SICO SGH10 User Manual
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SICO SGH10 User Manual

Absolute wire-actuated encoder with canopen interface
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SGH10 / SGH10L
Absolute wire-actuated encoder with CANopen
interface
User manual
153/20

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Summary of Contents for SICO SGH10

  • Page 1 SGH10 / SGH10L Absolute wire-actuated encoder with CANopen interface User manual 153/20...

  • 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 / SGH10L to the master) ........10 Parameter data exchange ................11 4.4.1 Transmission of Service Data Objects (SDO) ............. 11 4.4.1.1...
  • Page 3 4.7.2.33 6401h: Work Area Low Limit ................50 4.7.2.34 6402h: Work Area High Limit ................50 4.7.2.35 6500h: Operating Status ................... 51 4.7.2.36 6501h: Single-turn resolution ................52 SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 3 of 57...
  • Page 4 4.7.2.44 6509h: Offset value ..................54 4.7.2.45 650Ah: Module Identification ................55 4.7.2.46 650Bh: Serial number ..................56 4.7.2.47 650Ch: Offset value for the multi-sensor device ........... 56 SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 4 of 57...

  • Page 5: General Information

    After completing the initialization procedure, a specific NMT command, the boot-up message is sent, which informs the system about availability. The SGH10 / SGH10L is now in the pre- operational mode. In this state, the encoder can be parameterized via SDO commands in accordance with the requirements of the application.

  • 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 / SGH10L. The SGH10 / SGH10L supports device class C2. The details required for a better understanding of operation are included in this documentation.
  • 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 / SGH10L. 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 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 8 of 57...

  • Page 9: Nmt Communication States

    (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 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 9 of 57...

  • 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 / SGH10L 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 / SGH10L): 600h + Node-ID  SDO (tx) (SGH10 / SGH10L  Master): 580h + Node-ID These SDO identifiers cannot be changed! SGH10 / SGH10L Date: 09.07.2020...

  • Page 12: Expedited Request/Response

    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 SGH10 / SGH10L: Command byte Type Function Write Request...

  • Page 13: 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 / SGH10L this is only the case with reading of the object 1008h: Manufacturer Device Name.

  • Page 14: Error Response In Sdo Exchange

    The calibration value stored in object 6010h subindex 01h of the directory of objects is to be read from the slave with device address 1h. Calculation of the identifier: 600h + Node-ID = 600h +1h = 601h SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod.
  • Page 15 581h 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 / SGH10L with device address 1h. SGH10 / SGH10L Date: 09.07.2020 Art.

  • Page 16: Node Monitoring

    0000h (no error). If multiple errors have occurred and one cause of error is removed, the error code 0000h is output as well; the persisting error status is indicated in the error register, however. SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod.

  • Page 17: Node Guarding

    The toggle bit must alternate between two subsequent responses of the device. After the guarding protocol has been enabled, the toggle bit must have the value 0 with the first response. SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20...

  • 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 / SGH10L 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

    LSS slave must be switched to the LSS configuration mode. Two LSS services are available:  LSS (rx) (LSS master  SGH10 / SGH10L): 7E5h  LSS (tx) (SGH10 / SGH10L  LSS master): 7E4h These LSS identifiers cannot be changed! A message consists always of 8 bytes.

  • Page 20: Switch States Of Individual Lss Devices (Switch State Selective)

    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 / SGH10L COB- User data Byte 0...

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

    Communication via CAN bus (CANopen) Master  SGH10 / SGH10L COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h NID: 01h … 7Fh: Node ID SGH10 / SGH10L  master...

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

    50 kbit/s 20 kbit/s not supported not supported The device supports only Table selector 00h and Table index 0 until 7. SGH10 / SGH10L  master COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4...

  • Page 23: Store Configuration

    4.6.2.4 Store configuration This command must only be executed if only one LSS slave is in the configuration mode. The current settings will be stored subsequently. Master  SGH10 / SGH10L COB- User data Byte 0 Byte 1...

  • Page 24: Request Vendor Id

    Communication via CAN bus (CANopen) 4.6.3.1 Request Vendor ID Master  SGH10 / SGH10L COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h SGH10 / SGH10L  master...

  • Page 25: Request Serial Number

    COB- User data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Command 7E5h SGH10 / SGH10L 0  master COB- User data Byte 0 Byte Byte Byte Byte Byte Byte Byte Command...
  • Page 26 Indicates whether the position value is within the state register) set work areas 1 and 2. 6401h: Work Area Low Limit Setting of the lower limits of the work areas 1 and SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 26 of 57...

  • Page 27: Object Description

    Device profile number Encoder type Byte 0 Byte 1 Byte 2 Byte 3 0196h (= 406d): CANopen Device Profile for Encoders 000Ah: Multi-sensor encoder interface SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 27 of 57...

  • Page 28: 1001H: Error Register

     The latest error state is always stored in subindex 01h. Previous error messages "slip onwards" in their position by one subindex.  The whole error list is deleted by writing the value 0 in subindex 00h. SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod.

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

    0: if bit 29 = 0 X: Bits 28 – 11 of the SYNC-COB-ID, if Bit 29 = 1 Bit 10 … 0 X: bits 10 – 0 of the SYNC-COB-ID SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20...

  • Page 30: 1008H: Manufacturer Device Name

    PDO mapping Data type Visible_String Default V100 EEPROM Data content Byte 0 Byte 1 Byte 2 Byte 3 56h ("V") 31h ("1") 30h ("0") 30h ("0") SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 30 of 57...

