SICK AHS36 CANopen Operating Instructions Manual
Absolute encoder
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Summary of Contents for SICK AHS36 CANopen
- Page 1 O P E R A T I N G I N S T R U C T I O N S AHS/AHM36 CANopen AHS/AHM36 CANopen Inox Absolute Encoder...
- Page 2 Legal information This document is protected by the law of copyright. Whereby all rights established therein remain with the company SICK STEGMANN GmbH. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law.
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Page 3: Table Of Contents
CANopen in the OSI model ............21 5.1.2 Communication channels.............. 21 5.1.3 Topology ................... 22 Node IDs and COB-IDs ..................23 Baud rate ......................24 Layer Setting Services (LSS) ................24 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... - Page 4 Settings on the hardware ................. 90 Configuration...................... 91 7.3.1 Default delivery status ..............91 7.3.2 System configuration ..............91 Tests before the initial commissioning ............95 OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice...
- Page 5 CONTENTS Fault diagnosis ................96 In the event of faults or errors ................. 96 SICK STEGMANN support................. 96 Error and status indications on the LED............96 8.3.1 Meaning of the LED displays............97 Diagnostics via CANopen.................. 97 8.4.1 Emergency Messages ..............97 8.4.2...
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Page 6: About This Document
When operating the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox, the national, local and statutory rules and regulations must be observed. Additional information You will find additional information at www.can-cia.org. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 7: Scope
Process Data Object Programmable Logic Controller Physical Measuring Range Physical Resolution Span (per revolution) Remote Transmission Request = request telegram for PDOs Service Data Object 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 8: Symbols Used
A warning notice indicates an actual or potential risk or health hazard. They are designed to help you to prevent accidents. Read carefully and follow the warning notices. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 9: On Safety
In case of any other usage or modifications to the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox, e.g. opening the housing during mounting and electrical installation, or in case of modifications to the SICK software, any claims against SICK STEGMANN GmbH under warranty will be rendered void. -
Page 10: General Safety Notes And Protective Measures
Housing Aluminium die cast with Zinc Scrap metal nickel coating / stainless steel Electronic assemblies Various Electronic waste Table 2: Disposal of the assemblies OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 11: Quick Start Instructions On The Ahs36/Ahm36 Canopen
Change node ID and/or baud rate in the objects 2009.2h and 2009.3h Save parameters with the aid of object 1010.1h: 65766173h (corresponds to “save” in ASCII) 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 12: Parameterization
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox and the default configuration of the process data. You can download the EDS file from www.sick.com: Enter the seven-digit part number of your encoder directly in the Find field on the ... -
Page 13: Process Data Objects (Pdos)
If, e.g., the event timer is set to 100 ms and the inhibition time is set to 1 s, the corresponding PDO is only sent every second. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 14: Pdo Mapping
INOX 3.3.2 PDO mapping You will find which objects are mapped by default in the related transmit PDOs in section 6.3.3 on page 56. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 15: Product Description
Please read this chapter before mounting, installing and commissioning the device. Special features With male connector With cable outlet Figure 2: Connection types 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 16: Table 3: Special Features Of The Encoder Variants
Stainless steel variant – – – – Enclosure rating IP69K – – – – Table 3: Special features of the encoder variants OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 17: Operating Principle Of The Encoder
The highest reliability is achieved by means of electro-sensitive, magnetic scanning. The AHS36 CANopen and AHS36 CANopen Inox is a singleturn encoder. Singleturn encoders are used if absolute acquisition of the rotation of a shaft is required. -
Page 18: Round Axis Functionality
For the nominator for the number of revolutions 125 is configured, 10 as the divisor = 12.5). After 12.5 revolutions (that is after one complete revolution of the rotating table) the encoder reaches the total resolution of 9,000. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 19: Figure 5: Example Position Measurement On A Rotating Table Without Transmission Ratio
For the nominator for the number of revolutions 1 is configured, 9 as the divisor ( revolutions = 1,000). After revolutions of the encoder shaft there are 1,000 steps, then the encoder starts to count at 0 again. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 20: Electronic Cam Mechanism
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Absolute Encoder has one status LED. Figure 7: Position of the LED The LED is multi-colored. Table 138 on page 97 shows the meaning of the signals. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 21: Integration In Canopen
