Siko MSA501 User Manual
  1. Manuals
  2. Brands
  3. Siko Manuals
  4. Controller
  5. MSA501
  6. User manual

Siko MSA501 User Manual

Actuator with canopen interface
Hide thumbs Also See for MSA501:
Table of Contents

Advertisement

Quick Links

Download this manual
MSA501
Actuator with CANopen interface
User manual
330/18

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the MSA501 and is the answer not in the manual?

Questions and answers

Related Manuals for Siko MSA501

Summary of Contents for Siko MSA501

  • Page 1 MSA501 Actuator with CANopen interface User manual 330/18...

  • Page 2: Table Of Contents

    SYNC object ......................13 Process data exchange .................... 14 5.3.1 Transfer of process data objects (PDO) ..............14 5.3.1.1 Transmit PDO (from the MSA501 to the master) ........... 14 5.3.1.2 Variable TPDO mapping ..................15 Parameter data exchange ..................16 5.4.1 Transmission of Service Data Objects (SDO) .............
  • Page 3 5.6.2.36 6507h: Profile and Software Version ..............49 5.6.2.37 6508h: Operating Time ..................49 5.6.2.38 6509h: Offset value ..................50 5.6.2.39 650Ah: Module Identification ................50 5.6.2.40 650Bh: Serial number ..................51 MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 3 of 51...

  • Page 4: General Information

    LED will flash 1x. Switching on the supply voltage MSA501 initializes after being switched on. During initialization, the LEDs light up one after the other and the configuration parameters are loaded from the non-volatile memory to the random memory of the controller.

  • Page 5: Operating Elements

    After completing the initialization procedure, the sensor sends a specific NMT command, the boot-up message, which informs the system about the availability of the sensor. The MSA501 is now in the pre-operational mode. In this state, the sensor can be parameterized via SDO commands in accordance with the requirements of the application.
  • Page 6 (too many No Error frames). Error control event Double Flash => A Guard Event (if no RTR Node guard received from master within the lifetime set) MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 6 of 51...

  • Page 7: Dip Switch (Applies Only To Sp01 + Sp03)

    Table 6: DIP switch for bus baud rate DIP switches Node-ID (Address) Use address from memory 1d (1h) 2d (2h) 3d (3h) 4d (4h) 5d (5h) 6d (6h) 7d (7h) 8d (8h) MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 7 of 51...

  • Page 8: Functional Description

    The numbers given below refer to an absolute resolution of 0.005 mm; divide the numerical values into half for an absolute resolution of 0.01 mm! Representation of numerical values: The numerical value output by the MSA501 sensor via the interface is always a multiple of the resolution set. Example: Value output by the sensor = 340603;...

  • Page 9: Calibration

    Calibration The MSA501 features an absolute measurement system, i.e. the information of the position value is represented in the scale (MBA501 magnetic tape) as an absolute value. Calibration can be performed at any position on the magnetic tape.

  • Page 10: Reset To Factory Settings

    406 V3.2 as well as the indicator specification CiA DS-303 Part 3 V1.4.0 for CAN diagnosis form the basis for the MSA501 CAN. The MSA501 supports device class C1 and partly C2. The details required for a better understanding of the operation are included in this documentation.
  • Page 11 The COB ID of the Sync object is an exception, where bit 30 must be = 0b to enable the COB ID to be changed. As bit 30 cannot be set to 1b in the MSA501, the COB ID could be changed at any time.

  • Page 12: Node Control

    (PDOs) is transferred. NMT Status OPERATIONAL The exchange of process data is enabled as well. However, COB-ID and Transmit PDO mapping parameters can no longer be changed in this condition. MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18...

  • Page 13: Toggling Between The Nmt Communication States

    The synchronization message (SYNC), a CAN message with high priority serves this purpose. The identifier of the Sync object can be set via object 1005h (see 1005h: COB-ID SYNC-Nachricht). MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 13 of 51...

  • Page 14: Process Data Exchange

    Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of user data can be transferred in a PDO. The MSA501 supports the Transmit PDO services TPDO1 and TPDO2 according to CiA DS-301 and CiA DS-406. The data content can be adjusted individually via variable mapping.

