Setpoint display with CANopen interface User manual
Contents
1. Sub index 00h Description Serial number Access ro PDO mapping no Data type UNSIGNED 32 Default FFFFFFFFh EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 59 of 592. validity of Setpoint2 invalid valid 10 acknowledgement of Setpoint1 not acknowledged acknowledged 11 LED1 green left Off On 12 LED3 green right Off On 13 LED4 red right Off On 14 LED red left Off On 15 LED blinking Off On Table 9 Control word 4 3 3 Status word The status word indicates the current status of AP10T It consists of 16 bits and is mapped in the object 5F19h Status word as well as in the two Transmit PDOs Status word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 MSB High Byte Low Byte LSB The following table lists the designations of the individual bits of the status word and their meanings Bit Meaning Value 0 Value 1 0 front key not actuated actuated 1 reserved ever 0 2 validity of Setpoint1 invalid valid 3 acknowledgement of Setpoint2 not acknowledged acknowledged 4 reserved ever 0 5 acknowledgement of Setpoint1 not acknowledged acknowledged 6 reserved ever 0 7 reserved ever 0 8 Guarding Bit is output is output 9 data identifier number ASCII String 10 validity of Setpoint2 invalid valid 11 reserved ever 0 12 reserved ever 0 13 key not actuated actuated 14 key not actuated actuated 15 t key not actuated actuated Table 10 Status word SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15
3. ccccesseccesceccesceccesecceesceeeesccceesceeeseceeseeceeeeeees 28 4 7 2 6 1008h Manufacturer Device Name uses ss ees ss ee ee de eene nennen nnne GE ee GE ee ee 28 4 7 2 7 1009h Manufacturer Hardware Version uses ss sees ss ee sede ee de Ge RE ee EE ee GE nennen nnn 29 4 7 2 8 100Ah Manufacturer Software Version esse see see de AR Ge AE ee GE nnne nnne nnn 29 RES 100Ch Guard TIME RE OE ON OE OE OR EE 29 4 7 2 10 100Dh Life Time Factor ic scaccsecescceccscssaecaesecdave caauatcesscdaseeccsdeseebasdaedeananavecauederdes 30 4 7 2 11 1010h Store Parameters ese Ge ped SG N enne sete ene DE ER De Pe SAG ee ea eed Ee sed Es 30 4 7 2 12 1011h Restore Parameter sesse sees ss ese se ee de hene EE ee GE ee GE ee 32 4 7 2 13 1014h COB ID Emergency Message ccssscccssceccsseccessccceescceeesccesecesseceeneeeees 34 4 7 2 14 1017h Producer Heartbeat Time ees see de de ede ee ee GE ee GE ee GE ee 35 41 2 15 1018h Identity ObjGCU eere EE GR EE Ge Ge oe RE Ne ats De EE Ge ER ee ee Ee ee 35 4 7 2 16 1200h Server SDO Parameter sees ss sees see ee de de AR ee ee GE ee EE ee GE ee 36 4 7 2 17 1400h 1 Receive PDO Parameter uses ss ses see de de AR ee ee GE ee GE ee Ge nnn 37 4 7 2 18 1401h 2 Receive PDO Parameter uses ss ses see de de ee RE ee GE ee GE ee GE ee 38 4 7 2 19 1600h 1 Receive PDO Mapping Parameter esse se ss sede ee Ee GE ee GE nnne nnn 39 4 7 2 20 1601h 2 Receive
4. EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 6Ch L 6Fh o 61h a 64h d Read Bit 31 1 0 reserved Bit 0 1 unit permits loading of default parameters Date 07 04 2015 Art No 88125 Mod status 132 15 Page 33 of 59 Communication via CAN bus CANopen 4 7 2 13 SIKO AP10T Sub index 04h Description reset only manufacturer specific parameters to factory settings Access rw PDO mapping no Data type UNSIGNED 32 Default 1h EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 6Ch L 6Fh o 61h a 64h d Read Bit 31 1 0 reserved Bit 0 1 unit permits loading of default parameters 1014h COB ID Emergency Message The COB ID of the Emergency object is set via object 1014h see chapter 4 5 1 Emergency Service EMCY Sub index OOh Description Defines the COB ID of the Emergency object EMCY Access rw writable in the Pre Operational state only see chapter 4 1 Telegram setup PDO mapping no Data type UNSIGNED 32 Default 80h Node ID EEPROM yes Data content Bit 31 0 EMCY object exists is valid 1 EMCY object does not exists is invalid Bit 30 ever 0 Bit 29 0 11bit identifier CAN 2 0A 1 29bit identifier CAN
5. Page 16 of 59 Communication via CAN bus CANopen 4 4 4 4 1 SIKO AP10T Parameter data exchange Transfer of Service data objects SDO Two SDO services are available e SDO rx master gt AP10T e SDO tx AP10T gt master These SDO identifiers cannot be changed 600h Node ID 580h Node ID SDO messages are set up as follows Service data objects serve mainly for device configuration via the directory of objects SDOs are exchanged between two participants exclusively via expedited Request Response User data is sent already with the initialization message The identifier is set to 11 bits and cannot be changed COB ID User data in binary code Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 read write LSB MSB LSB MSB SDO rx tx command index sub service data parameters Node ID index Command byte Byte 0 The command byte determines the type of access and the number of valid data bytes The following command bytes are valid for AP10T Command byte Type Function Write Request 23h SDO rx Initiate Download Send parameter to AP10T Request expedited all 4 data bytes valid Write Request 2Bh SDO rx Initiate Download Send parameter to AP10T Request expedited 2 bytes from 4 data bytes valid Write Request 2Fh SDO rx Initiate Download Send parameter to AP10T Request
6. 0 set bit indicates the occurrence of any error condition 4 set bit indicates communication error on the CAN bus Acknowledgement Form CRC and Stuffbit 7 manufacturer specific battery or sensor error 1 3 5 6 not used Faults and errors are signalled at the time of their occurrence by an emergency message Date 07 04 2015 Art No 88125 Mod status 132 15 Page 26 of 59 Communication via CAN bus CANopen 4 7 2 3 4 7 2 4 SIKO AP10T 1002h Manufacturer Status Register The object 1002h shows the counter readings of Transmit Error Counter and Receive Error Counter The contents of these registers provide information on the transmit faults present at the mounting site of the encoder Sub index 00h Description Transmit Error Counter and Receive Error Counter Access ro PDO mapping no Data type UNSIGNED 32 Default 0x0000 EEPROM no Data content Byte 0 Byte 1 Byte 2 Byte 3 Receive Error Counter Transmit Error Counter 1003h Pre defined Error Field The 8 error states that occurred last are archived in object see chapter 4 5 1 Emergency Service EMCY The entry under sub index 0 indicates the number of stored errors The latest error state is always stored in sub index 1 Previous error messages are each shifted one sub index position farther The whole error list is deleted by writing the value 0 at sub index 0 The entries i
7. 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 Explanation of the data content 0 Error does not occur at all 4 Error occurs most frequently 5FO9h External Heartbeat timer and external Heartbeat source Via object 5F09h an external heartbeat timer and its trigger source can be set This function serves for monitoring the connection of the device to the master via CAN bus Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 2h EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 48 of 59 Communication via CAN bus CANopen Sub index O1h Description With a value greater than zero entered here an event depending on the external heartbeat source set in sub index 2 is expected in this interval If no such event is received the device will return to the Pre Operational status Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM yes Data content 0 10 65535 Ah FFFFh the numerical value corresponds to a multiple of 1 ms The function is disabled by writing the value 0 Sub index 02h Description source that triggers the external heartbeat timer in sub index 1 Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM yes Data content 0 Timer is triggered upon receipt of a PDO se
8. 5F1Ch 6200h 6503h 6504h 6505h 6506h 6507h 6508h 650Bh Control waf e Ge ae Ek ee EE eN ee 51 Decimal Ee RE RE RE N 51 Display orientation and LEDS cccceseeccesceceesccccesccceesceeeeceeseeceeseeees 52 Read target valle EE EE N 54 SLO el Re P PA 55 Sensor type and operating mode sies ss se ee de de de ee RE ee GE ee EE ee Ee 56 Acknowledgement settings esse ss sees see ee ee de ee ee ee GE ee GE ee Ge 56 CYCLE SE EE RE OE N EE RE EO N 57 EE RE N EE RE N EE N 57 Supported Alarms ve 2 OR ON ORE EE eteaces 57 ET GR EE RE EE N E 58 Supported Warnings esse ee ss esse ee ee ee de de de ee AE ee GE ee de 58 Profile and Software Version esse ee ss see ee ee eene enne eene ee GE ee ee Ee 58 Operating HInQz eoo coti less ru ee re Coen occa aiadecunvedesceesiedeeslecds voce a e aeaa 59 serial NUM Cs sies ERG 59 Date 07 04 2015 Art No 88125 Mod status 132 15 Page 4 of 59 General Informaton 1 General Informaton 1 1 Documentation The following documents describe this product e The data sheet describes the technical data the dimensions the pin assignments the accessories and the order key e The installation instructions describe the mechanical and electrical installation including all safety relevant requirements and the associated technical specification e The user manual for commissioning and integrating the setpoint display int
