Lika SFA-5000-EC User Manual
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Lika SFA-5000-EC User Manual

5000 mm & 10000 mm draw-wire encoder, integrated 27 bit absolute multiturn encoder, programmable resolution down to 24 um, m12 connectors, implements the coe protocol and the ethercat state machine
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Smart encoders & actuators
SFA-5000-EC
SFA-10000-EC
• 5000 mm & 10000 mm draw-wire encoder
• Integrated 27 bit absolute multiturn encoder
• Programmable resolution down to 24 µm
• M12 connectors
• Implements the CoE protocol and the EtherCAT State Machine
Suitable for the following models:
SFA-5000-EC
•
SFA-10000-EC
•
Lika Electronic

User's guide

•
Tel. +39 0445 806600
in compliance with ETG.1000
General Contents
1 - Safety summary
2 - Identification
3 - Mechanical installation
4 - Electrical connections
5 - Quick reference (TwinCAT)
6 - EtherCAT® interface
7 – Default parameters list
•
info@lika.biz
16
18
19
23
27
48
83
•
www.lika.biz

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Summary of Contents for Lika SFA-5000-EC

  • Page 1: User's Guide

    User's guide Smart encoders & actuators SFA-5000-EC SFA-10000-EC in compliance with ETG.1000 • 5000 mm & 10000 mm draw-wire encoder • Integrated 27 bit absolute multiturn encoder • Programmable resolution down to 24 µm • M12 connectors • Implements the CoE protocol and the EtherCAT State Machine...
  • Page 2 Tous droits réservés. This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies, film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.

  • Page 3: Table Of Contents

    General contents User's guide......................................1 General contents.....................................3 Subject Index.....................................6 Typographic and iconographic conventions........................7 Preliminary information................................8 Glossary of EtherCAT terms..............................9 1 - Safety summary..................................16 1.1 Safety......................................16 1.2 Electrical safety..................................16 1.3 Mechanical safety................................17 2 - Identification..................................18 3 - Mechanical installation..............................19 3.1 Overall dimensions................................19 3.2 Mounting instructions..............................20 3.3 Useful information................................21 3.4 Maintenance..................................22...
  • Page 4 6.1.7 EtherCAT State Machine (ESM)........................55 6.1.8 Slave configuration...............................56 6.1.9 Timing and Synchronization..........................56 Sync Manager..................................57 Buffered Mode (3-Buffer Mode)........................57 Mailbox Mode (1-Buffer Mode)..........................57 6.2 CANopen Over EtherCAT (CoE)............................59 6.2.1 XML file..................................59 6.2.2 Communication messages..........................60 6.2.3 Process Data Objects (PDO)..........................60 6.2.4 Service Data Objects (SDO)..........................61 6.2.5 Object dictionary..............................61 Communication Profile Area objects (DS 301)....................63 1000-00 Device...
  • Page 5 Code sequence...................................77 Scaling function................................77 6501-00 Hardware counts per revolution......................77 6502-00 Hardware number of turns........................78 6503-00 Errors...................................78 6504-00 Supported errors............................78 6505-00 Warnings................................78 6506-00 Supported warnings...........................78 Flash memory error...............................79 6509-00 Offset value..............................79 6.2.6 SDO Abort codes..............................80 6.2.7 Emergency Error Codes............................81 6.2.8 AL Status Error Codes............................81 6.3 File Over EtherCAT (FoE)..............................82 7 –...

  • Page 6: Subject Index

    Subject Index 1000-00 Device type............63 Diagnostic data..............81 1008-00 Device Name...........63 1009-00 Hardware version..........63 Flash memory error............79 100A-00 Software version...........63 1010-01 Store parameters..........63 Hardware error..............81 1011-01 Restore default parameters......63 1018 Identity..............64 INIT..................55 1A00-01 TxPDO mapping..........65 1C00 Sync Manager Communication Type...65 Mapped Object 001............65 1C12-00 RxPDO assign..........66 Minimum cycle time............67 1C13-01 TxPDO assign...........66...

  • Page 7: Typographic And Iconographic Conventions

    Typographic and iconographic conventions In this guide, to make it easier to understand and read the text the following typographic and iconographic conventions are used: parameters and objects both of the device and the interface are coloured in GREEN; • alarms are coloured in RED;...