  • Page 15: Variable Tpdo Mapping

    1. User dataThe device must be in the Pre-Operational NMT status. 2. Disable TPDO1 via COB-ID = 80000181h. COB-ID User data Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3 601h MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 15 of 51...

  • Page 16: Parameter Data Exchange

    The identifier is set to 11 bits and cannot be changed. Two SDO services are available:  SDO (rx) (Master  MSA501): 600h + Node-ID  SDO (tx) (MSA501  Master): 580h + Node-ID These SDO identifiers cannot be changed! 5.4.1.1...
  • Page 17 User data (Parameter) + Node-ID byte 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 the MSA501: Command byte Type Function Write Request...

  • Page 18: Normal Request/Response

    Request/Response. This procedure is also initiated by an initialization message, and the actual user data will be transferred in the subsequent segment messages. For the MSA501 this is only the case with reading of the object 1008h: Manufacturer Device Name.

  • Page 19: Error Response In Sdo Exchange

    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 15: Error codes MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 19 of 51...

  • Page 20: Sdo Examples

    Calculation of the identifier: 580h + Node-ID = 580h + 1h = 581h COB-ID User data Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3 581h MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 20 of 51...

  • Page 21: Node Monitoring

    Data 1 Data 2 Data 3 Data 4 Data 5 Data -? 581h 4Dh 53h 41h 35h 30h 31h = "MSA501" Node monitoring 5.5.1 Emergency Service (EMCY) In the case of an error, the status of the bus subscriber is transferred via high-priority emergency messages.

  • Page 22: Node Guarding

    The answer of the node to the RTR frame of the master is formed as follows: Identifier Byte 0 700h + Node-ID Bit 7: Toggle Bit Bit 6 … 0 NMT state MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 22 of 51...

  • Page 23: 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 MSA501 is a heartbeat producer, it does not receive nor process heartbeat protocols. The cycle time of the heartbeat message is set via object 1017h.

  • Page 24: Directory Of Objects

    5115h: Calibrate encoder value Set the position value to the calibration value 5116h: Set the boundary Setting of the boundary 5122h: Register Reading various registers 5F09h: Bus terminator (not Bus termination available with SP01 + SP03) MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 24 of 51...

  • Page 25: Object Description

    Information on device profile and device type Access PDO mapping Data type UNSIGNED 32 Default 00080196h EEPROM Data content Device profile number Encoder type Byte 0 Byte 1 Byte 2 Byte 3 MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 25 of 51...

  • Page 26: 1001H: Error Register

    Transmit Error Counter and Receive Error Counter Access PDO-Mapping Data type UNSIGNED 32 Default EEPROM Data content Byte 0 Byte 1 Byte 2 Byte 3 Receive Error Transmit Error Counter Counter MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 26 of 51...

  • Page 27: 1003H: Pre-Defined Error Field

    0: falls Bit 29 = 0 X: Bits 28 – 11 des SYNC-COB-ID, falls Bit 29 = 1 Bit 10 … 0 X: Bits 10 – 0 des SYNC-COB-ID MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 27 of 51...

  • Page 28: 1008H: Manufacturer Device Name

    Subindex Description Device name in ASCII notation Access Const PDO-Mapping Data type Visible_String Default MSA501 EEPROM Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 53h ("S") 41h ("A") 35h ("5") 30h ("0") 31h ("1") 00h ("0") ("M")

  • Page 29: 100Ch: Guard Time

    The string “save” must also be sent as data content. Subindex Description indicates the largest supported sub-index Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 29 of 51...
  • Page 30 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 MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 30 of 51...
  • Page 31 76h ("v") 65h ("e") Read: Bit 31 … 2 0, reserviert Bit 1 0: Device does not independently store parameters Bit 0 1: Device stores parameters after command MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 31 of 51...

  • Page 32: 1011H: Restore Parameter

    Byte 2 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0, reserviert Bit 0 1: Device permits loading of default parameters. MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 32 of 51...
  • Page 33 Byte 2 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0, reserviert Bit 0 1: Device permits loading of default parameters. MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 33 of 51...

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

    UNSIGNED 16 Default EEPROM Data content 0d ... 65535d (0h ... FFFFh); the numerical value corresponds to a multiple of 100 µs. Value 0 disables the service. MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 34 of 51...

