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SICO SGH10 User Manual

Absolute wire-actuated encoder with canopen interface
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SGH10
Absolute wire-actuated encoder with CANopen
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User manual
307/17

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Summary of Contents for SICO SGH10

  • Page 1 SGH10 Absolute wire-actuated encoder with CANopen interface User manual 307/17...

  • Page 2: Table Of Contents

    Process data exchange ................10 4.3.1 Transmission of process data objects (PDO) ............10 4.3.1.1 Transmit PDO (from the SGH10 to the master) ............. 10 Parameter data exchange ................11 4.4.1 Transmission of Service Data Objects (SDO) ............. 11 4.4.1.1 Expedited Request/Response ................
  • Page 3 4.7.2.33 6401h: Work Area Low Limit ................47 4.7.2.34 6402h: Work Area High Limit ................47 4.7.2.35 6500h: Operating Status ................... 48 4.7.2.36 6501h: Single-turn resolution ................49 SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 3 of 53...
  • Page 4 4.7.2.44 6509h: Offset value ..................51 4.7.2.45 650Ah: Module Identification ................52 4.7.2.46 650Bh: Serial number ..................52 4.7.2.47 650Ch: Offset value for the multi-sensor device ........... 53 SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 4 of 53...

  • Page 5: General Information

    (e.g. 280h). Intended use The SGH10 captures the travel of a hydraulic cylinder as an absolute distance information. By means of the CANopen protocol, the wire-actuated encoder can be configured and read out via the CAN interface.

  • Page 6: Functional Description

    The CiA DS-301 V4.2 CANopen communication profile, the Device profile for Encoders CiA DS- 406 V3.2, forms the basis of the SGH10. The SGH10 supports device class C2. The details required for a better understanding of operation are included in this documentation. If more in-depth information is required, we recommend the applicable technical literature on CAN or CANopen.
  • Page 7 5F0Ah: Node-ID and baud rate of Bus CAN) is assigned once in every bus system with configuration of the master on SGH10. The node numbers range from 1 to 127. Node ID = 0 is reserved and must not be used.

  • Page 8: Node Control

    "INITIALISATION", "PRE-OPERATIONAL", "OPERATIONAL" or "STOPPED" (see Fig.. Power on oder Software Reset Re-Initialisierung CAN-Karte Init Initialisation CAN-Kommunikation BootUp Message Fig.. 1: NMT Status diagram SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 8 of 53...

  • Page 9: Nmt Communication States

    OPERATIONAL / STOPPED (Reset Communication) Table 3: Toggling between communication states If x = 0h is transmitted as node ID, then the message is intended for all bus subscribers. SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 9 of 53...

  • Page 10: Boot-Up

    Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of user data can be transmitted in a PDO. The SGH10 supports the Transmit PDO services TPDO1 and TPDO2 according to CiA DS-301 and CiA DS-406.

  • Page 11: Parameter Data Exchange

    The identifier is set to 11 bits and cannot be changed. Two SDO services are available:  SDO (rx) (Master  SGH10): 600h + Node-ID  SDO (tx) (SGH10  Master): 580h + Node-ID These SDO identifiers cannot be changed! 4.4.1.1...

  • Page 12: Normal Request/Response

    Request/Response. This procedure is also initiated by an initialization message, and the actual user data will be transmitted in the subsequent segment messages. For the SGH10 this is only the case with reading of the object 1008h: Manufacturer Device Name.
  • Page 13 Initialization message : User data (parameters), byte 4-7: In the service data range, the value of the parameter is entered in left-aligned Intel notation. Byte 4 = Low-Byte ... Byte 7 = High-Byte SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17...

  • Page 14: Error Response In Sdo Exchange

    Index H Subindex Data Data Data Data 601h Response to the request by the slave Calculation of the identifier: 580h + Node-ID = 581h COB- User data SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 14 of 53...
  • Page 15 Example of reading SDO parameters with normal Request/Response: The manufacturer device name stored in object 1008h of the directory of objects is to be read from the SGH10 with device address 1h. Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h...

  • Page 16: Node Monitoring

    Error Code Cause of the error removed 0000h Bus status changed over to the error passive mode 8120h Recovered from Bus Off 8140h Manufacturer-specific: Position value error FF05h SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 16 of 53...

  • Page 17: Node Guarding

    Literature recommends heartbeat to be used for node monitoring. Only the master can detect missing communication via the node guarding protocol as opposed to the heartbeat that can be received by all subscribers. SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17...