  • Page 8: Preliminary Information

    Preliminary information This guide is designed to provide the most complete and exhaustive information the operator needs to correctly and safely install and operate the SFA-5000 and SFA-10000 absolute draw-wire encoders with EtherCAT interface. The cable pulling mechanism integrates a 13 x 14 bit absolute multiturn encoder (13 bits = singleturn resolution = 8,192 cpr;...

  • Page 9: Glossary Of Ethercat Terms

    Glossary of EtherCAT terms EtherCAT, like many other networking systems, has a set of unique terminology. Table below contains a few of the technical terms used in this guide to describe the EtherCAT interface. They are listed in alphabetical order. Acknowledge telegram Telegram, in which each Slave inserts its data.
  • Page 10 CANopen Application layer protocol as defined in EN 50325-4. Channel Representation of a single physical or logical management object of a Slave to control conveyance of data. CIP™ Common Industrial Protocol (see IEC 61158 Type 2, IEC 61784- 1 and IEC 61784-2 CPF2). Class Description of a set of objects that share the same attributes, operations, methods, relationships, and semantics.
  • Page 11 fieldbus. Data consistency Means for coherent transmission and access of the input-or output-data object between and within Client and Server. Demand dependent; non cyclic transmission (service channel). Data exchange Data type Relation between values and encoding for data of that type according to the definitions of IEC 61131-3.
  • Page 12 device. Event Instance of a change of conditions. Event data Medium priority real-time data that is transferred by a CIP Motion connection only after a specified event occurs. Feed forward Command value used to compensate the lag in the control loop.
  • Page 13 Master Device that controls the data transfer on the network and initiates the media access of the Slaves by sending messages and that constitutes the interface to the control system. Node, which assigns the other nodes the right to transmit. Master data telegram Telegram, in which the Master inserts its data.
  • Page 14 Output data Data originating in a device, resource or functional element and transferred from them to external systems. P-Device Field device and the host for the Drive Objects. Parameter Data element that represents device information that can be read from or written to a device, for example through the network or a local HMI.
  • Page 15 Subindex Sub-address of an object within the object dictionary. Supervisor Engineering device which manages provisions of configuration data (parameter sets) and collections of diagnosis data from P-Devices and/or controllers. Switch MAC bridge as defined in IEEE 802.1D. Sync Manager Sync Manager has the task of synchronizing data transfer between Master and Slave and prevents the same memory area from being written by different events.

  • Page 16: Safety Summary

    • elsewhere in this manual violates safety standards of design, manufacture, and intended use of the equipment; Lika Electronic assumes no liability for the customer's failure to comply • with these requirements. 1.2 Electrical safety Turn OFF the power supply before connecting the device;...

  • Page 17: Mechanical Safety

    SFA-5000 • SFA-10000 EtherCAT in the cap, use one TCEI M3 x 6 cylindrical head screw with two tooth lock washers. 1.3 Mechanical safety Install the device following strictly the information in the “3 - Mechanical • installation” section on page 19; mechanical installation has to be carried out with stationary mechanical •...

  • Page 18: Identification

    Information is listed in the delivery document too. Please always quote the order code and the serial number when reaching Lika Electronic. For any information on the technical characteristics of the product refer to the technical catalogue.

  • Page 19: Mechanical Installation

    SFA-5000 • SFA-10000 EtherCAT 3 - Mechanical installation WARNING Installation, electrical connection and maintenance operations must be carried out by qualified personnel only, with power supply disconnected. Mechanical components must be in stop. 3.1 Overall dimensions Values are expressed in mm MAN SFA_5000_10000_EC E 1.0.odt 3 - Mechanical installation 19 of 84...

  • Page 20: Mounting Instructions

    SFA-5000 • SFA-10000 EtherCAT 3.2 Mounting instructions Fasten the draw-wire unit onto a fixed support using three M4 screws 1; • remove the transport safety wire that pins the end of the measuring • wire; fix the end of the measuring wire to the moving unit using the provided •...

  • Page 21: Useful Information

    200 mm (7.874”), the maximum number of turns is 25 for SFA-5000 and 50 for SFA-10000. EXAMPLE 1 SFA-5000-EC-8192-M12 using the physical resolution (Scaling function in 6000-00 Operating parameters = 0) Stroke per turn of the drum = 200 mm (7.874”) Physical resolution per turn = 13 bits = 8,192 cpr Max.