Layers 3 … 6 are not used with CANopen. 5.1.2 Communication channels CANopen has various communication channels (SDO, PDO, Emergency Messages). These channels are formed with the aid of the Communication Object Identifier 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 22: Topology
Stubs Figure 10: AHx36 in the CANopen topologie Table 137 on page 90 shows the maximum length of the stubs for different baud rates. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 23: Node Ids And Cob-Ids
The encoder is given the node ID = 5, it then sends emergency messages via the ID 133, Transmit PDOs via the ID 389, 645, 901 as well as 1157 and the Transmit SDO via the ID 1413. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 24: Baud Rate
LSS master and LSS slave is undertaken using the LSS telegrams. The following COB-IDs are used: 07E4h = LSS slave to LSS master 07E5h = LSS master to LSS slave OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 25: Table 6: Format Of An Lss Telegram
FFh = contains a specific error code Byte 2 error extend: The error extension is manufacturer-specific and always 00h on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 26: Table 10: Format Of The Configure Bit Timing Parameters Command
However, the configuration is not saved in non-volatile memory (EEPROM). This action must be undertaken using the object 1010h – Save Parameters (see Table 50 on page 51). OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 27: Table 13: Format Of The Store Configuration Command
Byte 4 Byte 5 Byte 6 Byte 7 07E4h Data-X Data-X Data-X Data-X {LsB} {MsB} Table 17: Response to the Inquire LSS address service command 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 28: Network Management (Nmt)
In this status the encoder is disabled for communication (active connection monitoring via node guarding remains active). Table 20: Status of the CANopen state machine OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 29: Network Management Services
Table 22: Meaning of byte 0 Transitions between the individual operating statuses Power-up or reset Initialization Pre-operational Stopped Operational Figure 11: Transitions between the operating statuses 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 30: Boot-Up Message
Operating status of the encoder: 127 = Pre-operational 5 = Operational 4 = Stopped 0 = boot up Table 25: Meaning of byte 0 OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 31: Service Data Objects (Sdo)
The SDO client (e.g. the PLC) specifies in its request the parameter, the access type (read/write) and, if necessary, the value. The encoder undertakes the write or read access and responds to the request. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 32: Figure 12: Example For Transmit Sdo And Receive Sdo
The encoder responds via ID 0585h (Transmit SDO 0580h + encoder ID) with the return message (CCD = 43h) 0200h = multiturn encoder, 9601h device profile = encoder. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 33: Process Data Objects (Pdo)
The contents of the objects are transmitted in the Transmit PDO. COB-ID Data 0180h + Node ID Position value = 1 No error No error Table 30: Example for a Transmit PDO 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 34: Pdo Data Transmission
Application-specific triggering Device-specific triggering Inhibition Time 0 … 65,535 Reserved – Event Timer 0 … 65,535 Table 31: Example for the communication parameters OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... - Page 35 If, e.g., the event timer is set to 100 ms and the inhibition time is set to 1 s, the corresponding PDO is only sent every second. NOTE The inhibition time has no effect on triggering by RTR telegrams. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice...
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Page 36: Asynchronous Or Synchronous Formation Of The Position
The input data for the master (essentially the position data) can be synchronized. Additional latency time due to sensor-internal processes: 500 µs. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 37: Configurable Functions
AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox and default configuration of the process data EEPROM AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox Figure 15: EDS file 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 38: Scaling Parameters
(cw) = increasing position value on clockwise revolution of the shaft counterclockwise (ccw) = increasing position value on counter clockwise revolution of the shaft OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 39: Figure 18: Example For The Parameterization Of Object 6001H
This restriction is not relevant if the round axis functionality is activated. Resolution per revolution Total resolution 1,000 8,000 8,179 261,728 2,048 4,194,304 Table 33: Examples for total resolution 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 40: Preset Function
Figure 20: Example for the parameterization of object 6003h The function is available if the encoder is in the Pre-operational or Operational status. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 41: Cyclic Process Data
(see Table 72 on page 60). Figure 22: Example for the parameterization of object 1A00h 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 42: Speed Measurement
