Siko SGH25 User Manual
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Siko SGH25 User Manual

Redundant absolute wire-actuated encoder with canopen interface
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SGH25
Redundant Absolute Wire-Actuated Encoder
with CANopen Interface
User Manual
063/19

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Summary of Contents for Siko SGH25

  • Page 1 SGH25 Redundant Absolute Wire-Actuated Encoder with CANopen Interface User Manual 063/19...

  • Page 2: Table Of Contents

    Process Data Exchange .................... 11 4.3.1 Transmission of Process Data Objects (PDO) ............11 4.3.1.1 Transmit PDO (from the SGH25 to the master) ............. 12 Parameter Data Exchange ..................13 4.4.1 Transmission of Service Data Objects (SDO) ............. 13 4.4.1.1 Accelerated request and confirmation procedure ..........
  • Page 3 4.8.2.27 5000h: Diagnose CAN bus error ................53 4.8.2.28 5F09h: Bus terminal..................53 4.8.2.29 5F0Ah: Node ID and baud rate Bus CAN .............. 53 4.8.2.30 6000h: Operating Parameters ................54 SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19...
  • Page 4 4.8.2.63 650Ah: Module identification ................72 4.8.2.64 650Bh: Serial number ..................73 4.8.2.65 650Ch: Offset value for multi-sensor device ............73 4.8.2.66 650Eh: Device functionality ................73 SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 4 of 74...

  • Page 5: General Information

    CANopen and CANopen Safety protocols. The assessment and evaluation of the data must be carried out in the higher-level control The redundant version of the wire-actuated encoder SGH25 is designed for redundant position and speed detection. The sensor can be used for applications up to Performance Level D (PLd) in the overall system.

  • Page 6: Switching On The Supply Voltage

    Upon completion of the initialization procedure, a special NMT command is sent, the boot-up message, to notify the system of its existence. The SGH25 is then in pre-operational mode. In this state, the encoder can be parameterized according to the requirements of the application via SDO commands.

  • Page 7: Operation Description

    Communication via CAN bus (CANopen and CANopen Safety) The basis for the SGH25 is the CANopen communication profile CiA 301 V4.2, the device profile for encoders CiA 406 V4.0.5 as well as the layer setting service (LSS) CiA 305 V3.0.0.

  • Page 8: Telegram Structure

    100h + 2*Node ID 1301h SRDO2 COB ID1 10Fh + 2*Node ID 1302h SRDO2 COB D2 110h + 2*Node ID 1302h Table 2: Overview of COB Identifiers SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 8 of 74...

  • Page 9: Node Control

    The transfer of a newly set node number takes place only at a renewed initialization (cf. Chapter 4.2.1). In the case of the wire-actuated encoder SGH25, an encoder with the node ID 1 (1h) and the redundant encoder with the node ID 2 (2h) are delivered ex works.

  • Page 10: Nmt Communication States

    The exchange of process data is also released. COB ID and Transmit PDO Mapping parameters cannot be changed in this state. NMT STOPPED State With the exception of Heartbeat and Node Guarding, communication is stopped. Only NMT communication is possible. SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 10 of 74...

  • Page 11: Switching Between The Nmt Communication States

    Process Data Objects (PDO) are used for a fast exchange of process data. A maximum of 8 bytes of user data can be transferred in a PDO. The SGH25 supports the transmit PDO services TPDO1 and TPDO2 according to CiA 301 and CiA 406.

  • Page 12: Transmit Pdo (From The Sgh25 To The Master)

    Communication via CAN bus (CANopen and CANopen Safety) 4.3.1.1 Transmit PDO (from the SGH25 to the master) A PDO transmission from the display to the bus master (TPDO) can be initiated by various events:  Asynchronously controlled by internal device timer ...

  • Page 13: Parameter Data Exchange

    The identifier is set to 11 bits and cannot be changed. Two different SDO services are available:  SDO (rx) (Master  SGH25): 600h + Node ID  SDO (tx) (SGH25  Master): 580h + Node ID These SDO identifiers cannot be changed! 4.4.1.1...