9. Default Oh EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 35 of 59 Communication via CAN bus CANopen 4 7 2 16 SIKO AP10T Sub index 03h Description Revision Number function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 32 Default Oh EEPROM no Sub index O4h Description Serial Number function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 32 Default FFFF FFFFh EEPROM no 1200h Server SDO Parameter The COB IDs for the Default Server SDO are indicated via object 1200h The COB IDs cannot be changed Sub index OOh Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 2h EEPROM no Sub index O1h Description COB ID Client gt Server rx Access ro PDO mapping no Data type UNSIGNED 32 Default 00000600h Node ID EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 36 of 59 Communication via CAN bus CANopen Sub index 02h Description COB ID Server gt Client tx Access ro PDO mapping no Data type UNSIGNED 32 Default 00000580h Node ID EEPROM no 4 7 2 17 1400h 1 Receive PDO
10. EEPROM no Data content Byte 0 Byte 1 Byte 2 Byte 3 41h A 50h P 31h 1 30h 0 Date 07 04 2015 Art No 88125 Mod status 132 15 Page 28 of 59 Communication via CAN bus CANopen 4 7 2 7 4 7 2 8 4 7 2 9 SIKO AP10T 1009h Manufacturer Hardware Version Object 1009h indicates the hardware version Sub index 00h Description Hardware version as ASCII characters Access Const PDO mapping no Data type Visible_String Default V001 EEPROM no Data content Byte 0 Byte 1 Byte 2 Byte 3 56h V 30h 0 30h 0 31h 1 100Ah Manufacturer Software Version Object 100Ah indicates the software version of the device Sub index 00h Description Software version as ASCII characters Access Const PDO mapping no Data type Visible_String Default V100 EEPROM no Data content Byte 0 Byte 1 Byte 2 Byte 3 56h V 31h 1 30h 0 30h 0 100Ch Guard Time The object 100Ch indicates the cycle time set in the master for Node Guarding see chapter 4 5 2 Node Guarding The cycle time is indicated in milliseconds The value 0 means that Node Guarding is deactivated Sub index 00h Description Guard Time Access rw PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM yes Date 07 04 2015 Art No 88125 Mod status 132 15 Page 29 of 59 Communication
11. key starts the parameterization mode see chapter 3 6 Parameterization of the setpoint display With factory settings the setpoints received are acknowledged by pressing the front button 3 5 Communication Setpoint1 in row 1 is received via the receive data object 1 RPDO1 Likewise setpoint2 in row 2 is received via RPDO2 The data identifier must be correctly set in the respective control word The data identifier serves for determining whether the data is interpreted and displayed as number or as alpha numeric characters ASCIT see chapter 4 3 2 Control word Control word see chapter 4 3 2 In the control word the respective type number or character string and the validity of the setpoint are transferred to the display Additionally the setpoint can be acknowledged via the control word Status word see chapter 4 3 3 Type validity and acknowledgement status of the setpoints are recorded in the status word 3 6 Parameterization of the setpoint display The setpoint display can be completely parameterized via the bus interface The most significant bus parameters node address and baud rate can be parameterized manually by means of the keyboard SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 7 of 59 Brief description 3 6 1 Manual parameterization 3 6 1 1 Starting parameterization After applying supply voltage and passing initialization the setpoint display will be on the uppermost
12. 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 5h EEPROM no Sub index 01h Description COB ID of the PDO2 Access rw writable in the Pre Operational state only see chapter 4 1 PDO mapping no Data type UNSIGNED 32 Default 280h Node ID EEPROM yes Sub index 02h Description Transmission Type Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content FEh 254 PDO is sent after receipt of 1 240 SYNC messages FFh 255 FDh 253 Device responds to RTR request only if RTR Bit 30 is enabled in the COB ID SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 43 of 59 Communication via CAN bus CANopen Sub index 03h Description Inhibit time function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no Sub index O4h is not used access attempt generates error message Sub index 05h Description Event timer function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no Sub index O6h is not used access attempt generates error message 1A00h 1 Transmit PDO Mapping Parameter Object 1A00h determines the objects that
13. 2 0B Bit28 11 0 if bit 29 20 X bits 28 11 of the EMCY COB ID if bit 29 1 Bit10 0 X bits 10 0 of the EMCY COB ID Date 07 04 2015 Art No 88125 Mod status 132 15 Page 34 of 59 Communication via CAN bus CANopen 1017h Producer Heartbeat Time The cycle time Heartbeat Time for the heartbeat protocol is set via object 1017h The cycle time is indicated in milliseconds Sub index 00h Description defines the cycle time of the heartbeat monitoring service Access rw PDO mapping no Data type UNSIGNED 16 Default 0 EEPROM yes Data content 0 10 65535 Oh Ah FFFFh the numerical value corresponds to a multiple of 1 ms The value 0 deactivates the service 1018h Identity Object The manufacturer identification number Vendor ID is indicated via object 1018h Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 4h EEPROM no Sub index O1h Description the manufacturer identification number vendor ID for the company SIKO GmbH allocated by the CiA Access ro PDO mapping no Data type UNSIGNED 32 Default 195h EEPROM no Sub index 02h Description Product Code function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 32
14. 3 1 4 3 1 1 4 3 1 2 Process data exchange Transfer of Process Data Objects PDO Process data objects PDO serve for quick process data exchange A maximum of 8 bytes of user data can be transferred in a PDO AP10T supports the Receive PDO services RPDO1 and RPDO2 according to Draft Standard 301 as well as the Transmit PDO services TPDO1 and TPDO2 according to Draft Standard 301 and Device Profile 406 Receive PDO from Master to AP10T Using Receive PDO transfer RPDO setpoints and control commands see chapter 4 3 2 Control word can be transmitted from the bus master to the display COB ID Process data in binary code Byte O Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 LSB MSB RPDO1 Target value 1 indicated in the Data identifier 5FOCh Control 200h Node ID upper row equal to ASCII word see Byte 4 and 5 of chapter 4 3 2 setpoint 1 Otherwise dummy 0x0000 RPDO2 Target value 2 indicated in the Data identifier 300h Node ID lower row equal to ASCII Byte 4 and 5 of setpoint 2 Otherwise dummy 0x0000 Table 7 RPDO message The transfer behavior of RPDO1 is defined via objects 1400h and 1600h RPDO2 is defined via objects 1401h and 1601h A differentiation is made between Setpoint1 und Setpoint2 Setpoint1 is displayed in the upper row and Setpoint2 in the lower row Transmit PDO from AP10T to the master PDO transfer from the disp
15. PDO Mapping Parameter esse ss sede ss ee eee eene eene nnne nnn 40 4 7 2 21 1800h 1 Transmit PDO Parameter sesse ees see ee de de Ge AR ee AE ee GE ee GE ee GE enne 41 4 7 2 22 1801h 2 Transmit PDO Parameter cccsscccsscccessccceesccecescceeeeceesseceeseeceeaseeees 43 4 7 2 23 1A00h 1 Transmit PDO Mapping Parameter cccscccssscccssccctseceesseceneeceeneeeees 44 4 7 2 24 1AO01h 2 Transmit PDO Mapping Parameter cccscccssscccessccceeeceesseceeneeceeeeeees 45 4 7 2 25 2003h PE key actuation enable RR ES e Suec RNEER Se cose ann aeu ERR Eae EE de ee de Ee 46 4 7 2 26 2004h UW key actuation enable esse see ee ee de ee EE ee GE nnne nnn 46 4 7 2 27 2005h Configuration enable via keyboard and delay of start of configuration 47 4 7 2 28 5000h Diagnosis of CAN bus errors cccesseccsscecceseccesceecesccceeeceeeeeceeseeceeneeeees 48 4 7 2 29 5FO9h External Heartbeat timer and external Heartbeat source esses 48 4 7 2 30 5FOAh Node ID Auto ID and Baud rate Bus CAN sesse ee ss ee ee GE ee EE ee GE ee 49 4 7 2 31 5F0Bh Display in the Z WOW dee vt n Gat bn vim Ee ee eg 51 SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 3 of 59 4 7 2 32 4 7 2 33 4 7 2 34 4 7 2 35 4 7 2 36 4 7 2 37 4 7 2 38 4 7 2 39 4 7 2 40 4 7 2 41 4 7 2 42 4 7 2 43 4 7 2 44 4 7 2 45 4 7 2 46 SIKO AP10T 5FOCh 5F11h 5F12h 5F16h 5F19h 5F1Bh
16. Parameter The communication parameters of the first Receive PDO RPDO1 are set via object 1400h Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 5h EEPROM no Sub index O1h Description COB ID des PDO1 Access rw writable in the Pre Operational state only see chapter 4 1 Telegram setup PDO mapping no Data type UNSIGNED 32 Default 200h Node ID EEPROM yes Sub index 02h Description Transmission Type Access rw PDO mapping no Data type UNSIGNED 8 Default FFh EEPROM yes Data content Oh FOh FEh FFh SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 37 of 59 Communication via CAN bus CANopen 4 7 2 18 SIKO AP10T Sub index 03h Description Inhibit time function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no Sub index O4h is not used access attempt generates error message Sub index 05h Description Event timer function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no 1401h 2 Receive PDO Parameter The communication pa