The speed measurement is configured using the object 2002h – Speed Calculation Configuration (see Table 114 on page 77). Figure 24: Example for the parameterization of object 2002h OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 43: Round Axis Functionality
The Round axis functionality is configured using the object 2001h – Endless-Shaft Configuration (see Table 113 on page 76). Figure 26: Example for the parameterization of object 2001h 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 44: Figure 27: Example For The Parameterization Of Subindex 2001.03H
Due to the physical limit of the resolution per revolution, the following condition also applies: Total resolution ÷ (nominator for the number of revolutions ÷ divisor for the number of revolutions) ≤ 16,384. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 45: Electronic Cam Mechanism
Each position parameter is defined by its minimum switching point (objects 6310h to 6317h), its maximum switching point (objects 6320h to 6327h) and its switching hysteresis (objects 6330h to 6337h). 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 46: Object Library
(e.g. array UINT-8 = character string of data type UINT-8) Record Series of data with different data types (e.g. UINT-8, UINT-32, UINT-32, UINT-16) Table 35: Nomenclature of the access types and data types OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 47: Standard Objects
Mapping Parameter for the .0 … .3 Transmit PDO 1A03h Record Mapping Parameter for the .0 … .4 Transmit PDO Table 36: Implemented standard objects 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 48: Detailed Information On The Standard Objects
Not active Active Temperature error Not active Active Voltage error Not active Active Reserved Generic error Not active Active Table 40: Object 1001h – details OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 49: Table 41: Object 1003H
Defines which bit width is used. 11 Bit Not supported 28 … 0 29-bit width CAN ID 11 … 0 11-bit width CAN ID Table 44: Object 1005h – details 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 50: Table 45: Object 1008H
Table 49: Object 100Dh The monitoring time multiplied by the life time factor yields the cycle used to monitor the encoder. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 51: Table 50: Object 1010H
Then the data must be saved in the EEPROM using the object 1010h – Save Parameters, otherwise the encoder will load the data saved in the EEPROM the next time it is switched on. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 52: Table 52: Object 1011H
Contains the configured inhibit time for the emergency message in ms. With the value 0 the inhibit time is inactive. Table 55: Object 1015h OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 53: Table 56: Object 1017H
Subindex Description 1018h Record Identity Object – UINT-8 Number of entries UINT-32 Vendor ID 01000056h = SICK UINT-32 Product Code 00007721h = AHS36 Basic 00007722h = AHM36 Basic 00007723h = AHS36 Advanced / Inox 00007724h = AHM36 Advanced / Inox... -
Page 54: Process Data Objects
Length of the mapped object in bits 08h = UINT-8 10h = UINT-16 20h = UINT-32 Table 60: Structure of the PDOs – details OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 55: Parameter Of The Receive Pdo
Mapping Parameter for the – Receive PDO UINT-8 Number of entries UINT-32 Control Word 1 (see 20000010h Table 111 on page 75) Table 62: Object 1600h 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 56: Parameter Of The Transmit Pdos
(× 0.1 ms) – – Reserved – UINT-16 Event Timer 0 … 32,767 Timer for device-specific or application-specific triggering (× 1 ms) Table 64: Object 1801h OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 57: Table 65: Object 1802H
(× 0.1 ms) – – Reserved – UINT-16 Event Timer 0 … 32,767 Timer for device-specific or application-specific triggering (× 1 ms) Table 66: Object 1803h 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 58: Transmission Types
See Table 72 on page 60 UINT-16 2010.01h STW-1 – Device Status Word, S_STAT-A UINT-16 2010.02h STW-1 – Device Status Word, S_STAT-B Table 68: Object 1A00h – default subindices OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 59: Table 69: Object 1A01H - Default Subindices
6300.02h CAM State Register, Channel 2 UINT-16 2010.03h STW-1 – Device Status Word, S_STAT-C UINT-32 2017h Speed Value 32-Bit Table 71: Object 1A03h – default subindices 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 60: Objects And Their Subindices That Can Be Mapped
Set the subindex .0 of the object 1A0xh to the number of mapped objects. Then set bit 31 to 0 again in the corresponding object 180xh in subindex .1. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 61: Encoder Profile Specific Objects
Operating Time 6509h INT-32 Internal Offset Value 650Ah Array Module Identification .0 … .3 UINT-32 650Bh UINT-32 Serial Number Table 73: Implemented encoder profile specific objects 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 62: Encoder Parameters
Counterclockwise = increasing position value on counterclockwise revolution of the shaft Table 75: Object 6000h – details Additional latency time due to sensor-internal processes: 500 µs. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 63: Table 76: Object 6001H
On writing the value to the object, it is immediately applied as a new position value. The preset value must lie within the measuring range configured. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 64: Table 79: Object 6004H