  • Page 18: Heartbeat

    The master monitors the state of the slave device via Heartbeat protocol. While doing this, the device sends independently its NMT status cyclically. The SGH10 is a heartbeat producer, it does not receive nor process heartbeat protocols itself. The cycle time of the heartbeat message is set via object 1017h.

  • Page 19: State Change

    4.6.1.2 Switch states of individual LSS devices (Switch state selective) With this command, individual LSS slave devices can be set to the LSS Configuration state via the unique LSS number. Master  SGH10 COB- User data Byte 0 Byte 1...

  • Page 20: Configuration

    Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h Serial number SGH10  master COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7...

  • Page 21: Configuration Of The Baud Rate (Configure Bit Timing Parameters)

    Activate baud rate (Activate bit timing parameters) command must be executed and the LSS slave set to the LSS Waiting state. Another possibility of activating the new baud rate would be to execute power off/on after “Store configuration”. Master  SGH10 COB- User data Byte 0...

  • Page 22: Activate Baud Rate (Activate Bit Timing Parameters)

    Communication via CAN bus (CANopen) not supported The device supports only Table selector 00h and Table index 0 until 7. SGH10  master COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6...

  • Page 23: Requesting Parameters

    Communication via CAN bus (CANopen) Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h SGH10  master COB- User data Byte 0 Byte Byte Byte Byte Byte Byte Byte Command 7E4h...

  • Page 24: Request Revision Number

    Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h SGH10  master COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7...

  • Page 25: Directory Of Objects

    Communication via CAN bus (CANopen) Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h SGH10  master COB- User data Byte 0 Byte Byte Byte Byte Byte Byte Byte Command 7E4h...
  • Page 26 Encoder reading at the time of calibration 650Ah: Module Identification Indicates the manufacturer-specific offset value as well as the smallest and largest transferable position value 650Bh: Serial number Indicates the serial number SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 26 of 53...

  • Page 27: Object Description

    Set bit indicates communication error on the CAN bus (passive or bus-off) Manufacturer-specific (sensor error) 1-3, 5-6 Not used Faults and errors are signaled by an emergency message at the time of their occurrence. SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 27 of 53...

  • Page 28: 1002H: Manufacturer Status Register

    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 EEPROM SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 28 of 53...

  • Page 29: 1005H: Cob-Id Sync-Message

    SDO (see chapter 4.4.1.2: Normal Request/Response). Subindex Description Device name in ASCII notation Access Const PDO mapping Data type Visible_String Default SGH10 EEPROM Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 ("S") ("G") ("H") ("1")

  • Page 30: 100Ah: Manufacturer Software Version

    Object 100Dh indicates the life time factor set in the master for node guarding (see chapter 4.5.2: Node Guarding). Value “‘0h’” means that Node Guarding is deactivated. Subindex Description Life Time Factor Access PDO mapping Data type UNSIGNED 8 Default EEPROM SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 30 of 53...

  • Page 31: 1010H: Store Parameter

    76h ("v") 65h ("e") Read: Bit 31 … 2 0, reserved Bit 1 0: Device does not independently store parameters Bit 0 1: Device stores parameters after command SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 31 of 53...

  • Page 32: 1011H: Restore Parameter

    1010h: Store Parameter. Subindex Description indicates the largest supported subindex Access const PDO mapping Data type UNSIGNED 8 SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 32 of 53...
  • Page 33 1: Device permits loading of default parameters. Subindex Description Set only application parameters to factory settings (6000h-9FFFh, CiA DS- 406) Access PDO mapping Data type UNSIGNED 32 Default EEPROM Data content Write: SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 33 of 53...

  • Page 34: 1014H: Cob-Id Emergency Message

    0: if Bit 29 = 0b X: Bits 28 – 11 of the EMCY-COB-ID, if Bit 29 = 1b Bit 10 … 0 X: bits 10 – 0 of the EMCY-COB-ID SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17...

  • Page 35: 1017H: Producer Heartbeat Time

    Default 195h EEPROM Subindex Description Product Code (function is not supported, only compatibility entry for various configurators) Access PDO mapping Data type UNSIGNED 32 Default FFFFFFFFh EEPROM SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 35 of 53...

  • Page 36: 1200H: Server Sdo Parameter

    Subindex Description COB-ID Client -> Server (rx) Access PDO mapping Data type UNSIGNED 32 Default 00000600h + Node-ID EEPROM Subindex Description COB-ID Server -> Client (tx) Access SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 36 of 53...