17. changed Sending of a Node Guard message is possible in the OPERATIONAL PREOPERATIONAL or STOPPED NMT statuses Date 07 04 2015 Art No 88125 Mod status 132 15 Page 20 of 59 Communication via CAN bus CANopen 4 5 3 Heartbeat The master monitors the status of the slave device via the Heartbeat protocol While doing this the unit sends cyclically its NMT status The AP10T is a heartbeat producer it does not receive nor process heartbeat protocols The cycle time of the heartbeat message is set via object 1017h The heartbeat protocol is inactivated if the cycle time is 0 The heartbeat message consists of the COB ID and an additional byte which is used to store the current NMT status COB ID Byte 0 700h Node ID NMT status NMT status 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL The identifier of the heartbeat protocol is permanently set to 700h Node ID and cannot be changed Sending of a Node Guard message is possible in the OPERATIONAL PREOPERATIONAL or STOPPED NMT statuses 4 5 4 External heartbeat In addition to the function described under Heartbeat the NMT status can be controlled via the external heartbeat In this case a value corresponding to an interval in ms is entered in object 5F09h sub index 1 If the devices receives no external heartbeat message during this interval the display will switch over to Pre Operational status The type of message to be interpreted as extern
18. code and a 7bit node number Bit no 10 9 8 7 6 5 4 3 2 1 0 Type Function code Node number node ID Assignment x x x x 0 0 x x x x x SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 10 of 59 Communication via CAN bus CANopen The following function codes have been defined in the Pre defined Connection Set only the function codes used in the present device are listed Object Function code Resulting COB ID Object Page Network management NMT 0000b 0 E SYNC message 0001b 128 80h 1005h 28 Emergency message 0001b 128 80h Node ID 1014h 34 TPDO1 0011b 384 180h Node ID 1800h 41 RPDO1 0100b 512 200h Node ID 1400h 37 TPDO2 0101b 640 280h Node ID 1801h 43 RPDO2 0110b 768 300h Node ID 1401h 38 SDO tx 1011b 1408 580h Node ID 1200h 36 SDO rx 1100b 1536 600h Node ID 1200h 36 Heartbeat message 1110b 1792 700h Node ID Node Guard message 1110b 1792 700h Node ID Table 4 Overview of COB identifiers Changes to COB IDs are only possible in the PRE OPERATIONAL NMT status First the COB ID must be deactivated via Bit 31 1b before it can be changed and reactivated The COB ID of the SYNC object is an exception There Bit 30 must be 0 to enable the change of the COB ID The COB ID could be changed any time because Bit 30 cannot be set to 1 in the AP10T
19. device The identifier determines the priority of the message The lower the value of the identifier the higher the priority of the message The node number Node ID see object 5FOAh Node ID Auto ID and Baud rate Bus CAN is assigned in every bus system once while AP10T is being configured Node ID 0 is reserved and must not be used thus the node numbers are in the range of 1 to 127 A newly set node number will only be adopted with reinitialization see chapter 4 2 Node control The setpoint display is delivered with the factory set Node ID 125 7Dh Control field Contains bit by bit information on the number of user data and decides whether a data frame or a Remote Transmission Request RTR frame is concerned Data field Contains up to 8 bytes of user data The user data has a different meaning depending on the channel selection CRC Contains bits for error detection ACK EOF The ACK EOF field contains telegram acknowledgement bits as well as bits for determining the end of telegram SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 11 of 59 Communication via CAN bus CANopen For a detailed description of the telegram refer to the relevant CAN expert literature For simplification only identifier COB ID and data field will be dealt with in the subsequent telegram descriptions 4 2 Node control 4 2 1 Network management services NMT The master configures manages and monitor
20. level of the menu structure default factory settings By actuating the key the set node address and baud rate is displayed Parameterization starts if this key is actuated during the enable period see object 2005h Configuration enable via keyboard and delay of start of configuration 3 6 1 2 Value input Enter values via the LT key and the key Confirm values entered by pressing the S key decimal place selection key value input key 3 6 1 3 Value selection For some parameters you can select values from a list Direct value input is not possible there Pressing the key the value can be selected from the list By pressing the UF key the selection is confirmed 3 6 1 4 Adjustable parameters The following parameters can be adjusted Display Parameter Options ID Node ID 1 127 see chapter 4 6 2 KBAUD Baud rate Auto baud see chapter 4 6 1 125 kbaud 250 kbaud 500 kbaud 800 kbaud 1000 kbaud CODE System commands Load factory settings see chapter 3 8 1 Start diagnosis see chapter 3 8 2 Table 2 Manually adjustable parameters SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 8 of 59 3 6 2 3 7 3 7 1 3 7 2 3 8 3 8 1 3 8 2 Brief description Parameterization via interface The setpoint display can be completely parameterized in the CANopen interface see chapter 4 Communication via CAN bus CANop
21. via CAN bus CANopen 4 Communication via CAN bus CANopen The CiA DS 301 V4 2 CANopen communication profile as well as the Device profile for Encoders CiA DS 406 V3 2 form the basis for AP10T which supports device class C2 As this device is beyond the scope of an encoder s functionality communication partly differs from the above mentioned device profile This document contains the details necessary for understanding the operation of the device If more in depth information is required we recommend to consult the pertinent specialized literature on CAN or CANopen 4 1 Telegram setup The data telegram of a CAN message consists of the following fields SOF Identifier COB ID Control field Data field max 8 byte CRC ACK EOF SOF Start of Frame start bit of the telegram Identifier COB ID e All bus sharing units check via identifier whether the message is relevant for them e The identifier sets the priority of the message The lower the value of the identifier the higher the priority of the message This results in preferential transfer of messages via the bus The Identifier field contains the identifier as well as bits for the recognition of the length of the identifierss 11 or 29 bit Furthermore the identifier serves for determining the device address the channel selection as well as the direction of data transfer The 11bit identifier COB identifier consists of a 4bit function
22. 16 4 4 Parameter data exchange sees sees ee ee RE ee GE eene eene nenne nnne nutre trennt rsen trennen 17 4 4 1 Transfer of Service data objects SDO sesse ss sees see ee ee de eene nennen nnne nnne 17 AGAMA Error RESPONSE eese eter de tete orae tope Ee AG Ee ee vts e eoo T iaa tus 18 SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 2 of 59 4 5 Node monitoring EE RE OO OE EE EN 19 4 5 1 Emergency Service EMCY ies sees ase ka ee De Ge pe Eed SG erat enata aen eo exero ee peo EE se ER de de NG ee Eg 19 4 5 2 Gel RE EN RE EE EO EN EE 20 Ar ON is ER AT OR EE EE EE 21 45 4 External eel NEE EE EE N OE OR N EE 21 4 5 5 Guarding Biti EE OE EE EE DE EE De DE ee ee de 21 4 6 Vier allen RE EE RE ER EE IE 22 LEE TB M 22 RE Mb IE ER EE OE EE RR 22 4 7 Mice 24 ATA OVERVIEW OF objects ee doen ee reso ed vor ao ee eorr eae so Ven ee veo e Ter vues nire e Dy Cea ER Dee eu us 24 4 7 2 Description of objects ies ss ee ee de Ge AR Ge AE ee de ee de AA ee RE ee GE ee ge 26 4 1 2 T1 TO00hs Device Tipe RE N 26 4 7 2 2 1001h Error Register eee Ee Ee er een teta GE aee do sona en ee hus eaae aee EN GE n Ten ed es de ca 26 4 7 2 3 1002h Manufacturer Status Register ss sesse ees se se de eene eene eene nennen nnne 27 4 7 2 4 1003h Pre defined Error Field esse esse ss ee ee de de esee e nennen nennen nnne nna 27 4 7 2 5 1005h COB ID SYNC message
23. 57 6503h Alarms Indication of error states 57 6504h Supported Alarms Indicates which alarm messages are supported 57 6505h Warnings Indication of warnings 58 6506h Supported Warnings Indicates which warnings are supported 58 6507h Profile and Software Indicates the version number of the device profile 58 Version used and the version number of the encoder s firmware 6508h Operating Time Counter of operating hours function is not 59 supported 650Bh Serial Number Outputs the value FFFFFFFFh function is not 59 Table 15 Overview of objects Date 07 04 2015 Art No 88125 Mod status 132 15 Page 25 of 59 Communication via CAN bus CANopen 4 1 2 4 7 2 1 4 7 2 2 SIKO AP10T Description of objects 1000h Device Type Object 1000h indicates the device profile number Sub index 00h Description Information on device profile and device type Access ro PDO mapping no Data type UNSIGNED 32 Default 00000196h EEPROM no Data content Device profile number Encoder type Byte 0 Byte 1 Byte 2 Byte 3 96h O1h 05h 00h 0196h 406 CANopen Device Profile for Encoders Version 3 02 0000h AP10T is not an encoder 1001h Error Register Object 1001h indicates the error state of the device Sub index 00h Description pending error state Access ro PDO mapping no Data type UNSIGNED 8 Default 0x00 EEPROM no Data content Bit Meaning
24. AP10T Setpoint display with CANopen interface User manual 132 15 Table of contents 1 General Informaton 42 an ese Fan RS RE NRS KENS RAS ARN RUN ske He RS vAN SR de NR RE DAG SR N SR de eke SA M MA Ke Ge SA KA 5 1 1 DO GUNMEN CATION siese NR EED N Ge N ee Ge EE Ge es ed We Sie ie RR De aa 5 2 Intended USC 5 2 1 Switching on the supply voltage sesse ss sees ss see see ee ee de de ee ee AE Se GE ee GE de Ge ee 5 3 Brief descripELIOn EE IE EE N EE EE Ee 6 3 1 lr 6 3 2 LCD ds ER EE RE EE DE 6 3 2 1 Extended display Tande kiss eicere GER ESE RSG EES ee GE GE GEN REG e uae ER ER EE ESE NE ee Re REN Re NEGE RE Ge 6 3 3 Ha EE OR EE EE OE RE EE ON 7 3 4 ER EA IE EE OE EE ires 7 3 5 Ry Dr es nie RE EE EE EE OE EE 7 3 6 Parameterization of the setpoint displaV sesse ses ss ee ee de de eene eene nenne nnne Ee 7 3 6 1 Manual paraimeterizatlOM sesse ed Ged ren n rea rone horno lao Eg ed eg GE GE ee Ne DE Ge ea ae ed ee Fen Ge an 8 3 6 1 1 Starting parameterization esse sesse ee see ee ee EE ee EE ee de de ee ee GE ee GE ee GE ee 8 3 6 1 2 Value INDUL issie aveo Se GE ee Ee ae Ge ee TENES e cas a rue be vies cas be AR og SR ae Ee ve 8 EXAM MEDI E rupe EE RE ER EG GR Ge EG a EEE aY 8 3 6 1 4 Adjustable parameter uses sesse see ede ee AE ee EE ee EE ee de AA ee AE ee then GE ee ge 8 3 6 2 Parameterizat