PDO cycle time in ms Table 81: Object 6200h NOTE Object 6200h is linked with object 1800.05h (see Table 63 on page 56). Modified values are mutually applied. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 65: Objects For The Electronic Cam Mechanism (Cam)
If, for instance, the value read is 88h (10001000b), then cams 8 and 4 are active. None of the other cams are active. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 66: Table 84: Object 6301H
If, for instance 4Ah (01001010b) is transmitted in the subindex, the cams 2, 4 and 7 are used. All other cams are not used. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 67: Table 86: Object 6302H
CAM has already been set (see Table 89 on page 68). The value for the lower switching point must be lower than the value for the upper switching point. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 68: Table 88: Object 6310H
Channel 1 0000h … FFFFh UINT-16 Channel 2 0000h … FFFFh Table 90: Object 6330h … 6337h Physical measuring range, depending on the encoder type. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 69: Objects For Diagnostics
Description 6502h UINT-16 Number of Revolutions AHS36 Basic/Advanced / Inox = Physical multiturn resolution 0001h AHM36 Basic/Advanced / Inox = 1000h Table 94: Object 6502h 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 70: Table 95: Object 6503H
Manufacturer-specific Not supported EEPROM error Supported 11 … 2 Reserved – Commissioning diagnostics Not supported Position error Supported Table 98: Object 6504h – details OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 71: Table 99: Object 6505H
Table 100: Object 6505h – details NOTE The related bit remains active until the warning is reset by the encoder. It then changes to inactive again. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 72: Table 101: Object 6506H
Last part of the profile version Table 104: Object 6507h – details Internal manufacturer software version, can vary from the objects 100Ah and 1018h. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 73: Table 105: Object 6508H
Designation Data values Description 650Bh UINT-32 Serial Number Serial number YYWWxxxx (year/week/sequential number) Table 108: Object 650Bh Physical measuring range, depending on the encoder type. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 74: Manufacturer-Specific Objects
2018h Array Time Counter Signals .0 … .2 UINT-16 2019h UINT-32 Internal Process Cycle Time Table 110: Implemented manufacturer-specific objects that provide status information OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 75: Objects For The Encoder Configuration
The preset function is triggered with the rising edge (transition of bit 12 from 0 to 1). To set a preset value again, the bit must therefore be reset to 0. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 76: Table 113: Object 2001H
The Round axis functionality can only be used with the multiturn encoder. It is only executed if scaling has been enabled using object 6000h. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 77: Table 114: Object 2002H
T1 defines the time between the individual measurements. Example: If T1 = 2 ms and T2 = 200, then the speed is calculated from the last 0.4 s. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 78: Table 115: Object 2004H
Data values 2005h UINT-32 Configuration Preset Value 0 … CMR-1 Table 117: Object 2005h NOTE The preset value must lie within the measuring range configured. OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 79: Table 118: Object 2006H
The internal operating temperature of the encoder can be higher than the ambient temperature due to self-heating. It is affected, among other issues, by the rotational speed and the heat dissipation in the installation situation. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX... -
Page 80: Table 119: Object 2007H
– State Flag 2, S_STAT-B (Object 2010.02h) – 0100 – – State Flag 3, S_STAT-C (Object 2010.03h) Table 120: Object 2007h – CoS_FLAG-xx Status OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 81: Objects That Provide Status Information
State Flag 1, S_STAT-A 0000h … FFFFh UINT-16 State Flag 2, S_STAT-B 0000h … FFFFh UINT-16 State Flag 3, S_STAT-C 0000h … FFFFh Table 123: Object 2010h 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... - Page 82 Warning in relation to the temperature: 4200h – Current measured value outside of the minimum or maximum limit Warning: – – General start-up error at power-on OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice...
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Page 83: Table 124: Object 2010H - State Flag 1 (S_Stat-A)
Bit 1 = 0 and Bit 0 = 1: Save operation requested and operation in progress Table 126: Object 2010h – State Flag 3 (S_STAT-C) 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 84: Table 127: Object 2011H
Object 2012h – Diagnosis Service Parameter NOTE The object 2008h defines how the entries in the diagnostic table are handled (see Table 121 on page 81). OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 85: Table 128: Object 2012H
UINT-32 Counter of Diagnosis Storage – Counter for the save processes in the EEPROM Table 128: Object 2012h From movements with a speed >12 rpm. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... - Page 86 Speed exceeds the upper limit of 12,500 rpm Number of current errors on the calculation of the singleturn position above the limit of 10 errors OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice...