  • Page 22: Maintenance

    SFA-5000 • SFA-10000 EtherCAT EXAMPLE 2 SFA-10000-EC-8192-M12 using a custom resolution (Scaling function in 6000-00 Operating parameters = 1) Stroke per turn of the drum = 200 mm (7.874”) Physical resolution per turn = 13 bits = 8,192 cpr Max. number of physical revolutions = 14 bits = 16,384 revolutions Custom resolution per turn = 6001-00 Units per revolution = 2,000 cpr...

  • Page 23: Electrical Connections

    SFA-5000 • SFA-10000 EtherCAT 4 - Electrical connections WARNING Installation, electrical connection and maintenance operations must be carried out by qualified personnel only, with power supply disconnected. Mechanical components must be in stop. For any information on the mechanical and electrical characteristics of the encoder please refer to the technical catalogue.

  • Page 24: Network Configuration: Topologies, Cables, Hubs, Switches - Recommendations

    SFA-5000 • SFA-10000 EtherCAT BUS IN & BUS OUT POWER (frontal side) D coding A coding female male Description Description Tx Data + +10Vdc +30Vdc Rx Data + n.c. Tx Data - 0Vdc Rx Data - n.c. n.c.= not connected. 4.2 Network configuration: topologies, cables, hubs, switches - Recommendations Cables and connectors comply with the EtherCAT specifications.

  • Page 25: Line Termination

    Lika's EC- pre-assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device. Lika's E- connectors have a plastic gland, thus grounding is not possible. If metal connectors are used, connect the cable shield properly as recommended by the manufacturer.

  • Page 26: Diagnostic Leds

    SFA-5000 • SFA-10000 EtherCAT 4.6 Diagnostic LEDs Five LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the EtherCAT® interface. The LEDs operation is according to the EtherCAT specifications, see ETG1300_S_R_V1i1i0_IndicatorLabelingSpecification.pdf.

  • Page 27: Quick Reference (Twincat)

    SFA-5000 • SFA-10000 EtherCAT 5 - Quick reference (TwinCAT) Lika draw-wire encoders are Slave devices and support “CANopen over EtherCAT” (CoE) mode for data transfer. In particular, they support the “CANopen DS301 Communication profile”. For any omitted specification on CANopen® protocol, please refer to “CiA Draft Standard Proposal 301.
  • Page 28 SFA-5000 • SFA-10000 EtherCAT In the Insert Device window select the EtherCAT (Direct Mode) item and confirm pressing the OK button. If a network card has been already installed properly, the following window will appear and show the list of the installed devices. Select the network card you want to use and then confirm the choice pressing the OK button.
  • Page 29 SFA-5000 • SFA-10000 EtherCAT Compatible Devices... command. The Installation of TwinCAT RT – Ethernet Adapter window will appear. Now select the Compatible Devices item and choose the network card you want to install; finally press the Install button to confirm your choice. MAN SFA_5000_10000_EC E 1.0.odt 5 - Quick reference (TwinCAT) 29 of 84...

  • Page 30: Add New I/O Modules (Boxes)

    SFA-5000 • SFA-10000 EtherCAT 5.1.2 Add new I/O modules (Boxes) If devices are connected to the network and switched ON, right-click the Device 1 (EtherCAT) item in the left pane of the TwinCAT System Manager main window and press the Scan Boxes... command. MAN SFA_5000_10000_EC E 1.0.odt 5 - Quick reference (TwinCAT) 30 of 84...
  • Page 31 If devices are not already connected to the network it is necessary to use the XML file supplied with the draw-wire encoder: Lika_SFA_XXXXX_ECx_Vx.xml (V6 or higher; see at www.lika.biz > ROTARY ENCODERS > DRAW-WIRE UNITS (DRAW-WIRE) > ABSOLUTE. MAN SFA_5000_10000_EC E 1.0.odt...
  • Page 32 SFA-5000 • SFA-10000 EtherCAT If you want to know the firmware version of a device, press the Box (Lika EtherCAT SFA-XXXXX-EC) item in the left pane of the TwinCAT System Manager main window: some tabbed pages for configuring and managing the device will appear in the right pane.
  • Page 33 System Manager main window and press the Append Box... command. The Insert EtherCAT Device window will appear. In the Insert EtherCAT Device window that appears select Lika Electronic srl and then EtherCAT Encoder items; now choose from the list the encoder you want to install (if several encoder models are available).