  • Page 14: Normal Request And Confirmation Procedure

    “normal request/response procedure”. This procedure is also initiated by an initialization message, and the actual user data are then transmitted in the following segment messages. With the SGH25, this is only the case when the object 1008h: Manufacturer Device Name read.

  • Page 15: Error Response In Sdo Exchange

    Error Code Description 05030000h Toggle bit in normal transfer of request/response unequal. 06010000h Incorrect access to an object. 06010001h Read access to write-only. 06010002h Write access to read-only. SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 15 of 74...

  • Page 16: Sdo Examples

    6200h of the object directory, is to be changed. Calculation of the identifier: 600h + Node ID = 600h + 1h = 601h Command: 2 bytes are to be written: 2Bh Index: 6200h SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19...
  • Page 17 581h Example of Reading SDO Parameters with Normal Request and Confirmation Procedure: From SGH25 with device address 1h, the manufacturer device name stored in object 1008h of the object directory is to be read. Calculation of the identifier: 600h + Node ID = 600h +1h = 601h...

  • Page 18: Safety Data Exchange

    A maximum of 8 bytes of user data can be transmitted in a SRDO. The SGH25 supports the Safety Transmit services SRDO1 for the position value (4 bytes) and SRDO2 for the speed (2 bytes) according to EN50325-5. The transmission behavior of SRDO1 is determined via the objects 1301h, 1381h, 6100h and 6102h.

  • Page 19: Procedure For The First Commissioning Of Srdo Messages

    Subindex 1 byte Speed value 4 byte 61260110h Subindex 1 byte Inverted speed value 4 byte 61270110h The following data bytes are used to calculate the checksum: SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 19 of 74...

  • Page 20: Example Of Changing A Configuration

    The cause of the fault is stored in the fault buffer (cf Object 1003h: Pre-defined Error Field). An emergency object is only sent once per error event. If a cause of SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19...

  • Page 21: Node Guarding

    The response of the node to the RTR frame of the master is structured as follows: Identifier Byte 0 700h + Node-ID Bit 7: Toggle Bit Bit 6 … 0: NMT state Toggle Bit: SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 21 of 74...

  • Page 22: Heartbeat

    The master monitors the state of the slave device via the heartbeat protocol. The device automatically sends its NMT status cyclically in this case. The SGH25 is a heartbeat producer; it does not receive and process heartbeat protocols itself. The cycle time of the heartbeat message is set via object 1017h.

  • Page 23: State Change

    LSS configuration. If the LSS master expects an answer to its command, only one LSS slave may be switched to the LSS configuration. Two different LSS services are available:  LSS (rx) (LSS Master  SGH25): 7E5h  LSS (tx) (SGH25  LSS Master): 7E4h These LSS identifiers cannot be changed! A message always consists of 8 bytes.

  • Page 24: Switch States Of Individual Devices (Switch State Global)

    4.7.1.2 Switch states of individual devices (Switch state global) With this command, individual LSS slave devices can be put into the LSS configuration state via the unique LSS number. Master  SGH25 User Data Byte 0 Byte 1 Byte 2...

  • Page 25: Configuration Of The Baud Rate (Configure Bit Timing Parameters)

    To immediately activate the new Node ID, the LSS slave must be put into the LSS Waiting and then an NMT "Reset Communication" 82h given. Another option is to perform a power off/on after "Store configuration". Master  SGH25 User Data Byte 0...

  • Page 26: Activate Baud Rate (Activate Bit Timing Parameters)

    125 kbit/s Reserved 50 kbit/s 20 kbit/s Not supported Not supported The device only supports Table selector 00h and Table index 0 to 7. SGH25  Master User Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5...

  • Page 27: Store Configuration

    LSS slave cannot send messages. 4.7.2.4 Store configuration This command may only be executed if only one LSS slave is in configuration mode. The current settings are then be stored. Master  SGH25 User Data Byte 0 Byte 1 Byte 2...

  • Page 28: Request Product Code

    Communication via CAN bus (CANopen and CANopen Safety) SGH25  Master User Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Vendor ID (cf. Object 1018.1h) 4.7.3.2 Request product code Master ...