25. ID 581h COB ID User data Command Index LB Index HB Sub index Data O Data 1 Data 2 Data 3 581h 4Fh 11h 5Fh 00h 02h X X X 1 byte valid Example of writing SDO parameters Change the display orientation stored with 1 byte in object 5F12h sub index 1 of the objects directory in the AP10T with device address 1 Calculation of the identifier 600h Node ID 600h 1 601h Command Write 1 byte 2Fh Index 5F12h Sub index O1h The new value shall be 1 01h corresponds to orientation 180 Write a value from master to slave with Node ID 1 COB ID User data Command Index L Index H Sub index Data O Data 1 Data 2 Data 3 601h 2Fh 12h 5Fh O1h O1h OOh OOh OOh 1 byte valid Response of the slave to the command Calculation of the identifier 580h Node ID 580h 1 581h COB ID User data Command Index L Index H Sub index Data O Data 1 Data 2 Data 3 581h 60h 14h 5Fh 00h 00h 00h 00h 00h Node monitoring Emergency Service EMCY The status of the bus subscriber is transferred via high priority emergency messages in case of error These messages have a data length of 8 bytes and contain information on the error The emergency message is transferred as soon as a serious communication error occurred or was corrected The cause of error is stored in
26. MT Status STOPPED Communication is stopped except for Heartbeat and Node Guarding Only NMT communication is enabled Switching between NMT communication states Telegrams with the following structures are used for switching between the communications statuses Status change Transition COB ID Com Node from to in Fig 2 ID PRE OPERATIONAL STOPPED OPERATIONAL 1 Oh O1h x OPERATIONAL PRE OPERATIONAL STOPPED 2 Oh 02h x OPERATIONAL STOPPED PRE OPERATIONAL 3 Oh 80h x OPERATIONAL PRE OPERATIONAL INITIALISATION 5 Oh 81h x STOPPED Reset Node OPERATIONAL PRE OPERATIONAL INITIALISATION 4 Oh 82h X STOPPED Reset Communication Table 5 Switching between communication statuses If transmitted as Node ID x 0 the message is intended for all bus subscribers Boot Up The COB ID of the Boot Up message consists of 700h and the Node ID The NMT status Initialization is output as data content COB ID Byte 0 700h Node ID 00h Table 6 Boot Up message SYNC object CANopen makes it possible to simultaneously scan inputs and simultaneously set outputs This is accomplished by the synchronization message SYNC a high priority CAN message The identifier of the Sync object can be set via object 1005h see 1005h COB ID SYNC message Date 07 04 2015 Art No 88125 Mod status 132 15 Page 13 of 59 Communication via CAN bus CANopen 4 3 4
27. NSIGNED 32 Default 5F160120h Setpoint object 5F16h Sub index 0x01 32bit EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 45 of 59 Communication via CAN bus CANopen Sub index 02h Description 2 object of the PDO2 message Data byte 4 5 Access ro PDO mapping no Data type UNSIGNED 32 Default 5F160210h Setpoint object 5F16h Sub index 0x02 16bit EEPROM no Sub index 03h Description 3 object of the PDO2 message Data byte 6 7 Access ro PDO mapping no Data type UNSIGNED 32 Default 5F190010h Status word object 5F19h Sub index 0x00 16bit EEPROM no 4 7 2 25 2003h PP key actuation enable The object 2003h indicates whether the actuation of the key is enabled Sub index 00h Description key enable Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM ja Data content 0 actuation disabled 1 actuation enabled 4 7 2 26 2004h LT key actuation enable The object 2004h indicates whether the actuation of the LT key is enabled Sub index 00h Description key enable Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 actuation disabled 1 actuation enabled SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 46 of 59 Communication via CAN bus CANop
28. This value is permanently linked to the object 1800h 1 Transmit PDO Parameter sub index 5 Timer controlled output is active as soon as a valid cycle time has been entered and the device run in the Operational Mode The value 0 deactivates the function Sub index 00h Description Zyklus Timer Access rw PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM yes Data content 0 65535 4 7 2 40 6503h Alarms Object 6503h sends device specific alarm messages in addition to the errors reported via the Emergency message In the case of an error the associated bit is set to 1 Sub index 00h Description alarm messages Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no Data content Bit 15 0 not used 4 7 2 41 6504h Supported Alarms This object 6504h indicates the alarm messages that are supported The relevant bits are set Sub index 00h Description supported alarm messages Access ro PDO mapping no Data type UNSIGNED 16 Default 3001h EEPROM no Data content Bit 15 0 not used SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 57 of 59 Communication via CAN bus CANopen 4 7 2 42 6505h Warnings The warning messages displayed via object 6505h indicate that tolerances of internal parameters have been exceeded Sub index 00h Description
29. adjustment of baud rate and ID see chapter 3 6 Parameterization of the setpoint display and chapter 4 6 Auto Functions The AP10T functions with the data last parameterized After completing the initialization procedure the AP10T with CAN interface sends a specific NMT command the Boot Up Message which informs the system about the availability of the display The AP10T 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 configuration parameters as well as to the way it makes available to the system its position values asynchronous or synchronous data transmission SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 5 of 59 Brief description 3 Brief description 3 1 General The setpoint display has a two line display with special characters and four control keys The device is configured and activated via three symbol keys whereas received data is acknowledged via the fourth key Two LEDs serve for signifying acknowledgement LED left LED right Fig 1 Control elements 3 2 LCD display The The display range is limited to 19999 99999 Values outside this NIE ET range are displayed with CULL With supply voltage applied to the setpoint display with factory settings setpoints are displayed in both rows depending on validity and acknowledgment status If there is no val
30. age sent If no message is detected till expiry of the dwell time then the next valid baud rate is set and checked for communication The search for a baud rate is not stopped until a valid baud rate has been found If the baud rate is to be adopted permanently it must be saved upon command see chapter 4 7 2 11 1010h Store Parameter The Auto Baud function can be activated or deactivated during parameterization see chapter 3 6 Parameterization of the setpoint display and the desired baud rate directly set 4 6 2 Auto ID This function facilitates first commissioning of the devices in the plant The node numbers can be assigned by the superordinate control or by pressing the relevant button on the device concerned The Node ID 7Dh 125d is factory set After finishing initialization every device sends a boot up message and switches over to the PRE OPERATIONAL status Now the CAN master must send to the bus subscriber s with the current Node ID 7Dh an SDO message to object 5FOAh sub index 2 with the new Node ID to be set and await an SDO reply New ID will be displayed on all devices that have the current Node ID 7Dh The user must press the 3 key on the device intended to adopt the new Node ID Subsequently this device will send an SDO reply with the identifier 5FDh The new Node ID is taken over and stored in the EEPROM The initialization phase is run again and a boot up message sent with the new Node ID All other devices do
31. al heartbeat is set in object 5FO9h sub index 2 The value 0 means that the timer is triggered when receiving an RPDO setpoint With value 1 the timer is triggered when receiving a SYNC see object 5FO9h External Heartbeat timer and external Heartbeat source 4 5 5 Guarding Bit There is a guarding bit in the control word which serves for monitoring communication or the NMT state of the device respectively When receiving the control word the content of this bit will be copied into the guarding bit of the status word and output with the next TPDO Thus by shifting the bit in the control word the superordinate control can verify without additional data traffic that process data exchange is in operation This function is especially helpful when a gateway converter from CANOpen to superordinate fieldbus is used SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 21 of 59 Communication via CAN bus CANopen 4 6 Auto Functions 4 6 1 Auto Baud This function facilitates first commissioning of the devices in the plant The baud rate is factory set to Auto Baud AP10T overhears the bus and does not transmit messages To enable the instrument s autonomous recognition and adjustment of the prevalent bus baud rate communication must take place on the CAN bus If the device recognizes a faultless message with the internally set baud rate it will be adopted as a valid baud rate CAN initialization finished and a boot up mess