  • Page 34: Setting The Communication Mode

    5.2.1 Synchronous with SM3 In the left pane of the TwinCAT System Manager main window press the Box (Lika EtherCAT SFA-XXXXX-EC) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter DC page. Select the Synchronous with SM3 (Inputs) option in the Operation Mode box.

  • Page 35: Synchronous With Dc (Sync0)

    5.2.2 Synchronous with DC (SYNC0) In the left pane of the TwinCAT System Manager main window press the Box (Lika EtherCAT SFA-XXXXX-EC) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter DC page.

  • Page 36: Process Data Objects

    5.3 Process Data Objects In the left pane of the TwinCAT System Manager main window press the Box (Lika EtherCAT SFA-XXXXX-EC) item. Expand the box to see Process Data Outputs (PDO). Some tabbed pages for configuring and managing the device will appear in the right pane.

  • Page 37: Coe Object Dictionary

    5.4 COE Object Dictionary In the left pane of the TwinCAT System Manager main window press the Box (Lika EtherCAT SFA-XXXXX-EC) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the CoE - Online page.

  • Page 38: Online Data

    5.5 Online Data In the left pane of the TwinCAT System Manager main window press the Box (Lika EtherCAT SFA-XXXXX-EC) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the Online page to check the encoder status.

  • Page 39: Eeprom Upgrade

    1. In the left pane of the TwinCAT System Manager main window press the Box (Lika EtherCAT SFA-XXXXX-EC) item of the encoder you need to update: some tabbed pages for configuring and managing the device will appear in the right pane.
  • Page 40 Editor item. 3. Press the Read from File... button and select the .BIN file provided by Lika Electronic to upgrade the EEProm; please make sure you select the file suitable for the model you need to upgrade (for example: if you need to upgrade an SFA draw-wire encoder then you must select the file SFA_EC_eeprom_Hx_Sy.bin);...
  • Page 41 SFA-5000 • SFA-10000 EtherCAT NOTE In the .BIN file Hx is the hardware version of the draw-wire encoder, while Sy is the software version. 4. Move back to the previous Advanced Settings page and press the Download button. Now wait until the EEProm writing process is carried out.
  • Page 42 SFA-5000 • SFA-10000 EtherCAT 6. In the left pane of the TwinCAT System Manager main window delete all the Box (Lika EtherCAT SFA-XXXXX-EC) items in the list. Select each box and then press the DEL key in the PC keyboard. Press OK to confirm.
  • Page 43 SFA-5000 • SFA-10000 EtherCAT 8. At the end of the scanning process all the devices available in the network are listed as shown in the Figure here below. MAN SFA_5000_10000_EC E 1.0.odt 5 - Quick reference (TwinCAT) 43 of 84...

  • Page 44: Firmware Upgrade

    Firmware is a software program which controls the functions and operation of a device; the firmware program, sometimes referred to as “user program”, is stored in the flash memory integrated inside the unit. Lika draw-wire encoders are designed so that the firmware can be easily updated by the user himself.
  • Page 45 SFA-5000 • SFA-10000 EtherCAT 1. In the left pane of the TwinCAT System Manager main window press the Box (Lika EtherCAT SFA-XXXXX-EC) item of the encoder you need to update: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the Online page.
  • Page 46 Open window that appears select the .EFW file provided by Lika Electronic to upgrade the firmware; please make sure you select the exact file of the model you need to upgrade (for example: if you have to upgrade an SFA draw-wire encoder then you must select the file ECATFW_SFA_Hx_Sy.efw);...
  • Page 47 SFA-5000 • SFA-10000 EtherCAT 5. To check whether the firmware upgrade procedure has been completed successfully enter the Online page in the TwinCAT System Manager main window and press the Pre-Op button in the State Machine box; PREOPERATIONAL if everything is ok, the encoder enters the state (the PREOP message appears next to the Current State item in the same box).

  • Page 48: Ethercat® Interface

    SFA-5000 • SFA-10000 EtherCAT 6 - EtherCAT® interface 6.1 Basic Information on the EtherCAT® Protocol The EtherCAT protocol is designed to use the standard Ethernet dataframes for issuing data; in addition, and as regards the hardware, it is not necessary to install dedicated Masters for establishing and managing the EtherCAT communication because standard Ethernet network cards can be used.

  • Page 49: Data Transfer

    SFA-5000 • SFA-10000 EtherCAT An EtherCAT frame can contain several telegrams and a complete control cycle often requires more than one frame. 6.1.1 Data transfer Usually, in a data bus system, Master controller sends online a data request and then waits for data to be processed and sent back from each Slave node; this does not comply with a real-time system because the Master receives data from the Slaves in different moments and the whole system cannot be synchronized.

