8 3 4 and 8 3 5 Status word Display Error code Bit assignment in Error SIKONETZ5 the system status word or status word noErr 0x0000 No error CI 0x0006 11 7 Low battery voltage SPEEd 0x0019 2 7 Speed exceeded CSbu 0x0080 7 Check sum SIKONETZ5 tabu 0x0081 7 Timeout SIKONETZ5 HALLE 0x0082 7 Value range exceeded inappropriate LILO 0x0182 7 Value exceeds lower limit SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 20 of 38 System commands Display Error code Bit assignment in Error SIKONETZ5 the system status word or status word Li UP 0x0282 7 Value exceeds upper limit noPAr 0x0083 7 Unknown parameter ACCES 0x0084 7 Access not supported Prgeg 0x0184 7 Write on read only rdePg 0x0284 7 Read on write only SEREE 0x0085 7 Error caused by device status noPrg 0x0385 7 Programming lock activated Table 8 Error messages Dis
13. shows the actual position and the 2nd line shows the set point with factory settings The values displayed are determined by the operating mode Direction indicators arrows support positioning The battery symbol LX is shown with a critical or insufficient battery status With incremental measurement function activated the incremental measurement symbol FP is shown 2 2 1 Extended display range If values below 99999 are to be displayed this can be realized by means of the control word Bit3 in the operational mode with SIKONETZ5 protocol If this bit is set and the value to be displayed is in the range between 19999 99999 then the negative sign and the figure with the highest value are blinking alternately If the value range drops below 99999 FULL will be displayed 2 3 LED display In the basic state factory setting the LED has the following meaning Actual position LED State In target green on window1 red off Outside target red on window1 green off Table 1 LED displays 2 4 Keys Pressing the T key enables or disables the incremental measurement function Pressing the S key starts calibration see chapter 6 1 Calibration and acknowledges a pending error see chapter 5 2 Errors Pressing the key starts the parameterization mode see chapter 3 4 Parameterization of the position indicator SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 22
14. status 221 14 Page 32 of 38 Communication via SIKONETZ5 8 6 Errors If a slave is in the error state the slave signals the error with SW 7 1 An error must be acknowledged by CW 5 0 1 or by pressing the S key If the cause of the error has not been resolved at the time of acknowledgment the error will not be reset or triggered anew resp Errors that have not been acknowledged can be read via a read command on Parameter address OxFD The error code will be output see chapter 5 2 Errors and 8 5 1 SIKONETZ5 error codes 8 7 Communication monitoring 8 7 1 Bus Timeout Bus timeout monitoring is activated via parameterization of a valid time value 20 for timeout see chapter 4 Parameter description Parameter no 6 The first telegram received by the slave starts time monitoring Every new telegram recognized as valid by a slave correct check sum triggers time monitoring If timeout occurs this will result in the Timeout error After establishing cyclic communication between master and slave this function can detect a broken cable of the connection line for instance and signal the defect 8 7 2 Programming interlock Programming interlock is controlled via Parameter no 21 Programming mode configuration This parameter being enabled the interlock must be canceled prior to write access to a lockable parameter see Table 7 Parameter description by applying a write access to Parameter no 22 Programming mode Co
15. the set point A left hand arrow means that the shaft is to be rotated counter clockwise A right hand arrow requires clockwise rotation In the modulo display operating mode the shortest traveling distance to the set point is displayed SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 6 of 38 Functional Description Example Operating mode Modulo display Actual value 5 Set point 355 travel range shown by 10 LED display see e g chapter 4 Parameter description Parameter no 12 With factory setting the LED glows green as long as the actual position is within the programmed window When leaving target window1 the LED glows red An additional target window target window2 and an associated visualization can also be configured see chapter 4 Parameter description Parameter no 27 28 and 29 System status word and SIKONETZ5 status word see chapter 4 Parameter description gt Parameter no 33 In the system status word the dynamic and static target window reached bit is set upon reaching target window1 the dynamic bit is deleted when leaving target window1 The user must acknowledge the static bit Example Position monitoring Parameterization Factory setting Additionally Target window2 15 Visualization target window2 1 Set point 100 Positioning monitoring LED OFFI SPSS A PAAA Target window 2 Target window 1 Fig 2