32. aracters 28 1009h Manufacturer Hardware Indicates the hardware version of the device 29 Version 100Ah Manufacturer Software Indicates the software version of the device 29 Version 100Ch Guard Time Parameter for Node Guarding 29 100Dh Life Time Factor Parameter for Node Guarding 30 1010h Store Parameter Object for non volatile storage of the settings 30 1011h Restore Parameter Object for restoring the factory settings 32 1014h COB ID Emergency Message COB ID of the Emergency message 34 1017h Producer Heartbeat Time Setting of the cycle time of the heartbeat timer 35 1018h Identity Object Contains the manufacturer number assigned by CiA 35 1200h Server SDO Parameter SDO parameter 36 1400h 1 Receive PDO Parameter Receive PDO1 37 1401h 2 Receive PDO Parameter Receive PDO2 38 1600h 1 Receive PDO Mapping Describes the arrangement of the objects mapped in 39 Parameter RPDO1 1601h 2 Receive PDO Mapping Describes the arrangement of the objects mapped in 40 Parameter RPDO2 1800h 1 Transmit PDO Parameter Transmit PDO for asynchronous transmission timer 41 controlled 1801h 2 Transmit PDO Parameter Transmit PDO for synchronous transmission 43 1A00h 1 Transmit PDO Mapping Describes the arrangement of the objects mapped in 44 Parameter TPDO1 1A01h 2 Transmit PDO Mapping Describes the arrangement of the objects mapped in 45 Parameter TPDO2 2003h key actuation enable Setting whether calibra
33. arding identifiers of the nodes to be monitored They respond with the Guarding message which contains the current NMT status of the node as well as a toggle bit whose value must change with every message If NMT status or toggle bit do not correspond with the value expected by the master or if there is no response then the master assumes a node error Via objects 100Ch Guard Time 100Dh Life Time Factor the time interval Life Time is set within which the NMT master expects to receive a message The time interval Life time is calculated from the cycle time Guard time multiplied with the factor Life Time Factor If the NMT master receives no response to its RTR frame within the Life Time it can react with appropriate measures After switching on Node Guarding is activating by the master sending the first RTR frame to the slave If the value of either object 100Ch or 100Dh is set to 0 Node Guarding will be deactivated The node s response to the master s RTR frame is formed as follows Identifier Byte 0 700h Node ID Bit 7 toggle Bit Bit 6 0 NMT status Toggle Bit The toggle bit must alternate between two subsequent responses of the unit After activation of the Guarding protocol the toggle bit must have the value 0 with the first response NMT status 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL The identifier of the heartbeat protocol is permanently set to 700h Node ID and cannot be
34. are mapped on the first Transmit PDO TPDO1 Sub index 00h Description number of objects mapped Access ro PDO mapping no Data type UNSIGNED 8 Default 2h EEPROM no Sub index O1h Description 1 object of the PDO1 message Data byte 0 until 3 Access ro PDO mapping no Data type UNSIGNED 32 Default 5F160320h Setpoint object 5F16h Sub index 0x03 32bit EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 44 of 59 Communication via CAN bus CANopen Sub index 02h Description 2 object of the PDO1 message Data byte 4 5 Access ro PDO mapping no Data type UNSIGNED 32 Default 5F160410h Setpoint object 5F16h Sub index 0x04 16bit EEPROM no Sub index 03h Description 3 object of the PDO1 message Data byte 6 7 Access ro PDO mapping no Data type UNSIGNED 32 Default 5F190010h Status word object 5F19h Sub index 0x00 16bit EEPROM no 1A01h 2 Transmit PDO Mapping Parameter Object 1A01h determines the objects that are mapped on the second Receive PDOs TPDO2 Sub index 00h Description number of objects mapped Access ro PDO mapping no Data type UNSIGNED 8 Default 2h EEPROM no Sub index O1h Description 1 object of the PDO2 message Data byte 0 until 3 Access ro PDO mapping no Data type U
35. ation parameters 1000h 1FFFh DS301 Access rw PDO mapping no Data type UNSIGNED 32 Default th EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 73h s 61h a 76h v 65h e Read Bit 31 2 0 reserved Bit 1 0 device does not save parameters autonomously Bit 0 1 unit stores parameter by command Sub index 03h Description save only application parameters 6000h 9FFFh DS406 Access rw PDO mapping no Data type UNSIGNED 32 Default th EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 73h s 61h a 76h v 65h e Read Bit 31 2 0 reserved Bit 1 0 device does not save parameters autonomously Bit 0 1 unit stores parameter by command Date 07 04 2015 Art No 88125 Mod status 132 15 Page 31 of 59 Communication via CAN bus CANopen 4 7 2 12 SIKO AP10T Sub index 04h Description save only manufacturer specific parameters 2000h 5FFFh Access rw PDO mapping no Data type UNSIGNED 32 Default th EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 73h s 61h a 76h v 65h e Read Bit 31 2 0 reserved Bit 1 0 device does not save parameters autonomously Bit 0 1 unit stores parameter by command 1011h Restore Parameter The object 1011h restores the factory se
36. en Warnings Errors No warnings or errors occur as there is no sensor unit Communication errors are not displayed but partly recorded in the error memory see chapter 3 8 2 Diagnosis Warnings No warnings Errors are output No errors are displayed System commands Restore factory settings For restoring the factory settings of the device the following options are available Access Coding Factory settings are restored Manuell CODE 011100 all parameters 011102 all except bus parameters 011105 only bus parameters CANopen 1011h Subindex 1 all parameters see object load Subindex 2 only bus parameters ET Subindex 3 only Draft Standard 406 parameters Subindex 4 only manufacturer specific parameters Table 3 Access to factory settings Diagnosis In order to receive a list of all device errors occurring in connection with chapter 3 7 it is necessary to switch the device to the diagnosis mode For this purpose enter CODE 200000 in parameterization see chapter 3 6 1 Manual parameterization and confirm by pressing the Bk key Any errors occurring are output indicating the error number and total of occurrences in the upper row The type of error is shown in the lower row Error number 1 contains the latest error The oldest error is output with the highest error number SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 9 of 59 Communication
37. en 4 7 2 27 SIKO AP10T 2005h Configuration enable via keyboard and delay of start of configuration Object 2005h indicates whether configuration via key actuation is enabled The delay of start of configuration is set in sub index 2 key enable time Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 2h EEPROM no Sub index O1h Description key enable Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 disabled is not supported 1 enabled Sub index 02h Description delay of start of configuration key enable time Access rw PDO mapping no Data type UNSIGNED 8 Default 5h EEPROM yes Data content 1 605 Date 07 04 2015 Art No 88125 Mod status 132 15 Page 47 of 59 Communication via CAN bus CANopen 4 7 2 28 5000h Diagnosis of CAN bus errors 4 7 2 29 SIKO AP10T A prioritized list of CAN bus errors occurring can be read via object 5000h Sub index 00h Description Indicates the CAN Bus errors Acknowledge Form CRC and Stuff Error sorted by frequency Access ro PDO mapping no Data type UNSIGNED 32 Default Oh EEPROM no Data content Byte 0 Byte 1 Byte 2 Byte 3 General Acknowledgement Form error CRC error Stuff error error 0 1 2
38. ess The error codes are described in the CANopen profile DS 301 or in the encoder profile DSP 406 respectively The following table shows the error codes used 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 06090011h Sub index does not exist 06090030h Wrong value range of selected parameter 08000020h Parameters cannot be transferred to application or stored 08000022h Parameters cannot be transferred to application or stored due to the current device status 08000024h no data available Table 12 Error code Example of reading SDO parameters Read the number of decimal places stored in object 5F11h of the objects directory from the AP10T with device address 1 Calculation of the identifier 600h Node ID 600h 1h 601h Command 40h Index 5F11h Sub index 00h The current value is 2 02h Request by the master from the slave with Node ID 1 COB ID User data Command Index L Index H Sub index Data O Data 1 Data 2 Data 3 601h 40h 03h 60h 00h X X X X SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 18 of 59 4 5 4 5 1 SIKO AP10T Communication via CAN bus CANopen Response to the request by the slave Calculation of the identifier 580h Node
39. ess rw PDO mapping no Data type UNSIGNED 8 Default FEh 254 EEPROM yes Data content FEh 254 PDO has asynchronous characteristics PDO is sent depending FFh 255 on the Event Timer FDh 253 Device responds to RTR request only if RTR Bit 30 is enabled in the COB ID Sub index 03h Description Inhibit time function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no Sub index O4h is not used access attempt generates error message Sub index 05h Description event timer for TPDO1 hard wired DS406 with cyclic timer 6200h Access rw PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM yes Data content The service is disabled by writing the value 0 The content of this object is identical with object 6200h If the value is changed while the timer is running then the change will take effect only with the next timer run Date 07 04 2015 Art No 88125 Mod status 132 15 Page 42 of 59 Communication via CAN bus CANopen 4 7 2 22 Sub index 06h is not used access attempt generates error message 1801h 2 Transmit PDO Parameter According to DS406 TPDO2 is used for synchronous PDO transmission The communication parameters are set for TPDO2 via object 1801h Sub index