  • Page 50: Iso/Osi Layer Model

    SFA-5000 • SFA-10000 EtherCAT 6.1.2 ISO/OSI Layer model * “Empty” means that the layer behaviour exists, but it is not shown explicitly. 6.1.3 Topology Several topologies of connection are supported by EtherCAT networks: line, tree, daisy-chain, star, …). EtherCAT networks can be configured in almost any topology in the same structure.

  • Page 51: Line Termination

    SFA-5000 • SFA-10000 EtherCAT TREE topology: DAISY CHAIN with drop lines topology: 6.1.4 Line Termination EtherCAT network needs no line termination because the line is terminated automatically; in fact every Slave is able to detect the presence of downstream Slaves. An EtherCAT Slave is able to detect the presence of the signal in the outgoing line (Port 0) or in the return line (Port 1).

  • Page 52: Addressing

    SFA-5000 • SFA-10000 EtherCAT 6.1.5 Addressing It is not necessary to assign a physical address to the device (for instance using a dip-switch) because the addressing of the Slave is automatic at power-on during the initial scanning of the hardware configuration. The field for addressing is 32 bits long;...

  • Page 53: Communication Mode

    SFA-5000 • SFA-10000 EtherCAT 6.1.6 Communication mode Lika encoders with EtherCAT interface support the following operating modes:  FreeRun: asynchronous mode;  SM3 event: synchronous mode;  DC: distributed clock synchronization mode (synchronous mode). For a system that requires high performances in real time (closed-loop applications) we suggest using DC mode;...

  • Page 54: Synchronous With Sm3

    SFA-5000 • SFA-10000 EtherCAT Synchronous with SM3 In this mode data is sampled and then copied into Sync Manager buffer as soon as previous data was read from the Master (SM event); in this way new sampled data is synchronous with Master readings. SM3 Event SM3 Event Frame N+1...

  • Page 55: Ethercat State Machine (Esm)

    SFA-5000 • SFA-10000 EtherCAT In this operating mode “Jitter” is a fundamental parameter in the sampling of two consecutive data. The main advantage of this mode is that there is a direct relation between the sampling instant and the absolute time of the system; in this way, if we know the shift times of the Slaves, we can have an exact image of the system at a given moment (with a tolerance equal to jitter).

  • Page 56: Slave Configuration

    SFA-5000 • SFA-10000 EtherCAT possible, e.g. larger mailbox size. In this state usually the FoE protocol is used for firmware download. The current state of the Slave is signalled through the green RUN LED, see on page 26. 6.1.8 Slave configuration The configuration of the Slave communication characteristics (Sync Manager configuration, addresses, synchronization modes, PDO mapping, …) can be made both using the XML file (EtherCat Slave Information - ESI) or loading data...

  • Page 57: Sync Manager

    SFA-5000 • SFA-10000 EtherCAT are sent to the local micro-controller so that it is able to synchronize its own clock to Slaves clock. Sync Manager Sync Manager has the task of synchronizing data transfer between the Master and the Slave and prevents the same memory area from being written by different events.
  • Page 58 SFA-5000 • SFA-10000 EtherCAT It contains the TxPDOs (i.e., Sync Manager 3 holds the Write Process Data). MAN SFA_5000_10000_EC E 1.0.odt 6 - EtherCAT® interface 58 of 84...

  • Page 59: Canopen Over Ethercat (Coe)

    ROTARY ENCODERS > DRAW-WIRE UNITS (DRAW-WIRE) > ABSOLUTE. The XML file must be installed in the EtherCAT® Master device. If you want to know the firmware version of a device, press the Box (Lika EtherCAT SFA-XXXXX-EC) item in the left pane of the TwinCAT System Manager main window: some tabbed pages for configuring and managing the device will appear in the right pane.

  • Page 60: Communication Messages

    SFA-5000 • SFA-10000 EtherCAT 6.2.2 Communication messages EtherCAT Datagram of CoE mode has the following structure: Cmd specific Mbx Header CoE Cmd data type = 3 Number Type 6 bytes 9 bits 3 bits 3 bits 0 … 1478 bytes Mbx Header = 3 CoE mode Number...