16. with multiple slaves on the SIKONETZ5 fieldbus Each address can be assigned in the fieldbus only once Description see chapter 4 Parameter description Parameter no 3 Parameter address A distinct address is assigned to every parameter e g calibration value or functional value e g set point Description see chapter 8 8 Parameterization via SIKONETZ5 SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 29 of 38 SIKO APO4 RS485 SIKONETZ5 Communication via SIKONETZ5 Control word The master can give the following commands to the slave in the control word CW Bit Meaning Value 0 Value 1 0 reserved ever 0 1 reserved ever 0 2 reserved ever 0 3 Display range standard extended 4 Acknowledgment target window1 not acknowledged acknowledged static 5 Error not acknowledged acknowledged 6 reserved ever 0 7 reserved ever 0 8 reserved ever 0 9 reserved ever 0 10 reserved ever 0 11 reserved ever 0 12 LED green OFF ON 13 LED red OFF ON 14 reserved ever 0 15 LED blinking OFF ON Table 15 Control word Master Slave SIKONETZ5 Status word The current status of the slave is transferred to the master in the status word SW Bit Meaning Value 0 Value 1 0 Direction indication gt OFF ON Direction indication lt
17. 0 Off 1 0n 14 yy 15 reserviert yy 16 LED red 0 Off 1 0n 12 SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 25 of 38 Communication via Service Protocol Command Length Reply Description Parameter no acc to chapter 4 yy 17 LED green 13 0 Off 1 0n yy 18 Displayed value 2 display 20 line 0 set point 1 Off yy 19 Differential value calculation 32 0 Differential value actual position set point 1 Differential value set point actual position yy 20 reserved yy 21 Baud rate RS485 4 0 19200 1 57600 2 115200 yy 22 Node address 3 yy 23 Response delay 36 Hyyxxxxx 8 2 gt Enter 2 byte value yy Address xxxxx decimal value yy 00 APU spindle pitch 24 yy 01 Display divisor 16 yy 02 Display divisor application 17 yy 03 Decimal places 15 yy 04 Target window 1 27 yy 05 Target window 2 28 yy 06 Visualization of target 29 window2 yy 07 Positioning mode 30 yy 08 Loop length 31 yy 09 Direction indication function 18 yy 10 Key enable time 9 yy 11 Key function enable reset 11 Calibration yy 12 Key function enable 10 incremental measurement yy 13 Display orientation 19 yy 14 LED blinking 14 yy 15 reserved yy 16 LED red 12 yy 17 LED green 13 SIKO APO4 RS485
18. 07 2014 Art No 86218 Mod status 221 14 Page 27 of 38 8 1 8 2 SIKO APO4 RS485 SIKONETZ5 Communication via SIKONETZ5 Command Length Reply Description Parameter no acc to chapter 4 U 1 11 aabbccdxyz Output sensor data aa ADC Sin bb ADC Cos cc fine value d quarter x rough value 2 y rough value 1 z rough value 0 Xy 2 2 wou gt Enter operation mode 0 absolute position display 1 differential value 2 Modulo Z 1 11 XXXXXXXX gt Output actual position Table 14 Service protocol commands list Communication via SIKONETZ5 Interface RS485 interface Available baud rates 19 2 kBit 57 6 kBit Factory setting 115 2 kBit No parity 8 data bits 1 stop bit no handshake Data exchange The protocol functions according to the master slave principle The actuator acts as a slave Every instance of communication must be initiated by the master When the master has sent a command telegram the slave sends a reply telegram Broadcast commands are an exception they remain always unanswered by the slave The protocol is optimized for cyclical data exchange The relevant data such as set point and actual value as well as control and status words can be transferred between master and slave by a single telegram exchange The parameter to be returned by the slave as a reply to the master s Write set point command c