  • Page 35: 1017H: Producer Heartbeat Time

    Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM Subindex 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 Subindex...

  • Page 36: 1200H: Server Sdo Parameter

    Access PDO-Mapping 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 MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 36 of 51...

  • Page 37: 1800H: 1. Transmit Pdo Parameter

    PDO has asynchronous characteristics (PDO is sent depending FFh (255d) on the “Event Timer”). FDh (253d) Device responds only to RTR request if RTR Bit 30 is enabled in the COB-ID. MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 37 of 51...

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

    TPDO2 is used for synchronous PDO transmission according to CiA DS-406. The communication parameters for TPDO2 are set via object 1801h. Subindex Description indicates the largest supported sub-index Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 38 of 51...
  • Page 39 Event timer (function is not supported, only compatibility entry for various configurators) Access PDO-Mapping Data type UNSIGNED 16 Default EEPROM Subindex 06h (is not used, access attempt generates error message) MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 39 of 51...

  • Page 40: 1A00H: 1. Transmit Pdo Mapping Parameter

    Object 1A01h determines the objects that are mapped in the second Transmit PDO (TPDO2) (see chapter 5.3.1.2: Variable TPDO mapping Subindex Description number of objects mapped Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 40 of 51...

  • Page 41: 5115H: Calibrate Encoder Value

    In case of a read access, 0h is returned when no zeroing is ongoing. 1h is returned with ongoing calibration. Objekt 5115h Write: Writing of the value 1h sets the position value to the calibration value. MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 41 of 51...

  • Page 42: 5116H: Set The Boundary

    Not used Bit 2 Velocity check (v > 5 m/s) has struck Bit 1 Plausibility of the absolute value is not given Bit 0 Sensor/tape reading distance error MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 42 of 51...

  • Page 43: Access Ro

    Illegal Opcode or Uninitialized W Access Reset Flag bit Bit 5…2 Not used Bit 1 Configuration Mismatch Flag bit Bit 0 Voltage Regulator Standby During Sleep bit MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 43 of 51...

  • Page 44: 5F09H: Bus Terminator (Not Available With Sp01 + Sp03)

    Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM Subindex Description Node-ID Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM Data content 01h … 7Fh MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 44 of 51...

  • Page 45: 6000H: Operating Parameters

    Bit 0 not used Scaling: The encoder works with its set resolution which can be configured via object 6005h. The scaling function cannot be disabled. MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 45 of 51...

  • Page 46: 6003H: Preset Value (Calibration Value)

    6005h: Resolution and velocity step width Resolution and velocity step width are defined via object 6005h. Subindex Description indicates the largest supported sub-index Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 46 of 51...

  • Page 47: 6030H: Velocity Value

    Subindex Description indicates the largest supported sub-index Access PDO-Mapping Data type UNSIGNED 8 Default EEPROM Subindex Description Velocity value Access PDO-Mapping Data type SIGNED 16 Default EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 47 of 51...

  • Page 48: 6200H: Zyklus Timer

    5.6.2.34 6501h: Measuring step Object 6501h indicates the physical number of measurement steps. Subindex Description Physical resolution Access PDO-Mapping Data type UNSIGNED 32 Default 10000d (2710h) EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 48 of 51...

  • Page 49: 6502H: Number Of Distinguishable Revolutions

    6508h: Operating Time The operating hours can be indicated via object 6508h. This function is not supported. Subindex Description Hourmeter Access PDO-Mapping Data type UNSIGNED 32 Default FFFFFFFFh EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 49 of 51...

  • Page 50: 6509H: Offset Value

    Manufacturer-specific offset value Access PDO-Mapping Data type SIGNED 32 Default EEPROM Subindex Description Smallest transferable position value Access PDO-Mapping Data type SIGNED 32 Default -24000d (FFFFA240h) EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 50 of 51...

  • Page 51: 650Bh: Serial Number

    1000000d (000F4240h) EEPROM 5.6.2.40 650Bh: Serial number Object 650Bh provides the serial number of the encoder. Subindex Description Serial number Access PDO-Mapping Data type UNSIGNED 32 Default EEPROM MSA501 Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 51 of 51...

Table of Contents