  • Page 61: Service Data Objects (Sdo)

    SFA-5000 • SFA-10000 EtherCAT 6.2.4 Service Data Objects (SDO) SDO messages are issued via Mailbox (low priority data); Segmented SDO Service and SDO Complete Access are not supported (transfer of low size data and one sub-index at a time). “CoE Cmd type” = 2 or 3 Structure of “Cmd specific data”: Cmd specific data SDO control...
  • Page 62 SFA-5000 • SFA-10000 EtherCAT In the following pages the objects implemented are listed and described as follows: Index-subindex Object name [data types, attribute] Index and sub-index are expressed in hexadecimal notation. • Attribute: • ro = read only access rw = read and write access Signed8 / Unsigned8 data type: Process data bytes byte 4...

  • Page 63: Communication Profile Area Objects (Ds 301)

    1011-01 Restore default parameters [Unsigned32, rw] This object allows the operator to restore all parameters to default values. The default parameters are set at the factory by Lika Electronic engineers to allow MAN SFA_5000_10000_EC E 1.0.odt 6 - EtherCAT® interface...

  • Page 64: 1018 Identity

    SFA-5000 • SFA-10000 EtherCAT the operator to run the device for standard operation in a safe mode. A list of machine data and relevant default parameters preset by Lika Electronic engineers is available on page 83. Write "load" (ASCII code in hexadecimal format) in the data bytes: Master ...

  • Page 65: Serial Number

    SFA-5000 • SFA-10000 EtherCAT Minor revision number Major revision number 04 Serial number [Unsigned32, ro] It provides the Serial Number of the device. It is 0 if no serial number is provided. Default = 0000 0000h 1A00-01 TxPDO mapping [Unsigned8, ro] This object contains the mapping parameters for the PDOs the EtherCAT device is able to transmit.

  • Page 66: Sm Mailbox Send (Sm1)

    SFA-5000 • SFA-10000 EtherCAT 02 SM MailBox Send (SM1) [Unsigned8, ro] Used for mailbox read transfers (Slave to Master). Default = 02 03 SM PDO output (SM2) [Unsigned8, ro] It contains the RxPDOs (i.e. Sync Manager 2 holds the Read Process Data). Default = 03 04 SM PDO input (SM3) [Unsigned8, ro]...

  • Page 67: Cycle Time

    SFA-5000 • SFA-10000 EtherCAT Default = 1 02 Cycle time [Unsigned32, ro] This parameter depends on the 01 Sync Type selected. Application cycle time, i.e. interval between two position samplings (internal timer). The value is expressed in nanoseconds (ns). If 0 = “FreeRun”: interval between two position samplings (internal timer). If 1 = “Synchronous with SM3”: minimum interval between two SM3 events.

  • Page 68: Standardised Device Profile Area Objects (Ds 406)

    SFA-5000 • SFA-10000 EtherCAT Standardised Device Profile Area objects (DS 406) 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 Count up Count up Code sequence rewinding the pulling the wire wire out not used Scaling function disabled enabled 3 …...

  • Page 69: 6001-00 Units Per Revolution

    SFA-5000 • SFA-10000 EtherCAT 6001-00 Units per revolution Transmitted 6002-00 Total Measuring x Real position ≤ position Range 6501-00 Hardware counts per revolution 6001-00 Units per revolution The value in the object must be less than or 6501-00 Hardware counts per revolution equal to the value in the object.
  • Page 70 SFA-5000 • SFA-10000 EtherCAT To avoid counting errors, check that 6501-00 Hardware counts per revolution = integer value. 6001-00 Units per revolution You are allowed to set whatever integer value less than or equal to the maximum number of physical steps per revolution (see the hardware counts 6501-00 Hardware per revolution in the encoder identification label and the counts per revolution...

  • Page 71: 6002-00 Total Measuring Range

    SFA-5000 • SFA-10000 EtherCAT WARNING 6001-00 Units per Every time you change the scaled values (see the revolution 6002-00 Total Measuring Range objects), then you are 6003-00 Preset value required to set a new preset value (see the object). 6002-00 Total Measuring Range [Unsigned32, rw] WARNING This object is active only if the bit 2 Scaling function in the...
  • Page 72 6001-00 Units per revolution, the above setting is not allowed. EXAMPLE We install the following draw-wire encoder: SFA-5000-EC-8192-M12. The physical values are: Stroke per turn of the drum = 200 mm (7.874”) Physical resolution per turn = 13 bits = 8,192 cpr Max.
  • Page 73 SFA-5000 • SFA-10000 EtherCAT NOTE Please note that if you set a preset along the path, when the encoder moves back and cross the zero, the value immediately after 0 will be 32 768 000 - 1, i.e. 32 767 999. 32,767,997 32,767,998 32,767,999 EXAMPLE Using the values in the previous example let's suppose that the travel in the...