19. 1 14 Page 5 of 38 3 1 3 2 Functional Description Functional Description Operating modes It is differentiated between the absolute position differential value and Modulo operating modes Operating mode Absolute position Differential value Modulo Line 1 Actual position Actual position Actual position Line 2 Set point Differential value Set point Table 2 Display with different operating modes Absolute position Linear absolute position values are displayed Differential value display With factory setting Differential value actual position set point for calculating the differential value see chapter 4 Parameter description Parameter no 32 Modulo display Position values ranging from 0 to 360 are displayed Using the Decimal places parameter see Parameter no 15 the resolution and the modulo point of the displayed values are set Decimal places Display resolution Value range 0 1 0 360 1 1 10 0 0 360 0 2 1 100 0 00 360 00 Position monitoring see chapter 3 3 Loop positioning Arrows see chapter 4 Parameter description Parameter no 18 Arrows are displayed to support the user with positioning as long as the current actual position value is outside see chapter 4 Parameter description Parameter no 27 target window1 The arrows represent the shaft s direction of rotation in order to arrive at
20. APO4 Absolute Position Indicator with RS485 SIKONETZ5 interface User manual 221 14 Table of contents 1 General Information 12 5 oua Van VXRREVERY NAE FRAN ARN RUN SREYIAM S PANYRUXNSANIRRENERNTRUNVRRNVRUE M MANNA RT E pAMEAE 4 1 1 DOCUMENTACION usado coa cea ee ea Euge Enea ye eU ae xpo ee ox HERR VE e ERN de ERE is 4 2 Display and Control Keys e ee ecce e eee ee eee eee eene n eene neon ente ee ether e ese esee sae e ee sae ee 4 2 1 Jr 4 2 2 RUDIEDIETSEE AEE 5 2 2 1 Extended display range ione tiere nier e nhe nae R ee aeu Inno ro Ea E Co E Re REOR SE Ye RR Re Eck Yu eo ke 5 2 3 LEDS pla aio iaa 5 2 4 Ko sacarte TEE 5 3 Functional Description sccccscsssscccssscccssscccscsccsssscnsscsccssccccssccecssccecsscsessscsesccesecces 6 3 1 Operating MOdES EET 6 3 2 Position MONTO NU 2 ess exec idees Orr e sese Dep exo Eo ia 6 3 3 Loop positiOnlHtq s iios donee ro see b o Pro eb eo seb deoa PER dence Page ab oa Le sebo ER den STER D ERR E Eee aa Ri 8 3 4 Parameterization of the position indicator ccccssccccsscccessceccesceceescceeeeccesseceeeeeeeenss 9 3 4 1 Manual parameterization cscccsescssccssccesscessccesccessccsccceecceecssesssesssescneseueseseseeegeees 9 3 4 1 1 Starting parameterization essseeseseesee esee eene eene nenne a reet reste ia 9 34 1 2 O 9 34 1 3 Value selec Mii ii 9 BATA Men
21. ATA rode all parameters OPE 10 ELIGO rode only standard parameters ide rode only bus parameters 11105 Service protocol S 11100 all parameters 11101 only standard parameters 11102 only bus parameters SIKONETZ5 OxAO 1 all parameters 2 only standard parameters 5 only bus parameters Table 10 Access to factory settings 6 3 Alignment travel The position indicator is aligned in the factory and is therefore fully functioning The following steps must be carried out for additional alignment 1 Start alignment see Table 11 Start access to alignment The following is displayed AbBIL irn ILILI The value can vary by 1 2 Rotate the position indicator s shaft counter clockwise at the speed of lt lt 1 rpm The value will slowly change until 103 3 If this value is finally exceeded the alignment process will be completed The position indicator enters normal operation which is shown on the display unit 4 Calibrate the position indicator see chapter 6 1 Calibration It is not unusual that the position value cannot be displayed at first following alignment travel and FULL displayed instead The correct value will be displayed after calibration Alignment can be started as follows Access Coding Manually PATA COJE UPE IB OB 100 Service protocol S 00100 SIKONETZ5 0xC3 1 Table 11 Start access to alignment SIKO APO4 RSA485 SIKO
22. KONETZ5 8 9 2 Example Write parameter Set parameter offset value of node address 1 to value 500 Write command 0x01 Node address 0x01 Parameter address Ox1E Offset value Data 0x00 00 01 F4 gt 500 Telegram from master to slave 1l byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Command Node Parameter Cw Data Check address address sum 0x01 0x01 Ox1E 0x00 0x00 0x00 0x00 0x01 OxF4 OxEB Reply telegram from slave 1 byte 2 byte 3 ibyte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Command Node Parameter SW Data Check Reply address address sum 0x01 0x01 Ox1E 0x00 0x01 0x00 0x00 0x01 OxF4 OxEA SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 38 of 38
23. NETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 22 of 38 Communication via Service Protocol 7 Communication via Service Protocol 7 1 General The service protocol enables parameterization and control of the position indicator via ASCII commands No additional devices must be connected to the RS485 interface since this protocol is not bus compatible An ASCII terminal sends a letter and additional parameters if required ASCIT Subsequently the position indicator sends a reply with a concluding CR Available baud rates 19 2 kBit 57 6 kBit factory setting 115 2 kBit Additional settings No parity 8 data bits 1 stop bit no handshake 7 2 Error number encoding The following error messages are returned with faulty entries Error number Description 1 input of illegal parameter number 2 illegal value range Table 12 Error number encoding 7 3 System Status Word The system status word consists of 2 bytes and reflects the state of the actuator High Byte Low Byte Bit number 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 JO 0 0 1 0 1 O O 1 O 1 0 JO 1 O0 0 0 2 9 4 8 Fig 5 Structure of system status word Example grey background binary gt 0010 1001 0100 1000 hex gt 2 9 4 8 The table below informs about the meaning of the individual bits
24. OFF ON 2 Speed error is was not present max speed is was exceeded 3 Target window2 dynamic not reached reached 4 Target window1 static never reached reached 5 Target window1 dynamic not reached reached 6 Deviation Actual position lt actual position gt set set point point 7 General error not present is present Output of position value dynamic freezed see chapter 2 2 1 Extended display range see status word bit SW 4 Target window1 static n order to get access to the LED via the control word the position dependent function must be inactivated viaParameter no 12 13 and 14 The bit SW 4 Target window1 static is set when target window1 was reached It is not deleted when leaving the window Deletion occurs via acknowledgment with bit CW 4 Bit SW 5 is deleted automatically upon leaving the window 3 see chapter 8 8 Parameter address OxAA Date 15 07 2014 Art No 86218 Mod status 221 14 Page 30 of 38 Communication via SIKONETZ5 Bit Meaning Value 0 Value 1 9 Position value incremental OFF ON measurement 10 reserved for future use 11 Battery status warning all right critical 12 reserved for future use i 13 key not actuated actuated 14 key not actuated actuated 15 key not actuated actuated Table 16 Status word Slave Master SIKONETZ5 8 3 6 Data Range for data exchange Size 4 bytes 8 3 7 Check sum F
25. ample an attempt was made at writing a value of 90 to the key enable time parameter address However a maximum value of only 60 is admissible for this parameter Telegram from master to slave 1 byte 2 byte 3 ibyte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Command Node Parameter Cw Data Check address address sum 0x01 0x01 0x04 0x00 0x00 0x00 0x00 0x00 Ox5A Ox5E Reply telegram from slave 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8byte 9 byte 10 byte Command Node Parameter SW Data Check address address Code 2 Code 1 sum 0x01 0x01 OxFD 0x00 0x81 0x00 0x00 0x02 0x82 OxFC 8 5 1 SIKONETZ5 error codes Code 1 Description Code 2 Description 0x80 Check sum SIKONETZ5 0x00 no further information available 0x81 Timeout SIKONETZ5 0x00 no further information available 0x82 Value rage exceeded 0x00 no further information available inadequate 0x01 Value MIN 0x02 Value MAX 0x83 Unknown parameter 0x00 no further information available 0x84 Access is not supported 0x00 no further information available 0x01 write attempt to read only 0x02 read attempt to write only 0x85 Error due to device status 0x00 no further information available 0x03 Programming locked Table 17 SIKONETZ5 error codes SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod
26. an be defined via the Write set point reply parameter Date 15 07 2014 Art No 86218 Mod status 221 14 Page 28 of 38 Communication via SIKONETZ5 8 3 8 3 1 8 3 2 8 3 3 Telegram setup Control word CW status word SW and data are transferred in the Big Endian format Command telegram from master 1l byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Command Node Parameter High Low MSB LSB Check address address Byte Byte sum Cw Data Reply telegram from slave 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Reply Node Parameter High Low MSB LSB Check address address Byte Byte sum SW Data Command The following access types are provided by SIKONETZ5 Access code Meaning Description 0x00 read The master requests the addressed slave to output the relevant value in a response telegram 0x01 write The master requests the addressed slave to accept the value transferred in the same telegram 0x02 broadcast The master requests all connected slaves to execute the command transferred in the same telegram Node address The device address can be freely set in the range of 0 to 31 The delivered devices are preset to node address 1 ex works and must be reset to the desired address to enable their operation
27. ation PATA parameter SiO ui a u Parameter Options see menu Options PATA OPE B Fig 4 Menu selection SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 10 of 38 Functional Description 3 4 1 5 3 4 1 6 SIKO APO4 RS485 SIKONETZ5 Bus parameters Menu PATA bu Parameter display Parameter no acc To chapter 4 Description 3 Node address Value range 0 31 bAUd Baud rate Selection 516 57600 baud I i58 115200 baud 92 19200 baud PrttL Protocol Selection 55 SIKONETZ5 SEruL Service protocol bu bta Bus Timeout Value range 0 20 nHbE 36 Response delay Value range 0 10 Table 3 Bus parameter menu Positioning Menu PATA 05 It Parameter display Parameter no acc To chapter 4 Description RPU 24 Readout per revolution spindle pitch Value range 0 59999 15 Decimal places Selection 0 0 1 ni Li 1 n Li Date 15 07 2014 Art No 86218 Mod status 221 14 Page 11 of 38 Functional Description Parameter display Parameter no Description acc To chapter 4 d lu 16 Display divisor Selection i 10 10 100 100 1000 1000 rokAk 23 Sense of rotation Selection Er i sense of rotation cw CLr e sense of rotation ccw LRL ib 26 Calibration value Value rang
28. e 9999 9999 LRL ib Selection na no calibration HE5 Execute calibration now OFFSE 25 Offset Value range 9999 9999 ERFS i 27 Target window 1 Value range 0 9999 UESP 30 Pos Type Selection d ir direct 05 loop nEB loop LOOF 31 Loop length Value range 0 9999 ERr Se 28 Target window 2 Value range 0 9999 Table 4 Positioning menu SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 12 of 38 Functional Description 3 4 1 7 Visualization Menu PR R oc og weit co Parameter display Parameter no Description acc To chapter 4 d SPL 19 Display orientation Selection 0 0 i50 180 OrEEn 13 Green LED function Selection on Indication of the operating status OFF Off rEd 12 Red LED function Selection an Indication of the operating status OFF Off FLASH 14 LED blinking function Selection on LED blinking On OFF Off 29 Visualization of target window 2 Selection 5rEEn target window 2 reached Green LED rEd target window 2 reached Red LED OFF Function off 18 Direction indication function Selection an On InUr 5 inverted OFF Off 20 Displayed value of 2 display line Selection an Set point OFF Off nu c uen a FA r gt m Mu Table 5 Visualization menu SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 13 of 38 3 4 1 8 3 4 2
29. e chapter 3 1 Operating modes Date 15 07 2014 Art No 86218 Mo g Status 221 14 Page 36 of 38 Communication via SIKONETZ5 Parameter Name Access Format Description no acc to Adr chapter 4 hex OxFD Error Integer32 see chapter 8 5 Error telegram OxFE Actual position ro Integer32 Actual position see chapter 3 1 Operating modes OxFF Set point rw Integer32 Set point Table 18 Parameter description SIKONETZ5 8 9 Examples of access 8 9 1 Example Read parameter With read commands the data range shall be set to value 0 Reading the parameter target window1 of node address 1 Read command 0x00 Node address 0x01 Parameter address 0x20 Target window1 Data 0x00 00 00 00 Telegram from master to slave 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Command Node Parameter Cw Data Check address address sum 0x00 0x01 0x20 0x00 0x00 0x00 0x00 0x00 0x00 0x21 Reply telegram from slave 1l byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte 10 byte Command Node Parameter SW Data Check Reply address address sum 0x00 0x01 0x20 0x00 0x01 0x00 0x00 0x00 0x05 0x25 SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 37 of 38 Communication via SI