  • Page 37: St Transmit Pdo Parameter

    Device responds only to RTR request if RTR Bit 30 is enabled in the COB-ID. Subindex Description Inhibit time (function is not supported, only compatibility entry for various configurators) Access SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 37 of 53...

  • Page 38: 1801H: 2 Nd Transmit Pdo Parameter

    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 280h + Node-ID EEPROM SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 38 of 53...

  • Page 39: St Transmit Pdo Mapping Parameter

    Transmit PDO Mapping Parameter Object 1A00h determines the objects that are mapped in the first Transmit PDO (TPDO1). Subindex Description number of objects mapped Access const PDO mapping SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 39 of 53...

  • Page 40: 1A01H: 2 Nd Transmit Pdo Mapping Parameter

    PDO2 message (data bytes 0 to 3) Access PDO mapping Data type UNSIGNED 32 Default 60200120h (position value object 6020h, subindex 01h, 32bit) EEPROM Subindex SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 40 of 53...

  • Page 41: 5000H: Diagnosis Can Bus Error

    Node ID and baud rate of the bus can be set via Object 5F0Ah. Subindex Description indicates the largest supported subindex Access const PDO mapping Data type UNSIGNED 8 Default EEPROM Subindex Description Node ID Access PDO mapping SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 41 of 53...

  • Page 42: 6000H: Operating Parameters

    Scaling: The encoder works with its set resolution which can be configured via object 6005h. The scaling function cannot be disabled. Counting direction positive: ascending position values when the wire is pulled out Counting direction negative: descending position values when the wire is pulled out SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17...

  • Page 43: 6002H: Overall Number Of Measurement Steps

    Resolution of the linear sensor. The parameter must be indicated as multiple of nm according to CiA DS-406. Access PDO mapping Data type UNSIGNED 32 Default 100000d (00002710h) SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 43 of 53...

  • Page 44: 6010H: Calibration Value

    Data content -10239d…10239d (FFFFD801h…000027FFh) 4.7.2.29 6020h: Position value Object 6020h indicates the current position value of the encoder. Subindex Description indicates the largest supported subindex Access PDO mapping SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 44 of 53...

  • Page 45: 6030H: Velocity

    Value 0h disables the function. Subindex Description Cycle timer Access SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 45 of 53...

  • Page 46: 6400H: Operating Range (Area State Register)

    1: Position value is beyond the operating range set Subindex Description Status of operating range 2 Access PDO mapping Data type UNSIGNED 8 Default EEPROM Data content Bit 7 … 3 not used SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 46 of 53...

  • Page 47: 6401H: Work Area Low Limit

    SIGNED 32 Default EEPROM Data content -20478d(FFFFB002h)…40956d(00009FFCh) 4.7.2.34 6402h: Work Area High Limit Each an upper limit can be set for either work area via Object 6402h. SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 47 of 53...

  • Page 48: 6500H: Operating Status

    Bit 15 … 4 not used Bit 3 0: Counting direction ascending values 1: Counting direction descending values Bit 2 1: Scaling enabled Bit 1 not used SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 48 of 53...

  • Page 49: 6501H: Single-Turn Resolution

    1: Position limit 2 exceeded or undershot (Work area 2) Bit 12 0: Position value within work area 1 1: Position limit 1 exceeded or undershot (Work area 1) SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 49 of 53...

  • Page 50: 6504H: Supported Alarms

    Bit 0 … 15 Not used 4.7.2.41 6506h: Supported Warnings The Object 6506h indicates the warnings that are supported. Subindex Description Supported warnings Access PDO mapping Data type UNSIGNED 16 SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 50 of 53...

  • Page 51: 6507H: Profile And Software Version

    Object 6509h outputs the difference between the encoder value and the position value scaled and offset with the calibration value. Subindex Description Encoder state at the time of calibration Access PDO mapping Data type SIGNED 32 Default EEPROM SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 51 of 53...

  • Page 52: 650Ah: Module Identification

    PDO mapping Data type SIGNED 32 Default 30717d (000077FDh) EEPROM 4.7.2.46 650Bh: Serial number Object 650Bh provides the serial number of the encoder. Subindex Description Serial number SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 52 of 53...

  • Page 53: 650Ch: Offset Value For The Multi-Sensor Device

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Subindex Description Offset value Access PDO mapping Data type SIGNED 32 Default EEPROM SGH10 Date: 28.09.2017 art. no. 89013 rev. status 307/17 Page 53 of 53...

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