4.3.1 Transfer of Process Data Objects (PDO) ..............14 4.3.1.1 Receive-PDO (from Master to AP10T) ..............14 4.3.1.2 Transmit PDO (from AP10T to the master) ............15 4.3.2 Control word ...................... 16 4.3.3 Status word ......................16 Parameter data exchange ..................17 4.4.1...
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4.7.2.28 5000h: Diagnosis of CAN bus errors ..............49 4.7.2.29 5F09h: External Heartbeat timer and external Heartbeat source ......49 4.7.2.30 5F0Ah: Node-ID, Auto-ID and Baud rate Bus CAN ..........50 AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17...
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4.7.2.42 6505h: Warnings ..................... 59 4.7.2.43 6506h: Supported Warnings ................59 4.7.2.44 6507h: Profile and Software Version ..............59 4.7.2.45 6508h: Operating Time ..................60 4.7.2.46 650Bh: Serial Number ..................60 AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 4 of 60...
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.
-199999 and -999999, then the negative sign and the digit of the highest order will flash alternately. If the value range drops below -99999, " " will be displayed. AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 6 of 60...
The set point 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. AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17...
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.
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5F0Ah: 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.
"INITIALISATION", "PRE-OPERATIONAL", "OPERATIONAL" or "STOPPED" (see Fig. Power on or software reset Re-initialization CAN-card Init Initialization CAN-communication BootUp Message Fig. 2: NMT status diagram AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 12 of 60...
OPERATIONAL / PRE-OPERATIONAL / INITIALISATION STOPPED (Reset Communication) Table 6: Switching between communication statuses If transmitted as Node-ID x = 0, the message is intended for all bus subscribers. AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 13 of 60...
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.
Set point2 in the lower row. 4.3.1.2 Transmit PDO (from AP10T to the master) PDO transfer from the display to the bus master (TPDO) can be initiated as a result of various events: ...
LED blinking Table 10: 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...
(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 SDO (rx), Initiate Download...
Response, expedited (1 byte from 4 data bytes valid) Error Response SDO (tx), Abort Domain AP10T reports error code to master Transfer Table 12: Command coding 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.
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...
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. AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 20 of 60...
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.
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 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.
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Communication via CAN bus (CANopen) Fig. 3: Auto-ID function AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 24 of 60...
1A01h: 2. Transmit PDO Mapping Describes the arrangement of the objects mapped in Parameter TPDO2. Setting whether calibration of the display is enabled 2003h: key actuation enable via key operation. AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 25 of 60...
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6508h: Operating Time Counter of operating hours (function is not supported) 650Bh: Serial Number Outputs the value FFFFFFFFh (function is not supported). Table 16: Overview of objects AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 26 of 60...
Encoder type Byte 0 Byte 1 Byte 2 Byte 3 0196h (= 406): CANopen Device Profile for Encoders, Version 3.02 0000h: AP10T is not an encoder. 4.7.2.2 1001h: Error Register Object 1001h indicates the error state of the device. Sub-index Description...
Guarding). The cycle time is indicated in milliseconds. The value "0" means that Node Guarding is deactivated. Sub-index Description Guard Time Access PDO mapping Data type UNSIGNED 16 Default EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 30 of 60...
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 AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 31 of 60...
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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 AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 32 of 60...
0: if bit 29 = 0 X: bits 28 – 11 of the EMCY-COB-ID, if bit 29 = 1 Bit 10 … 0 X: bits 10 – 0 of the EMCY -COB-ID AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17...
Access PDO mapping Data type UNSIGNED 8 Default EEPROM Sub-index Description the manufacturer identification number (vendor ID) for the company SIKO GmbH allocated by the CiA Access PDO mapping Data type UNSIGNED 32 Default 195h EEPROM...
Description COB-ID of the PDO2 Access rw (writable in the "Pre-Operational" state only see chapter 4.1) PDO mapping Data type UNSIGNED 32 Default 300h + Node-ID EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 39 of 60...
Object 1600h determines the objects that are mapped on the first Receive PDO (RPDO1). Sub-index Description number of objects mapped Access PDO mapping Data type UNSIGNED 8 Default EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 40 of 60...
Object 1601h determines the objects that are mapped on the second Receive PDO (RPDO2). Sub-index Description number of objects mapped Access PDO mapping Data type UNSIGNED 8 Default EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 41 of 60...
According to DS406, TPDO1 is used for asynchronous PDO transmission. The communication parameters are set for TPDO1 via object 1800h. Sub-index Description indicates the largest sub-index supported Access PDO mapping Data type UNSIGNED 8 Default EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 42 of 60...
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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. AP10T Date: 27.10.2017 Art. No. 88125 Mod.
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. AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 44 of 60...
The object 2004h indicates whether the actuation of the key is enabled. Sub-index Description key enable Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content 0: actuation disabled 1: actuation enabled AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 47 of 60...
1: enabled Sub-index Description delay of start of configuration (key enable time) Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content 1 … 60 s AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 48 of 60...
CAN bus. Sub-index Description indicates the largest sub-index supported Access PDO mapping Data type UNSIGNED 8 Default EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 49 of 60...
Via object 5F0Ah, 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 Description indicates the largest sub-index supported Access PDO mapping Data type UNSIGNED 8 Default EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 50 of 60...
The object 5F11h indicates the number of decimal places. Sub-index Description number of decimal places Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content 0 … 4 AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 52 of 60...
EEPROM Data content 0: Off 1: acknowledgement-dependent Sub-index Description LED2 red left Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content 0: Off 1: acknowledgement-dependent AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 53 of 60...
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Default EEPROM Data content 0: Off 1: On Sub-index Description backlight white Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content 0: Off 1: On AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 54 of 60...
Object 5F19h informs about the current device status (see chapter 4.3.3: Status word). Sub-index Description The status word informs about the current device status. Access PDO mapping Data type UNSIGNED 16 Default EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 56 of 60...
The respective key actuation enable can be set as well. Sub-index Description acknowledgement settings Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content - and front key 1: only front key - and -key AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 57 of 60...
This object 6504h indicates the alarm messages that are supported. The relevant bits are set. Sub-index Description supported alarm messages Access PDO mapping Data type UNSIGNED 16 Default 3001h EEPROM Data content Bit 15 … 0 not used AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 58 of 60...
Object 650Bh outputs the serial number of the encoder. This function is not supported. Sub-index Description Serial number Access PDO mapping Data type UNSIGNED 32 Default FFFFFFFFh EEPROM AP10T Date: 27.10.2017 Art. No. 88125 Mod. status 321/17 Page 60 of 60...
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