30. escription No Name Selection value Default Description Write reply parameter to set point O 2 SIKONETZ5 This parameter defines the reply to the Write set point command 0 Set point 1 Actual value 2 Differential value Service protocol no function Operating mode Type of position value display 0 absolute position display 1 differential value 2 Modulo see chapter 3 1 Operating modes Key enable time 60 15 Display key control Time in seconds how long the key must be held down until configuration starts 10 Key function enable Incremental measurement Display key control 0 incremental measurement function disabled 1 incremental measurement function enabled 11 Key function enable reset Display key control 0 Calibration reset function via key disabled 1 Calibration reset function via key enabled 12 LED 1 red Red LED 1 function 0 Off 1 position dependent display 0n If the position dependent display for both LEDs is switched off the LEDs can be enabled by the control word see chapter 8 3 4 Control word 13 LED 1 green Green LED 1 function 0 Off 1 position dependent display On If the position dependent display for both LEDs is switched off the LEDs can be enabled by the control word see chapter 8 3 4 Control word 14 LED blinking
31. g window1 The target position has been reached when the indicator s actual position is within the programmed set point this window With factory settings this is represented as follows LCD no arrows LED display LED1 green System status word or status word Setting the corresponding bits SIKO APO4 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 18 of 38 Parameter description No Name Selection value Default Description 28 Target window 2 0 9999 Positioning window2 Additional target window for detecting an approach to target window1 see also Parameter no 29 and chapter 3 2 Position monitoring seq 29 Visualization of target window2 Visualization of the target window2 reached state Selection 0 Off 1 LED1 glows green 2 LED1 glows red If the actual position is inside target window2 but outside target window1 the LED display glows as set here Additionally blinking of the LED is inverted to Parameter no 14 LED blinking switched on 30 Positioning mode direct Type of positioning 0 direct direct travelling from actual position to set point possible 1 loop travelling to the set point must always be in positive direction to compensate for spindle play 2 loop travelling to the set point must always be in negative direction to compensate for spindle play 31
32. n point command 2 Differential value 9 0x04 Enable keys rw Unsigned8 Value range 1 60 time 11 0x05 Key function rw Unsigned8 0 key function locked enable reset 1 Calibration reset key function enabled 14 0x06 LED blinking rw Unsigned8 0 LED display glows constantly 1 LED display blinks 12 0x08 LED 1 red rw Unsigned8 0 LED 1 red Off 1 LED 1 red On 13 0x09 LED 1 green rw Unsigned8 0 LED 1 green Off 1 LED 1 green On 15 Ox0A Decimal places rw Unsigned8 Value range 0 4 0 0 1 0 0 2 0 00 3 0 000 4 0 0000 16 OxOB Display divisor rw Unsigned8 Value range 0 3 0 21 1 210 2 100 3 1000 18 OxOC Direction rw Unsigned8 Value range 0 2 indication 0 on function 1 inverted 2 off 19 OxOD Display rw Unsigned8 0 normal orientation 1 rotated by 180 SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 34 of 38 Communication via SIKONET 25 Parameter Name Access Format Description no acc to Adr chapter 4 hex 21 OxOE Programming rw Unsigned8 02 no programming mode mode 1 apply programming mode Configuration 23 Ox1B Sense of rw Unsigned8 0 i sense of rotation cw rotation 1 e sense of rotation ccw 24 Ox1C APU Spindle rw Unsigned16 Value range 0 59999 pitch 25 Ox1E Offset rw Integer32 Value range 9999