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Page 87: Table 129: Object 2013H
Speed value in 32 Bit Table 133: Object 2017h Depending on the mounting and the encoder rotational speed, can vary by up to 15 °C from the ambient temperature. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 88: Table 134: Object 2018H
Object Access Data type Designation Data values Description 2019h UINT-32 Process Cycle Time 125 … 100,000 Cycle time in µs Table 135: Object 2019h OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 89: Commissioning
The connection on the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is designed either as an M12×5 male connector or as a cable outlet with flying leads. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 90: Settings On The Hardware
It is not possible to make any settings on the hardware. Baud rate and node ID are configured via the Layer Setting Services (see section 5.4 on page 24). OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 91: Configuration
Start the TwinCAT ® system manager. Choose on the context menu for the CiA node in the device tree the command Scan boxes..8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 92: Figure 32: Context Menu Scan Boxes
Figure 33: Encoder in the device tree On the Online tab, click Advanced.. The Advanced settings dialog box is opened. Figure 34: Advanced settings dialog box OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 93: Figure 35: Configuration Mode Button
Figure 37: Load I/O Devices prompt Figure 38: Free Run prompt Click OK or Yes. Figure 39: Status indication for the free run mode or configuration mode 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 94: Figure 40: Online Tab
Table 119 on page 80). Change the transmission type in the objects 1800h … 1803h (see Table 63 ff. from page 56). OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 95: Tests Before The Initial Commissioning
AHS/AHM36 CANopen Inox for the first time, make sure that the system is first checked and released by authorized personnel. Please read the notes in chapter 2 “On safety” on page 9. 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 96: Fault Diagnosis
SICK STEGMANN support If you cannot remedy an error with the help of the information provided in this chapter, please contact your local SICK STEGMANN subsidiary. Error and status indications on the LED Figure 41: Position of the LED... -
Page 97: Meaning Of The Led Displays
No error or reset error 8000h Generic error 3000h Generic voltage error 0000.0101b 3100h Input voltage outside the operating range 4000h Generic temperature error 0000.1001b 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 98: Alarms, Warnings And Status
6505h – Warning Status (see Table 99 on page 71) 2010h – STW-1 – Device Status Word (see Table 123 on page 81) OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 99: Error During The Sdo Transfer
Data can not be transmitted or saved in the application. Reason: actual device status 08000023h Dynamic object directory creation error or object directory does not exist Table 141: Error during the SDO transfer 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... -
Page 100: Annex
EU directive(s) (including all applicable amendments), and that the respective standards and/or technical specifications have been applied. Complete EU declaration of conformity for download: www.sick.com OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice... -
Page 101: List Of Illustrations
Encoder in the device tree ................ 92 Figure 34: Advanced settings dialog box ..............92 Figure 35: Configuration mode button ............... 93 Figure 36: Configuration mode prompt..............93 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... - Page 102 Status indication for the free run mode or configuration mode ..93 Figure 40: Online tab ....................94 Figure 41: Position of the LED..................96 OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice...
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Page 103: List Of Tables
Table 34: Example for binary code................41 Table 35: Nomenclature of the access types and data types ....... 46 Table 36: Implemented standard objects ..............47 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice... - Page 104 Objects and their subindices that can be mapped........ 60 Table 73: Implemented encoder profile specific objects ........61 Table 74: Object 6000h....................62 Table 75: Object 6000h – details ................62 OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice...
- Page 105 ....................74 Table 110: Implemented manufacturer-specific objects that provide status information....................74 Table 111: Object 2000h....................75 Table 112: Object 2000h – details ................75 8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX Subject to change without notice...
- Page 106 Table 139: Emergency Message Format ..............97 Table 140: Error codes and error registers ..............98 Table 141: Error during the SDO transfer ..............99 OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK Subject to change without notice...
- Page 107 Phone +36 1 371 2680 Phone +386 591 78849 E-Mail ertekesites@sick.hu E-Mail office@sick.si India South Africa Phone +91-22-6119 8900 Phone +27 (0)11 472 3733 Further locations at www.sick.com E-Mail info@sick-india.com E-Mail info@sickautomation.co.za SICK AG | Waldkirch | Germany | www.sick.com...
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