  • Page 74: 6003-00 Preset Value

    SFA-5000 • SFA-10000 EtherCAT 6003-00 Preset value [Unsigned32, rw] This object allows to set the encoder position to a Preset value. The Preset function is meant to assign a desired value to a physical position of the encoder (i.e. a position in the travel of the wire). The chosen physical position will get the value set next to this item and all the previous and following positions will get a value according to it.

  • Page 75: 6004-00 Position Value

    SFA-5000 • SFA-10000 EtherCAT Set the Preset value 6003-00 Preset value (preset = 1000 = 03E8h) Master  Encoder Cmd specific data Index Data Encoder  Master (Set confirmation) Cmd specific data Index Data NOTE  If the scaling function is disabled (see the bit 2 Scaling function in the 6000-00 Operating parameters object), the 6003-00 Preset value...
  • Page 76 Please note that the encoder's linear physical resolution can be read also in the order code next to the rotary resolution. Refer to the product datasheet. EXAMPLE 1 Let's suppose that we are using the physical resolution of the SFA-5000-EC- 8192-M12 draw-wire encoder (the bit 2 Scaling function in the 6000-00 Operating parameters object = 0).

  • Page 77: 6500-00 Operating Status

    SFA-5000 • SFA-10000 EtherCAT Linear resolution = = 0.05 mm = 50 µm 4000 Thus the linear position value will be as follows: Linear position value = 1,569 * 0.05 = 78.45 mm = 78 450 µm 6500-00 Operating status [Unsigned16, ro] Function bit = 0...

  • Page 78: 6502-00 Hardware Number Of Turns

    SFA-5000 • SFA-10000 EtherCAT This object is intended to show the number of physical distinguishable steps per each revolution provided by the hardware (physical singleturn resolution). 6001-00 Units per If you want to set a custom singleturn resolution see the revolution object on page 69.

  • Page 79: Flash Memory Error

    SFA-5000 • SFA-10000 EtherCAT bits 7 … 11 Not used Flash memory error bit 12 Wrong parameters loaded from flash memory at power on. bits 13 … 15 Not used 6509-00 Offset value [Unsigned32, ro] As soon as you activate the preset, the current position value of the encoder is saved on this object.

  • Page 80: Sdo Abort Codes

    SFA-5000 • SFA-10000 EtherCAT 6.2.6 SDO Abort codes SDO transfer could be unsuccessful; causes of error are listed and described in the SDO Abort Codes. Here follows the list of the available SDO Abort Codes. For complete information see ETG1000.6 “EtherCAT Specification – Part 6. Application Layer protocol specification”, par.

  • Page 81: Emergency Error Codes

    SFA-5000 • SFA-10000 EtherCAT 6.2.7 Emergency Error Codes Emergency Service is used by server for transmitting diagnostic messages to the client using MailBox; Error Codes are listed and described in the ETG1000.6 “EtherCAT Specification – Part 6. Application Layer protocol specification”, par. 5.6.4.2, table 50.

  • Page 82: File Over Ethercat (Foe)

    SFA-5000 • SFA-10000 EtherCAT 6.3 File Over EtherCAT (FoE) Lika encoders are devices that allow the firmware update using the protocol "File over EtherCAT (FoE)". For any specification on FoE protocol, please refer to “ETG.1000 EtherCAT Specification” document available at the address www.ethercat.org.

  • Page 83: Default Parameters List

    SFA-5000 • SFA-10000 EtherCAT 7 – Default parameters list Default values are expressed in hexadecimal notation. Parameters list Default values 6000-00 Operating 0100h parameters 1 = count up information when Bit 0 Code sequence pulling the cable out Bit 2 Scaling function 0 = disabled 6001-00 Units per 0000 2000h...
  • Page 84 XML file Document release Release date Description version From release 22.01.2018 First issue V6 to ... Lika Electronic Via S. Lorenzo, 25 • 36010 Carrè (VI) • Italy Tel. +39 0445 806600 Fax +39 0445 806699 info@lika.biz • www.lika.biz...

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