33. o SE s e PEE REOR Fe aE Ee rsen Eve qe 28 SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 2 of 38 8 3 I iiriuidbme I 29 8 3 1 SO MEUSE 29 8 3 2 Node address inrcr A Pere R a eR ee eT eREUS 29 8 3 3 Parameter address eta 29 LAU MEE ODE UGNETTPETIIRI 30 83 07 Stats WOEQ oie toes tee a da 30 e ce 31 LEN Check SUM N 31 8 4 Synchronization iere eoo eee vino euet a a a ea aaar kaeaea 31 8 5 Error telegidMs iii ire A a a E e A 32 8 5 1 SIKONEIZ5 error Codes iioii eoo rore ore eos Deo oo e oce vest Io ed eso t sve ore Eee aa see Tuas 32 8 6 B SRI TID DIT II DID CUTEM 33 8 7 Communication monitoring cere cec esto et eto tr tee avevo E co ele soie ets eye e Enea d qe sou 33 8 7 1 BUS TIM OUt scree ee e A eo vue e Lone a cis voa SEE ein ae aure deo o dd 33 8 7 2 Programming interlock ce eerte t tee tege on oen Re Dave o Pe xa eaae RR SE e ER a Ee 33 8 8 Parameterization via SIKONETZS5 cccccsssccsssccesseccsseeccsecceasceeeesceceesceeeseceesseeeeneeeees 33 8 9 EXAMPLES Of ACCESS ies eee eaae dd ness ene ARCEA ENNEA EE REET ETES 37 8 9 1 Example Read parameter ccccccssscccssscccssecceseeceececescecesseeeescceeeeceeuseceaneeeeenss 37 8 9 2 Example Write parameter
34. of programming depends on the programming mode Service protocol no function SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 17 of 38 Parameter description No Name Selection value Default Description 22 Programming mode 0 1 SIKONETZ5 0 Programming mode Off 1 Programming mode On Service protocol no function 23 Sense of rotation Counting direction of the measuring system With shaft rotating clockwise view on the LCD i sense of rotation cw gt positive counting direction e sense of rotation ccw gt negative counting direction 24 APU Spindle pitch O 59999 720 Readout per revolution spindle pitch Position value is output in x increments per revolution 25 Offset 9999 9999 Offset value Changes to the offset value are considered in the calculation of the position value immediately after value entry transmission The following equation is applied in case of calibration Position value 0 calibration value offset value 26 Calibration value 9999 9999 Calibration value Changes to the calibration value are adopted for calculation of the position value via ek key or S command only after calibration Then one has Position value 0 calibration value offset value 27 Target window1 O 9999 Positionin
35. or checking error free data transfer a check sum is formed at the end of the telegram The check sum is the exclusive OR link of bytes 1 9 Check sum Byte10 Byte1 XOR Byte2 XOR Byte3 XOR Byte4 XOR Byte5 XOR Byte6 XOR Byte7 XOR Byte8 XOR Byte9 The following applies for checking the telegram received Byte1 XOR Byte2 XOR Byte3 XOR Byte4 XOR Byte5 XOR Byte6 XOR Byte7 XOR Byte8 XOR Byte9 XOR Byte 10 0 With a result unequal 0 a transmission error is to be assumed 8 4 Synchronization Processing of the Restore factory settings system command may take up to 100 ms Acknowledgment is reported only after proper updating of all parameters in the non volatile memory Byte telegram synchronization is via Timeout The intervals between the individual bytes of a telegram must not exceed the value of 10 ms If an addressed device does not respond the master must not send another telegram earlier than after 30 ms SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 31 of 38 Communication via SIKONETZ5 8 5 Error telegram Illegal entries are replied with an error telegram An error telegram consists of parameter address OxFD and an error code The error code is in the data section of the reply telegram The error code is divided in two bytes Code 1 describes the error proper code 2 contains additional information if available In the following ex
36. play Error Possible effect Corrective actions CI Battery empty Position value not reliable Battery change calibration travel SPEE Speed exceeded Position value not reliable Reduce speed calibration travel Table 9 Corrective actions 6 System commands 6 1 Calibration Two steps are required for executing calibration 1 Enter write calibration value see chapter 3 4 1 6 Positioning and chapter 8 Communication via SIKONETZ5 Parameter address Ox1F 2 Execute calibration reset see chapter 2 4 Keys chapter 3 4 1 6 Positioning or chapter 8 Communication via SIKONETZ5 Parameter address 0xAO Since the measuring system is an absolute system calibration is necessary only once with commissioning With calibration the calibration value is adopted for calculation of the position value The following equation is applied in case of calibration Position value 0 calibration value offset value Calibration value see chapter 4 Parameter description Parameter no 26 Offset value see chapter 4 Parameter description Parameter no 25 SIKO APO4 RSA485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 21 of 38 System commands 6 2 Restore factory settings In some instance for instance for evaliuating the position indicator it may be useful to restore the device s factory settings This may de done as follows Access Coding Factory settings are restored Manually P