40. ex OOh Description number of objects mapped Access ro PDO mapping no Data type UNSIGNED 8 Default 3h EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 39 of 59 Communication via CAN bus CANopen Sub index O1h Description 1 object of the PDO1 message Data byte 0 until 3 Access ro PDO mapping no Data type UNSIGNED 32 Default 0x5F160320 Setpoint object 5F16h Sub index 0x03 32bit EEPROM no Sub index 02h Description 2 object of the PDO1 message Data byte 4 5 Access ro PDO mapping no Data type UNSIGNED 32 Default 0x5F160410 Setpoint object 5F16h Sub index 0x04 16bit EEPROM no Sub index 03h Description 3 object of the PDO1 message Data byte 6 7 Access ro PDO mapping no Data type UNSIGNED 32 Default Ox5F0C0010 Control word object 5FOCh Sub index 0x00 16bit EEPROM no 1601h 2 Receive PDO Mapping Parameter Object 1601h determines the objects that are mapped on the second Receive PDO RPD02 Sub index OOh Description number of objects mapped Access ro PDO mapping no Data type UNSIGNED 8 Default 3h EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 40 of 59 Communication via CAN bus CANopen 4 7 2 21 SIKO AP10T Sub index 01h Description 1 object of the PDO2 message Data byte 0 un
41. expedited 1 byte from 4 data bytes valid Write Response 60h SDO tx Initiate Download Acknowledgement of data Response acquisition to master Read Request 40h SDO rx Initiate Upload Request parameter from AP10T Request Read Response 43h SDO tx Initiate Upload Report parameter to master Response expedited all four data bytes are valid Read Response 4Bh SDO tx Initiate Upload Report parameter to master Response expedited 2 bytes from 4 data bytes valid Read Response 4Fh SDO tx Initiate Upload Report parameter to master Response expedited 1 byte from 4 data bytes valid Error Response 80h SDO tx Abort Domain AP10T reports error code to master Transfer Date 07 04 2015 Table 11 Command coding Art No 88125 Mod status 132 15 Page 17 of 59 Communication via CAN bus CANopen Index bytes 1 and 2 The index object number is entered in user data byte 2 low byte and in in user data byte 3 high byte in the Intel data format Here the index of the object to be parameterized is entered Sub index byte 3 The sub index indicates the number of the fields for objects realized as an array Service data Parameter byte 4 7 In the service data area the value of the parameter is entered in left aligned Intel notation Byte 4 low Byte Byte 7 high Byte 4 4 1 1 Error Response An error report Abort is returned to the master in case of invalid acc
42. h informs about the current device status see chapter 4 3 3 Status word Sub index 00h Description The status word informs about the current device status Access ro PDO mapping yes Data type UNSIGNED 16 Default Oh EEPROM no SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 55 of 59 Communication via CAN bus CANopen 4 7 2 37 5F1Bh Sensor type and operating mode The sensor type can be read via object 5F1Bh Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 2h EEPROM no Sub index 01h Description read sensor type Access ro PDO mapping no Data type UNSIGNED 8 Default 2h internal sensor EEPROM yes 4 7 2 38 5F1Ch Acknowledgement settings Object 5F1Ch serves for determining the key to be used as acknowledgement key The respective key actuation enable can be set as well Sub index 00h Description acknowledgement settings Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM yes Data content 0 PK and front key 1 only front key 2 LT and 1 key Date 07 04 2015 Art No 88125 Mod status 132 15 Page 56 of 59 Communication via CAN bus CANopen 4 7 2 39 6200h Cycle Timer Object 6200h sets a cycle time for the output of PDO1
43. id setpoint will be displayed in the 2 row A valid setpoint flashes until after acknowledgement Two 6 digit setpoints can be displayed Both rows are freely writeable 3 2 1 Extended display range Values up to 999999 can be displayed by means of the control word If the relevant bit has been set and the value to be displayed is between 199999 and 999999 then the negative sign and the digit of the highest order will flash alternately If the value range drops below 99999 FLILL will be displayed SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 6 of 59 Brief description 3 3 LED display With factory settings the LED display works according to the following table Operating mode LED Status Meaning There is no valid both off setpoint There is a valid LED left red Setpoint1 not acknowledged setpoint green Setpoint1 acknowledged LED right red Setpoint2 not acknowledged green Setpoint2 acknowledged Table 1 LED display in the Alpha numeric display operating mode With the basic function of the LEDs inactivated every LED can be controlled independently via the control word see object 5F12h Display orientation and LEDs and chapter 4 3 2 Control word 3 4 Keys With the Auto ID function the new ID is adopted by actuating the LT key see chapter 4 6 2 Auto ID Pressing the S key acknowledges a pending error see chapter 3 7 2 Errors Pressing the
44. ion There are n devices at the bus At least one device works with the default Node ID 7dh 125 All of them are in Pre Op Mode PLC sends write SDO commands at object 5F0A 2 until this command becomes responded accordingly no SDO time out anymore All devices with current ID 7Dh are showing new ID 001 They are waiting for a push at their Arrow Up button All other devices are still showing new ID 001 After the SDO response the PLC can adjust the next ID gt new ID 002 To determine if further devices have to be readdressed If all devices are adjusted correctly or if ID 7Dh is desired the user has to set the PLC into normal operation Communication via CAN bus CANopen 4 7 4 7 1 SIKO AP10T Directory of objects Overview of objects The following table offers an overview of the objects of the unit via key operation Name Description see page 1000h Device Type Device profile and encoder type 26 1001h Error Register Current error status of the device 26 1002h Manufacturer Status Contains the Receive Error Counter and the Transmit 27 Register Error Counter 1003h Pre defined Error Field The object stores the 8 error states that have 27 occurred last 1005h COB ID SYNC message Setting of the COB ID of the SYNC object 28 1008h Manufacturer Device Name Device name in ASCII ch
45. ion via interface esse sesse sees see ee de de de de de AR ee RE ee GE ee GE de ge 9 3 7 Watnings Ai ET RO RE OE OE EE EE 9 37 1 ETER EE OE OE OE RE OE N 9 AN EER EE EE ORE RE N dU aS 9 3 8 System commands ik KEER GEE RS EG He EE ERU RS AE ERA GR Ge Re Se ER BAG eg ken ERR GE GEREEN ES ge 9 3 8 1 X Restore Tactory settings ss EERS EKS eren vic runden enne Seno ga eo GESE GEE Fo DER o P Dee ee vo Vee ede gede 9 EX 9 4 Communication via CAN bus CANopen ee eese eene nnn nn nnne nn nnns ananas sanae sanas 10 4 1 Telegram Setup EE OE aa EE OER dads EE 10 4 2 limes OL iss ss ES GE EG ERG ee Ge oe Ee oe 12 42 Network management services NMT iss ed NE ek ER a tpa tak GN RS Ge N a Se se 12 4 2 1 1 NMT communication statuses esse ss ees see ee eene de AE esteso GE ee ee 12 4 2 1 2 Switching between NMT communication states sees sees ss see ee ee GE ee GE nennen 13 EE Ed RE ER EE EEA OE OE Eae 13 4 2 3 SYNC objecti iu aede ert eee ee tee evene eia eo EG case Be ee elo use GE sede DA T eade He 13 4 3 Process ELE exchange REOR 14 4 3 1 Transfer of Process Data Objects PDO uiua niie an EE RS E NEC DRE MER YE TER San FERA REF PER Ee A dS 14 4 3 1 1 Receive PDO from Master to APIO 454 nana ho ba Ge ER eq Yo n IE Ng ER 14 4 3 1 2 Transmit PDO from AP10T to the master iicet ueeseoi nta th EY ea sara DAG Eu Ryo GE GN os Rer Ag 14 X CC MER Ce E Ge AE EE N EEr EEES 15 KM ur qu m
46. lay to the bus master TPDO can be initiated as a result of various events e asynchronous controlled by an internal device timer e synchronous as a reply to a SYNC message e asa reply to an RTR message TPDO1 and TPDO2 are always formed from a status word see chapter 4 3 3 Status word and the current setpoints Setpoint1 is delivered via TPDO1 Setpoint2 via TPDO2 The transfer behavior of TPDO1 is determined via objects 1800h 1A00h and 6200h and is assigned to asynchronous transfer TPDO2 is defined via objects 1801h and 1A01h and serves for synchronous transfer SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 14 of 59 Communication via CAN bus CANopen 4 3 2 SIKO AP10T The messages have the structure shown in Table 8 and mapping cannot be changed COB ID Process data in binary code Byte O Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 LSB MSB TPDO1 Target value 1 displayed in the upper row 5F19h Status 180h Node ID word see TPDO2 Target value 2 displayed in the lower row chapter 4 3 3 280h Node ID Table 8 TPDO message Asynchronous data transfer TPDO1 If a TPDO1 is to be sent cyclically then the cycle time must be entered into object 1800h sub index 5 in milliseconds The TPDO1 will not be sent if the value O ms is written The function is disabled The minimum value to be set is 1 1 ms Alternately the value can al