  • Page 29: Request Node Id

    Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E4h Serial number (object 1018.4h) 4.7.3.5 Request Node ID Master  SGH25 User Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7...
  • Page 30 Setting of the resolution 600Ch: Position raw value Raw value position 6010h: Preset value Setting of the calibration value (calibration value) 6020h: Position value Position value 6030h: Speed Speed value SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 30 of 74...
  • Page 31 Encoder states at the time of calibration 650Ah: Module identification Specifies the manufacturer-specific offset value as well as the smallest and largest transferable position value 650Bh: Serial number Specifies the serial number SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 31 of 74...

  • Page 32: Object Description

    Data content Significance Set bit indicates the occurrence of any error state Set bit indicates communication errors on the CAN bus (passive or Bus off) Manufacturer-specific (sensor error) SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 32 of 74...

  • Page 33: 1002H: Manufacturer Status Register

    Number of stored error messages Access PDO mapping Data type UNSIGNED 8 Default EEPROM Subindex 01h-08h Description Error messages that occurred Access PDO mapping Data type UNSIGNED 32 Default SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 33 of 74...

  • Page 34: 1005H: Cob-Id Sync Message

    Transfer is required for reading (cf. Chapter 4.4.1.2). Subindex Description Device name in ASCII characters Access Const PDO mapping Data type Visible_String Default SGH25 EEPROM Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 32 h ("S")

  • Page 35: 100Ah: Manufacturer Software Version

    Object 100Dh specifies the Life Time Factor set in the master for the node guarding (cf. Chapter 4.6.2). The value "0h" means that Node Guarding is deactivated. Subindex Description Life Time Factor Access PDO mapping Data type UNSIGNED 8 SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 35 of 74...

  • Page 36: 1010H: Store Parameter

    PDO mapping Data type UNSIGNED 32 Default EEPROM Data content Writing: Byte 0 Byte 1 Byte 2 Byte 3 73h ("s") 61h ("a") 76h ("v") 65h ("e") SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 36 of 74...

  • Page 37: 1011H: Restore Parameter

    "load" must be sent as data content and then a reset performed. If the restored parameters are to be available permanently, they must be saved via the object 1010h: Store Parameter. Subindex SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 37 of 74...
  • Page 38 0, reserved Bit 0 1: Device allows the loading of default parameters. Subindex Description Only set application parameters to the factory setting (6000h-9FFFh, CiA 406) Access PDO mapping SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 38 of 74...

  • Page 39: 1014H Cob Id Emergency Message

    1: 29 bit identifier (CAN 2.0B) Bit 28 … 11 0: if Bit 29 = 0b X: Bits 28 - 11 of the EMCYCOB ID if bit 29 = 1b SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 39 of 74...

  • Page 40: 1017H: Producer Heartbeat Time

    Displays the largest supported subindex Access const PDO mapping Data type UNSIGNED 8 Default EEPROM Subindex Description Manufacturer identification number (Vendor ID) assigned to SIKO GmbH by Access PDO mapping Data type UNSIGNED 32 Default 195h EEPROM Subindex Description Product Code (function is not supported; only compatibility entry for...

  • Page 41: 1200H: Server Sdo Parameter

    Data type UNSIGNED 8 Default EEPROM Subindex Description COB ID Client -> Server (rx) Access PDO mapping Data type UNSIGNED 32 Default 00000600h + Node ID EEPROM SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 41 of 74...

  • Page 42: 1301H: Srdo1 Communication Parameter

    NMT state is operational rw when NMT state is pre-operational PDO mapping Data type UNSIGNED 16 Default 25d (0019h) EEPROM Data content 10d…65535d (000Ah…FFFFh) Subindex SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 42 of 74...

  • Page 43: 1302H: Srdo2 Communication Parameter

    EEPROM Data content 258d (102h)…384 (180h) (even values only) 4.8.2.18 1302h: SRDO2 Communication Parameter The communication behavior of the SRDO can be specified by the object 1302h. SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 43 of 74...
  • Page 44 NMT state is operational rw when NMT state is pre-operational PDO mapping Data type UNSIGNED 8 Default 20d (14h) EEPROM Data content 20d (14h) Subindex SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 44 of 74...