37. rrespondingly the interlock should be enabled again immediately after a write access This mechanism enhances protection against unintentional parameterization Write access to locked parameters is replied with Error due to device state see chapter 8 5 1 SIKONETZ5 error codes 8 8 Parameterization via SIKONETZ5 On principle the position indicator sends a telegram acknowledging write and read commands of the master With the command executable the value adopted is in the reply telegram If the actuator was unable to execute the command e g because it attempted to write a value beyond the admissible range the position indicator will send an error telegram in reply Access rw read write ro read only wo write only SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 33 of 38 Communication via SIKONETZ5 Parameter Name Access Format Description no acc to Adr chapter 4 hex 3 0x00 Node address rw Unsigned8 Value range 0 31 Parameter changes become active only after cold start or software reset 4 0x01 Baud rate rw Unsigned8 0 19200 1 57600 2 115200 Parameter changes become active only after cold start or software reset 6 0x02 Bus Timeout rw Unsigned16 Value range 0 20 see chapter 8 7 1 Bus Timeout E 0x03 Reply parameter rw Unsigned8 0 Set point to write set 1 Actual positio
38. tion with incremental measurement formation y 2 Position with calibration y 3 Calibration value 26 y 5 Offset 25 Fyxxxxxxxx 11 2 gt Enter values XXXXXXXX decimal value in increments y 0 Target position volatile 2 y 3 Calibration value 26 y 5 Offset 25 SIKO AP04 RS485 SIKONETZ5 Date 15 07 2014 Art No 86218 Mod status 221 14 Page 24 of 38 Communication via Service Protocol Command Length Reply Description Parameter no acc to chapter 4 Gyy 3 7 XXXXX gt Output 2 byte value yy Address xxxxx decimal value yy 00 APU spindle pitch 24 yy 01 Display divisor 021 1 210 2 100 3 1000 16 yy 02 Display divisor application 17 yy 03 Decimal places 0 0 1 0 0 2 0 00 3 0 000 4 0 0000 15 yy 04 Target window 1 27 yy 05 Target window 2 28 yy 06 Visualization of target window2 29 yy 07 Positioning mode 30 yy 08 Loop length 31 yy 09 Direction indication function 0 2 On 1 inverted 2 Off 18 yy 10 Key enable time Range 1 60 seconds yy 11 Key function enable reset Calibration 0 Function disabled via key 1 Function enabled via key 11 yy 12 Key function enable incremental measurement 0 Function disabled via key 1 Function enabled via key 10 yy 13 Display orientation 0 20 1 rotated by 180 19 yy 14 LED blinking
39. u seleCtI0nciss eter aaae aaa 10 3 4 1 5 Bus parameters eee E 11 3 4 1 6 POSItIOTIDng iei noradrenalina ra 11 EE SPEM ETEUPECDUPE RR 13 3 4 1 9 OPUONS iia is ii asia CER VERE ERR YE CR 14 3 4 2 Parameterization via interface cceesccesssccesseccsseeccesecceasceeeescceeesceeeseceseeeneeeeeees 14 4 Parameter descripllON cciscsscsiscessscecsccccesccesesccasecsdeccscsessccsessccedsscnsescecessccsscsseassccacccecces 15 5 Warnings AETERNE 20 5 1 Waning iia EE 20 5 2 EOS uri o 20 6 System iEEnee M 21 6 1 Cabranes a tias 21 6 2 Restore factory SCttiNgS cccssscccsssccccescccssecceseecceneeceeseeeeesceeeesceeeesceeuseceesesenenseeees 22 6 3 Alignment trave lenri 1e idco eure ete etre tee ir E sents ee ete eet Te rte dode 22 7 Communication Via Service Protocol rica 23 7 1 jc 23 7 2 Error number encoding se o esee roseo eoo dono pe reos e eio e Eo Lue eb ce bosdence DUREE eben e Ere FERNER EL NER OUR 23 7 3 System Status Word occae nude eee Seo a ee uae aep pear e RE ee oae x KU Eae RREX epa ETE EEEa aa Eiaa 23 7 4 Service protocol commands LiSt cccsecssecceeeccseceseceseceseccsccesccessccssceeecesesseesssesseeses 24 8 Communication via SIK NETZS iia 28 8 1 cursu E 28 8 2 Data Exchange eise es cree ere ede rne Ea E Ret ae pH deua REN La eR xu qe Eae ERE ek s
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