47. n the error list have the format described in chapter 4 5 1 Emergency Service EMCY Sub index 00h Description number of the error messages stored Access rw PDO mapping no Data type UNSIGNED 8 Default 0 EEPROM yes Sub index 01h 08h Description error messages that occurred Access ro PDO mapping no Data type UNSIGNED 32 Default 0 EEPROM yes Date 07 04 2015 Art No 88125 Mod status 132 15 Page 27 of 59 Communication via CAN bus CANopen 4 7 2 5 4 7 2 6 SIKO AP10T 1005h COB ID SYNC message The COB ID of the SYNC object is set via object 1005h Sub index 00h Description Defines the COB ID of the synchronization object SYNC Access rw writable in the Pre Operational state only see chapter 4 1 PDO mapping no Data type UNSIGNED 32 Default 80h EEPROM yes Data content Bit 31 not defined Bit 30 0 unit generates no SYNC message Bit 29 0 11bit identifier CAN 2 0A 1 29bit identifier CAN 2 0B Bit 28 11 0 if bit29 20 X bits 28 11 of the SYNC COB ID if bit 29 1 Bit 10 0 X bits 10 0 of the SYNC COB ID 1008h Manufacturer Device Name Object 1008h indicates the device name Sub index 00h Description Device name as ASCII characters Access Const PDO mapping no Data type Visible String Default AP10T
48. not react Afterwards the control execute a reset of all nodes for example in order to find out whether there are still devices in the bus with Node ID 7Dh If so the procedure may be repeated until all devices have received the desired Node ID The Auto ID function is aborted in the AP10T when an illegal value was sent for the new ID SDO Abort messages will be returned in this case Use of this function is optional The node numbers can also be set via parameterization see chapter 3 6 Parameterization of the setpoint display COB ID Byte O Byte 1 Byte 2 Byte 3 Byte 4 LSB Byte 5 Byte 6 Byte 7 LSB MSB MSB 67Dh 2Fh OAh 5Fh 02h New Node ID x X X Table 14 Auto ID SDO0 message from the master SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 22 of 59 7 O Auto ID At least one boot up Message with COB ID 77Dh SDO write command at Node ID 7Dh Object 5FOA 2 write Node ID auto ID Data new ID z B 01h The user pushes the button at the desired device This device sends a SDO Response with the still valid ID 7Dh It takes the new ID into the internal memory executes Reset COM and sends boot up Message with new ID COB ID 701h nmt command from PLC Reset COM v All nodes send their boot up with their current ID PLC in normal operation Fig 3 Auto ID funct
49. o Data type UNSIGNED 8 Default Oh EEPROM yes Data content 0 0 1 180 rotated Sub index 02h Description LED1 green left Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 Off 1 acknowledgement dependent Sub index 03h Description LED2 red left Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 Off 1 acknowledgement dependent Date 07 04 2015 Art No 88125 Mod status 132 15 Page 52 of 59 Communication via CAN bus CANopen Sub index O4h Description LED3 green right Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 Off 1 acknowledgement dependent Sub index 05h Description LED4 red right Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 Off 1 acknowledgement dependent Sub index 06h Description FLASH LED Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM yes Data content 0 Off 1 On Sub index 07h Description backlight white Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 Off 1 On Date 07 04 2015 Art No 88125 Mod status 132 15 Page 53 of 59 Comm
50. o a fieldbus system e EDS file electronic data sheet this file enables integration and configuration in a CANopen network by means of commercial CANopen configurators These documents can also be downloaded at http www siko global com p ap10t 2 Intended use The instrument is a setpoint display Alpha numeric setpoints can be transferred to the instrument via the CANopen interface and indicated via the backlit two row LC display Receipt of the setpoints can be acknowledged via the front button The state of acknowledgment of the setpoints is signified by means of the two bi color LEDs Acknowledgment can also be performed via the interface by means of a control word Additionally it can activate the LEDs in order to realize various visualization tasks Acknowledgment and button states are output in the status word Some device parameters can be adjusted by means of the 3 buttons You can change the setpoint output the position value and adjust all device parameters via the integrated bus interface 2 1 Switching on the supply voltage The AP10T will be initialized after switching on the supply voltage A display test is executed during initialization the LEDs are lighted consecutively and the configuration parameters are loaded from the non volatile 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
51. rameters of the second Receive PDOs RPDO2 are set via object 1401h Sub index OOh Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 5h EEPROM no Sub index 01h Description COB ID of the PDO2 Access rw writable in the Pre Operational state only see chapter 4 1 PDO mapping no Data type UNSIGNED 32 Default 300h Node ID EEPROM yes Date 07 04 2015 Art No 88125 Mod status 132 15 Page 38 of 59 Communication via CAN bus CANopen Sub index 02h Description Transmission Type Access rw PDO mapping no Data type UNSIGNED 8 Default FFh EEPROM yes Data content Oh FOh FEh FFh Sub index 03h Description Inhibit time function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no Sub index O4h is not used access attempt generates error message Sub index 05h Description Event timer function is not supported only compatibility entry for various configurators Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no 1600h 1 Receive PDO Mapping Parameter Object 1600h determines the objects that are mapped on the first Receive PDO RPDO1 Sub ind
52. s network nodes via the NMT service The device is always in one of the four communication statuses INITIALISATION PRE OPERATIONAL OPERATIONAL or STOPPED see Fig 2 Power on or software reset Re initialization A CAN card l i Initialization ON A CAN communication BootUp Message gt F Pre Operational o ir S perdona ee Fig 2 NMT status V Stopped 4 2 1 1 NMT communication statuses NMT Status INITIALIZATION The unit is not involved in the bus actions in this state All hardware and software components are initialised This state is attained after switching on the device or after receipt of the command code 81h of the own or global addresses After receiving the command code 82h the display is also in the initialization status However only the hardware and software associated with CAN communication is reinitialized The device automatically signifies completion of initialization via a boot up message After successful transmission of the boot up message the device will be in the PRE OPERATIONAL status NMT Status PRE OPERATIONAL Parameterization data SDO can be exchanged in the Pre Operational Mode However no process data PDO is transferred SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 12 of 59 Communication via CAN bus CANopen 4 2 1 2 4 2 2 SIKO AP10T NMT Status OPERATIONAL Exchange of process data is enabled as well N
53. so be written into the object 6200h which is permanently linked internally Synchronous data transfer TPDO2 The device is factory set to reply by output of the TPDO2 message when receiving a SYNC message Thus it is set to the synchronous transfer type 1 is entered in object 1801h sub index 2 The device responds to every n SYNC message if a value n between 1 and 240 FOh has been entered RTR Queries can be sent to TPDO1 and TPDO2 via RTR see chapter 4 1 Telegram setup Control field Control word The control word consists of 16 bits and is mapped in the object 5FOCh Control word This object is received with both Receive PDOs Control word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 MSB High Byte Low Byte LSB The following table lists the designations of the individual bits of the control word and their meanings Bit Meaning Value 0 Value 1 0 reserved ever 0 1 reserved ever 0 2 validity of Setpoint1 invalid valid 3 display range standard extended 4 reserved ever 0 5 reserved ever 0 6 acknowledgement of Setpoint2 not acknowledged acknowledged Date 07 04 2015 Art No 88125 Mod status 132 15 Page 15 of 59 Communication via CAN bus CANopen Bit Meaning Value 0 Value 1 data identifier number ASCII Guarding Bit is taken over is taken over
54. the Display operating mode Sub index 00h Description controls the display of the 2 row of the display unit Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM no Data content 0 Setpoint2 1 Off 4 7 2 32 5FOCh Control word The control word can be read via object 5FOCh Write access is only via RPDO1 or RPDO2 see chapter 4 3 2 Control word Sub index 00h Description Control word Access ro PDO mapping yes Data type UNSIGNED 16 Default Oh EEPROM no 4 7 2 33 5F11h Decimal places The object 5F11h indicates the number of decimal places Sub index 00h Description number of decimal places Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM yes Data content 0 4 SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 51 of 59 Communication via CAN bus CANopen 4 7 2 34 5F12h Display orientation and LEDs Settings of the display orientation and the LEDs can be made via object 5F12h Furthermore the function of the display backlighting can be set see chapter 3 3 LED display Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 9h EEPROM no Sub index O1h Description Display orientation Access rw PDO mapping n