  • Page 45: 1381H: Srdo1 Mapping Parameters

    The objects are specified by object 1381h that are depicted in the first Safety Transmit SRDO (SRDO1). Subindex Description Displays the largest supported subindex Access PDO mapping Data type UNSIGNED 8 Default EEPROM Subindex SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 45 of 74...

  • Page 46: 1382H: Srdo2 Mapping Parameters

    1. Object of the SRDO2 message with the COB ID2 (data byte 0 to 1) Access PDO mapping Data type UNSIGNED 32 Default 61270110h (inv. speed value object 6127h, sub-index 01h, 16 bit) SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 46 of 74...

  • Page 47: 13Feh: Safety Configuration

    Data content The checksum CRC-16-CCITT (polynomial 1021h) is calculated via the content of the two objects 1301h and 1381h (cf. chapter 4.5.3). Object Subindex Name Size Value SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 47 of 74...
  • Page 48 COB ID 2 4 byte Object 1302h Subindex 06h 1382h SRDO2 mapping parameters Highest sub-index 1 byte Subindex 1 byte Speed value 4 byte 61260110h Subindex 1 byte SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 48 of 74...

  • Page 49: 1800H 1. Transmit Pdo Parameter

    COB ID. Subindex Description Inhibit time (function is not supported; only compatibility entry for various configurators) Access PDO mapping Data type UNSIGNED 16 Default SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 49 of 74...

  • Page 50: 1801H: 2. Transmit Pdo Parameter

    (can only be described in the “Pre-Operational” state; cf. Chapter 4.1) PDO mapping Data type UNSIGNED 32 Default 280h + Node ID EEPROM Subindex Description Transmission Type Access SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 50 of 74...

  • Page 51: 1A00H: 1. Transmit Pdo Mapping Parameter

    The objects are specified by object 1A00h that are depicted in the first Transmit PDO (TPDO1). Subindex Description Number of mapped objects Access const PDO mapping Data type UNSIGNED 8 Default EEPROM SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 51 of 74...

  • Page 52: 1A01H: 2. Transmit Pdo Mapping Parameter

    UNSIGNED 32 Default 60200120h (position value of object 6020h, subindex 01h, 32 bit) EEPROM Subindex Description 2. Object of the PDO2 message (data bytes 4 to 5) Access SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 52 of 74...

  • Page 53: 5000H: Diagnose Can Bus Error

    1: internal bus termination activated 4.8.2.29 5F0Ah: Node ID and baud rate Bus CAN Node ID and the baud rate bus can be set by object 5F0Ah. Subindex SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 53 of 74...

  • Page 54: 6000H: Operating Parameters

    Operating parameters can be set via object 6000h. Subindex Description Operating Parameters Access PDO mapping Data type UNSIGNED 16 Default EEPROM Data content Bit 15 … 4 Not used SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 54 of 74...

  • Page 55: 6002H: Total Number Of Measuring Steps

    6020h: Position value 4.8.2.34 6005h: Resolution The resolution is specified by object 6005h. Subindex Description Displays the largest supported subindex Access PDO mapping Data type UNSIGNED 8 Default SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 55 of 74...

  • Page 56: 600Ch: Position Raw Value

    The position value of the encoder for calibration to a calibration value can be set via object 6010h. Position value = measurement value + calibration value Subindex Description Displays the largest supported subindex Access PDO mapping SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 56 of 74...

  • Page 57: 6020H: Position Value

    Position value = measurement value + calibration value 4.8.2.38 6030h: Speed The speed can be read via object 6030h. Subindex Description Displays the largest supported subindex Access PDO mapping SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 57 of 74...

  • Page 58: 6031H: Speed Parameters

    02h: Object 600C raw value position is used Subindex Description Integration time of speed Access PDO mapping Data type UNSIGNED 16 Default EEPROM Data content 64h: 100 ms C8h: 200 ms SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 58 of 74...

  • Page 59: 6100H: Safety Configuration Parameters Of The Position

    Data content Bit 15 … 4 Not used Bit 3 0: Counting direction of increasing values 1: Counting direction of decreasing values Bit 2 … 0 Not used SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 59 of 74...