  • Page 31: 100Ch: Guard Time

    The string "store" must be sent as data content. Subindex Description indicates the largest supported subindex Access const PDO mapping Data type UNSIGNED 8 Default EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 31 of 57...
  • Page 32 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 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 32 of 57...

  • Page 33: 1011H: Restore Parameter

    "load" must be sent as data content and reset executed thereafter. If the restored parameters are intended to be permanently available, they must be stored via object 1010h: Store Parameter. SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 33 of 57...
  • Page 34 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0, reserved Bit 0 1: Device permits loading of default parameters. SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 34 of 57...
  • Page 35 Byte 3 6Ch ("l") 6Fh ("o") 61h ("a") 64h ("d") Read: Bit 31 … 1 0, reserved Bit 0 1: Device permits loading of default parameters. SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 35 of 57...

  • Page 36: 1014H: Cob-Id Emergency Message

    EEPROM Data content 0d, 10d ... 65535d (0h, Ah ... FFFFh); the numerical value corresponds to a multiple of 1 ms. Value 0h disables the service. SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 36 of 57...

  • Page 37: 1018H: Identity Object

    EEPROM Subindex Description Revision number (function is not supported, only compatibility entry for various configurators) Access PDO mapping Data type UNSIGNED 32 Default FFFFFFFFh EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 37 of 57...

  • Page 38: 1200H: Server Sdo Parameter

    UNSIGNED 32 Default 00000600h + Node-ID EEPROM Subindex Description COB-ID Server -> Client (tx) Access PDO mapping Data type UNSIGNED 32 Default 00000580h + Node-ID EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 38 of 57...

  • Page 39: St 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 EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 39 of 57...

  • Page 40: 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 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 40 of 57...
  • Page 41 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) SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 41 of 57...

  • Page 42: St Transmit Pdo Mapping Parameter

    Object 1A01h determines the objects that are mapped in the second Transmit PDO (TPDO2). Subindex Description number of objects mapped Access const PDO mapping Data type UNSIGNED 8 Default EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 42 of 57...

  • Page 43: 5000H: Diagnosis Can Bus Error

    0, 1, 2, 3, 4 0, 1, 2, 3, 4 Explanation of the data content 0: No error occurring at all 4: Error occurrs most frequently SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 43 of 57...

  • Page 44: 5F0Ah: Node-Id And Baud Rate Of Bus Can

    5h (500kBaud) EEPROM Data content 1: 20 kbit/s 2: 50 kbit/s 3: 125 kbit/s 4: 250 kbit/s 5: 500 kbit/s 6: 800 kbit/s 7: 1000 kbit/s SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 44 of 57...

  • Page 45: 6000H: Operating Parameters

    PDO mapping Data type UNSIGNED 32 Default 10239d (000027FF) EEPROM 4.7.2.25 6003h: Preset value (calibration value) This object is not used. See object 6010h: Calibration value SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 45 of 57...

  • Page 46: 6004H: Position Value

    0.01 mm/s according to CiA DS-406. Access PDO mapping Data type UNSIGNED 32 Default 100d (64h) EEPROM Data content 100d (64h) SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 46 of 57...

  • Page 47: 6010H: Calibration Value

    UNSIGNED 8 Default EEPROM Subindex Description Position value Access PDO mapping Data type SIGNED 32 Default EEPROM Position value = measured value + calibration value SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 47 of 57...

  • Page 48: 6030H: Velocity

    Value 0h disables the function. Subindex Description Cycle timer Access PDO mapping Data type UNSIGNED 16 Default EEPROM Data content 0d … 65535d (0h…FFFFh) SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 48 of 57...

  • Page 49: 6400H: Operating Range (Area State Register)

    1: Position value is larger than the limit set in Object 6402.2h Bit 0 0: Position value is within the operating range set 1: Position value is beyond the operating range set SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 49 of 57...

  • Page 50: 6401H: Work Area Low Limit

    Each an upper limit can be set for either work area via Object 6402h. Subindex Description indicates the largest supported subindex Access PDO mapping Data type UNSIGNED 8 Default EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 50 of 57...

  • Page 51: 6500H: Operating Status

    Bit 3 0: Counting direction ascending values 1: Counting direction descending values Bit 2 1: Scaling enabled Bit 1 not used Bit 0 not used SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 51 of 57...

  • Page 52: 6501H: Single-Turn Resolution

    1: Position limit 1 exceeded or undershot (Work area 1) Bit 11 … 1 Not used Bit 0 0: Position value valid 1: position value invalid SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 52 of 57...

  • Page 53: 6504H: Supported Alarms

    The Object 6506h indicates the warnings that are supported. Subindex Description Supported warnings Access PDO mapping Data type UNSIGNED 16 Default 0000h EEPROM Data content Bit 0 … 15 Not used SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 53 of 57...

  • Page 54: 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 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 54 of 57...

  • Page 55: 650Ah: Module Identification

    Data type SIGNED 32 Default -20478d (FFFFB002h) EEPROM Subindex Description Largest transferable position value Access PDO mapping Data type SIGNED 32 Default 30717d (000077FDh) EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 55 of 57...

  • Page 56: 650Bh: Serial Number

    Access PDO mapping Data type UNSIGNED 8 Default EEPROM Subindex Description Offset value Access PDO mapping Data type SIGNED 32 Default EEPROM SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 56 of 57...
  • Page 57 Communication via CAN bus (CANopen) SIKO GmbH Weihermattenweg 2 79256 Buchenbach Phone + 49 7661 394-0 + 49 7661 394-388 E-Mail info@siko-global.com Internet www.siko-global.com Service support@siko-global.com SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 57 of 57...

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