55. the error buffer see object 1003h Pre defined Error Field An emergency object is sent only once per error event Removal of a cause of error is signified by sending an emergency message with Error Code 0000h No Error If multiple errors exist and one cause of an error has been corrected then Error Code 0000h is output as well however the persisting error condition is indicated in the Error Register Date 07 04 2015 Art No 88125 Mod status 132 15 Page 19 of 59 4 5 2 SIKO AP10T Communication via CAN bus CANopen Identifier Byte O Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 11 29 Bit Emergency Error Error Register Manufacturer specific error field Code Object 1001h not used Emergency Error Code Error description Error Code Cause of error removed 0x0000 Bus Status changed over to the Error Passive Mode 0x8120 Recovered from Bus Off 0x8140 Table 13 Emergency Error Code The identifier of the emergency object is set to 80h Node ID by default however it can be changed via object 1014 h see 1014h COB ID Emergency Message Transmission of an emergency message is only possible in the OPERATIONAL or PRE OPERATIONAL NMT statuses Node Guarding Node Guarding is available for failure monitoring of the CANopen network During guarding the master transmits remote frames RTR remote transmit request request message on the gu
56. til 3 Access ro PDO mapping no Data type UNSIGNED 32 Default 0x5F160120 Setpoint object 5F16h Sub index 0x01 32bit EEPROM no Sub index 02h Description 2 object of the PDO2 message Data byte 4 5 Access ro PDO mapping no Data type UNSIGNED 32 Default 0x5F160210 Setpoint object 5F16h Sub index 0x02 16bit EEPROM no Sub index 03h Description 3 object of the PDO2 message Data byte 6 7 Access ro PDO mapping no Data type UNSIGNED 32 Default Ox5F0C0010 Control word object 5FOCh Sub index 0x00 16bit EEPROM no 1800h 1 Transmit PDO Parameter According to DS406 TPDO1 is used for asynchronous PDO transmission The communication parameters are set for TPDO1 via object 1800h Sub index OOh Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 5h EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 41 of 59 Communication via CAN bus CANopen Sub index O1h Description COB ID des PDO1 Access rw writable in the Pre Operational state only see chapter 4 1 PDO mapping no Data type UNSIGNED 32 Default 180h Node ID EEPROM yes Sub index 02h Description Transmission Type Acc
57. tion of the display is enabled 46 Date 07 04 2015 Art No 88125 Mod status 132 15 Page 24 of 59 Communication via CAN bus CANopen SIKO AP10T supported Name Description see page 2004h L key actuation enable Setting whether setting of the incremental function 46 is enabled via key operation 2005h Configuration enable via Setting whether configuration is enabled via key 47 keyboard and delay of start of operation Delay of start of configuration configuration 5000h Diagnosis of CAN bus errors Informs about CAN bus error events 48 5FO9h External Heartbeat timer Cycle time and trigger source of the external 48 and external Heartbeat source heartbeat 5FOAh Node ID Auto ID and Baud Setting of Node ID baud rate 49 rate Bus CAN 5FOBh Display in the 2 row Setting of the display in the 2 row 51 5FOCh Control word Control word 51 5F11h Decimal places Number of decimal places 51 5F12h Display orientation and Setting of the display orientation and LED 52 LEDs functionality 5F16h Read target value Read current target value write access only via PDO 54 5F19h Status word Output of the device status 55 5F1Bh Sensor type and operating Reading of the sensor type 56 mode 5F1Ch Acknowledgement settings Setting of the key to be used as acknowledgement 56 key 6200h Cycle Timer Identical with object 1800h sub index 5
58. tpoint 1 Timer is triggered upon receipt of a SYNC 4 7 2 30 5FOAh Node ID Auto ID and Baud rate Bus CAN SIKO AP10T Via object 5FOAh Node ID Auto ID see chapter 4 6 2 Auto ID and the baud rate of the bus see chapter 4 6 1 Auto Baud can be set Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 3h EEPROM no Date 07 04 2015 Art No 88125 Mod status 132 15 Page 49 of 59 Communication via CAN bus CANopen Sub index O1h Description Node ID Access rw PDO mapping no Data type UNSIGNED 8 Default 7Dh 125 EEPROM yes Data content 1 7Fh Sub index 02h Description Node ID for access via Auto ID function Access rw PDO mapping no Data type UNSIGNED 8 Default EEPROM yes Data content 1 7Fh Sub index 03h Description baud rate of the CAN bus Access rw PDO mapping no Data type UNSIGNED 8 Default 0 Auto baud EEPROM yes Data content 0 Auto baud 1 125 kbaud 2 250 kbaud 3 500 kbaud 4 800 kbaud 5 1000 kbaud Date 07 04 2015 Art No 88125 Mod status 132 15 Page 50 of 59 Communication via CAN bus CANopen 4 7 2 31 5FOBh Display in the 2 row Via object 5FOBh the display of the 2 row of the display unit is controlled The setting is not effective in
59. ttings of the device depending on the selection The string load must be sent as data content and reset executed afterwards If the restored parameters must be available permanently they must be saved via object 1010h Store Parameter Sub index 00h Description indicates the largest supported sub index Access ro PDO mapping no Data type UNSIGNED 8 Default 4h EEPROM no Sub index O1h Description reset all parameters to factory settings Access rw PDO mapping no Data type UNSIGNED 32 Default th EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 6Ch L 6Fh o 61h a 64h d Read Bit 31 1 0 reserved Bit 0 1 unit permits loading of default parameters Date 07 04 2015 Art No 88125 Mod status 132 15 Page 32 of 59 Communication via CAN bus CANopen SIKO AP10T Sub index 02h Description reset only communication parameters to factory settings Access rw PDO mapping no Data type UNSIGNED 32 Default th EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 6Ch L 6Fh o 61h a 64h d Read Bit 31 1 0 reserved Bit 0 1 unit permits loading of default parameters Sub index 03h Description reset only application parameters to factory settings Access rw PDO mapping no Data type UNSIGNED 32 Default 1h
60. unication via CAN bus CANopen Sub index 08h Description backlight red Access rw PDO mapping no Data type UNSIGNED 8 Default th EEPROM yes Data content 0 Off 1 On Sub index 09h Description FLASH backlight Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM yes Data content 0 Off 1 On 4 7 2 35 5F16h Read target value The current setpoints can be read via object 5F16h Sub index OOh Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 4h EEPROM no Sub index O1h Description Setpoint2 4 LSB Bytes Access ro PDO mapping yes Data type UNSIGNED 32 Default Oh EEPROM no SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 54 of 59 Communication via CAN bus CANopen Sub index 02h Description Setpoint2 2 MSB Bytes Access ro PDO mapping yes Data type UNSIGNED 32 Default Oh EEPROM no Sub index 03h Description Setpoint1 4 LSB Bytes Access ro PDO mapping yes Data type UNSIGNED 32 Default Oh EEPROM no Sub index O4h Description Setpoint1 2 MSB Bytes Access ro PDO mapping yes Data type UNSIGNED 32 Default Oh EEPROM no 4 7 2 36 5F19h Status word Object 5F19
61. via CAN bus CANopen 4 7 2 10 4 7 2 11 SIKO AP10T 100Dh Life Time Factor The object 100Dh indicates the Life Time Factor set in the master for Node Guarding see chapter 4 5 2 Node Guarding The value 0 means that Node Guarding is deactivated Sub index 00h Description Life Time Factor Access rw PDO mapping no Data type UNSIGNED 8 Default Oh EEPROM yes 1010h Store Parameter With this objects parameter are transferred into the EEPROM in order to be available in case of voltage failure Different parameter groups are saved depending on the sub index selected for access The string save as data content must also be sent Sub index 00h Description indicates the largest sub index supported Access ro PDO mapping no Data type UNSIGNED 8 Default 4h EEPROM no Subindex O1h Description save all parameters Access rw PDO mapping no Data type UNSIGNED 32 Default th EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 73h s 61h a 76h v 65h e Read Bit 31 2 0 reserved Bit 1 0 device does not save parameters autonomously Bit 0 1 unit stores parameter by command Date 07 04 2015 Art No 88125 Mod status 132 15 Page 30 of 59 Communication via CAN bus CANopen SIKO AP10T Sub index 02h Description save only communic
62. warnings Access ro PDO mapping no Data type UNSIGNED 16 Default Oh EEPROM no Data content Bit 15 0 not used 4 7 2 43 6506h Supported Warnings Object 6506h indicates the warning messages that are supported Sub index 00h Description supported warning messages Access ro PDO mapping no Data type UNSIGNED 16 Default 0010h EEPROM no Data content Bit 15 0 not used 4 7 2 44 6507h Profile and Software Version The object 6507h indicates the encoder profile used CANopen Device profile for encoders and the version number of the firmware state Sub index 00h Description Profile and software version Access ro PDO mapping no Data type UNSIGNED 32 Default 01000302h EEPROM no Profile version Software version Byte 0 LSB Byte 1 Byte 2 Byte 3 MSB 02 03 00 01 SIKO AP10T Date 07 04 2015 Art No 88125 Mod status 132 15 Page 58 of 59 Communication via CAN bus CANopen 4 7 2 45 6508h Operating Time The operating hours are displayed via object 6508h This function is not supported Sub index 00h Description operating hours counter Access ro PDO mapping no Data type UNSIGNED 32 Default OxFFFFFFFFh EEPROM no 4 7 2 46 650Bh Serial Number SIKO AP10T Object 650Bh outputs the serial number of the encoder This function is not supported
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