  • Page 60: 6101H: Safety Configuration Parameters Of The Speed

    Safety integration time of speed Access rw (write only in NMT pre-operational state) PDO mapping Data type UNSIGNED 16 Default EEPROM Data content 64h: 100 ms C8h: 200 ms SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 60 of 74...

  • Page 61: 6102H: Safety Preset Value (Safety Calibration Value)

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Subindex Description Safety calibration value Access PDO mapping Data type SIGNED 32 Default EEPROM Data content -26559d…26559d (FFFF9841h…000067BFh) SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 61 of 74...

  • Page 62: 6126H: Safety Speed Value

    Data type UNSIGNED 8 Default EEPROM Subindex Safety speed value byte 1 Description Safety inverted speed value Access PDO mapping Data type SIGNED 16 Default FFFFh EEPROM SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 62 of 74...

  • Page 63: 6128H: Safety Position Value

    Data type SIGNED 32 Default FFFFFFFFh EEPROM 4.8.2.47 61FEh: Safety application configuration The configuration of position and speed can be switched to valid by the object 61FEh. SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 63 of 74...

  • Page 64: 61Ffh: Safety Application Configuration Signature (Checksum)

    Safety configuration of the position parameters Highest sub-index 1 byte Subindex 1 byte Safety counting 2 byte Object 6100h direction Subindex 01h 6102h Safety preset value (safety calibration value) SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 64 of 74...

  • Page 65: 6200H: Cycle Timer

    Object 6200h sets a cycle time, with which the PDO1 is to be output. This value is firmly linked to the object 1800h 1. Transmit PDO Parameter subindex 05h. The timer-controlled SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19...

  • Page 66: 6400H: Work Area (Area State Register)

    0: Position value is within the set work area 1: Position value is outside of the set work area Subindex Description State of work area 2 Access SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 66 of 74...

  • Page 67: 6401H: Work Area Low Limit

    SIGNED 32 Default EEPROM Data content -53118d(FFFF3082h)…79677d(0001373Dh) Subindex Description Lower limit value of work area 2 Access PDO mapping Data type SIGNED 32 Default EEPROM Data content -53118d(FFFF3082h)…79677d(0001373Dh) SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 67 of 74...

  • Page 68: 6402H: Work Area High Limit

    The object 6500h indicates the settings programmed with object 6000h. Subindex Description Operating Status Access PDO mapping Data type UNSIGNED 16 Default EEPROM Data content Bit 15 … 4 Not used SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 68 of 74...

  • Page 69: 6501H: Single-Turn Resolution

    In the event of an error, the corresponding bit is set to 1. Subindex Description Alarm messages Access PDO mapping Data type UNSIGNED 16 Default EEPROM Data content Bit 15 … 14 Not used SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 69 of 74...

  • Page 70: 6504H: Supported Alarms

    PDO mapping Data type UNSIGNED 16 Default EEPROM Data content Bit 0 … 15 Not used 4.8.2.59 6506h: Supported Warnings Object 6506h indicates which warning messages are supported. SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 70 of 74...

  • Page 71: 6507H: Profile And Software Version

    Object 6509h specifies the difference between the encoder value and the scaled position value calculated with the calibration value. Subindex Description Encoder states at the time of calibration SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 71 of 74...

  • Page 72: 650Ah: Module Identification

    PDO mapping Data type SIGNED 32 Default -53118d (FFFF3082h) EEPROM Subindex Description Largest transferable position value Access PDO mapping Data type SIGNED 32 Default 79677d (0001373Dh) EEPROM SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 72 of 74...

  • Page 73: 650Bh: Serial Number

    The object 650Eh provides information about the device functionality. Subindex Description Device functionality Access PDO mapping Data type UNSIGNED 32 Default CANopen Safety: 0022h (Class 2 + CANopen Safety) EEPROM SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 73 of 74...
  • Page 74 Bit 4 Not used Bit 3 0: normal resolution 1: high resolution Bit 2 … 0 000, reserved 001: Class C1 010: Class C2 011: Class C3 SGH25 Date: 27/03/2019 Art. No. 89925 Change Status 063/19 Page 74 of 74...

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