SICK EtherCAT AFS60 Operating Instructions Manual
  1. Manuals
  2. Brands
  3. SICK Manuals
  4. Media Converter
  5. EtherCAT AFS60
  6. Operating instructions manual

SICK EtherCAT AFS60 Operating Instructions Manual

Hide thumbs Also See for EtherCAT AFS60:
Table of Contents

Advertisement

Quick Links

Download this manual
O P E R A T I N G I N S T R U C T I O N S
AFS/AFM60 EtherCAT
®
Absolut-Encoder

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the EtherCAT AFS60 and is the answer not in the manual?

Questions and answers

Related Manuals for SICK EtherCAT AFS60

Summary of Contents for SICK EtherCAT AFS60

  • Page 1 O P E R A T I N G I N S T R U C T I O N S AFS/AFM60 EtherCAT ® Absolut-Encoder...
  • Page 2 This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modi‐...

  • Page 3: Table Of Contents

    Overview of the standard objects........... 3.7.3 Detailed information on the standard objects....... 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 4 Compliance with EU directives..........6.1.2 Compliance with UK statutory instruments......O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 5: About This Document

    • fault diagnosis and troubleshooting • conformity 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 6: Symbols Used

    Customized Number of Revolutions, Nominator = nominator of the customized number of revolutions CANopen over EtherCAT ® O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 7 Physical Measuring Range Physical Resolution Span (per revolution) Service Data Object 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 8: Safety Information

    (e.g., due to opening the housing during mounting and electrical installation) or in the event of changes made to the SICK software, any claims against SICK AG under the warranty will be rendered void. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 9: Requirements For The Qualification Of Personnel

    The encoder must only be mounted, commissioned, and maintained by authorized personnel. NOTE Repair work on the encoder may only be performed by qualified and authorized service personnel from SICK AG. The following qualifications are necessary for the various tasks: Table 1: Authorized personnel Task Qualification Mounting (see mount‐...

  • Page 10: Product Description

    Interface (according to IEC 61784-1) Supports the encoder profile CiA DS-406 O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 11: Operating Principle Of The Encoder

    Even if the encoder was turned further during the switched-off state, the correct position value is output as a result. 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 12: Round Axis Functionality

    9000. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 13 After 1/9 revolutions of the encoder shaft there are 1000 steps, then the encoder starts counting again at 0. 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 14: Electronic Cam Mechanism

    (2) and the upper switching point (3), which can be configured via EtherCAT (see "Electronic cam mechanism", page 25). O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 15: Integration In Ethercat

    8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 16: Ethercat ® Telegram In The Ethernet Frame

    O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 17: Canopen Over Ethercat ® (Coe)

    (e.g. I/O data, set or actual values). 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 18: Esi File

    AFS60/AFM60 EtherCAT and default configuration of ® the process data Figure 11: Integration via ESI file • Copy the ESI file SICK-AFx_vX-xxx in the TwinCAT ® folder to the folder Twin‐ CAT\IO\EtherCAT. • Restart the TwinCAT system manager.

  • Page 19: Configurable Functions

    The binary value must be converted into a hexadecimal value and entered in the configuration dialog box. 101b = 5h 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 20 Figure 14: Example for the parameterization of object 6001h O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 21: Preset Function

    8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 22 The object is configured using a bit sequence 16 bits wide. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 23: Cyclic Process Data

    Object = 6004h Subindex = 00h Data length = 20h (32 bit) 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 24: Synchronization

    (see table 70, page 49). O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 25: Round Axis Functionality

    6317h), its maximum switching point (objects 6320h to 6327h) and its switching hysteresis (objects 6330h to 6337h). 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 26: Operating Modes And Synchronization

    Booting is automatic if a control program is started in the TwinCAT PLC. ® O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 27: Operating Modes

    (see "NMOD, STAT and Encoder status LEDs", page 67). 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 28: Cycle Times

    In fast data exchange the encoder supports process data cycle times of ≥ 240 μs. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 29: Object Library

    Array Save Parameters .0 … .1 UINT-32 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 30: Detailed Information On The Standard Objects

    The object contains the device name dependent on the encoder type. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 31 7 … 0 Byte 0 73h = s 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...
  • Page 32 Data values Subindex Description 1018h Record Identity Object UINT-8 Number of entries UINT-32 Vendor ID 01000056h = SICK UINT-32 Product Code 00007711h = AFS60 00007712h = AFM60 UINT-32 Revision Number 00010001 = 1.01 (depending on the release) UINT-32 Serial Number...

  • Page 33: Pdo Mapping Objects

    It is only possible to map the object 2000h – Control Word 1 to the object 1600h. 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 34 Position Value 60040020h see table 36, page 40 O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 35 (master to slave) Communication type of Sync Manager 0 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...
  • Page 36 SM-2/-3 Output Parameter - 1C33h UINT-8 Number of entries O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 37 RxPDO Toggle Failed .15 … .31 Reserved 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 38: Overview Of The Encoder Profile-Specific Objects

    .0 … .3 UINT-32 650Bh UINT-32 Serial Number O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 39: Detailed Information On The Encoder Parameters

    Depending on the type (CMR) Total resolution 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 40: Detailed Information On The Electronic Cam Mechanism

    The cam switching states are output using the object 6300h. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 41 Data values Cam 8 Not used Used 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...
  • Page 42 Low active Cam 1 High active Low active O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 43: (Cam)

    0000h FFFFh UINT-16 Channel 2 0000h FFFFh 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 44: Detailed Information On The Diagnostics

    76, page 51 11 … 1 Reserved O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 45 Supported Warnings B003h Warnings implemented in the encoder 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...
  • Page 46 Operating time in units of FFFFFFFFh 0.1 h O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 47: Overview Of The Manufacturer-Specific Objects

    Configuration Install Service 2005h UINT-32 Configuration Preset Value 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 48: Detailed Information On Objects For The Encoder Configuration

    Active Sets the position value to 0 O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 49 AFS60 = 2 Refresh time in ms AFM60 = 1 … 50 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 50 The preset value must lie within the measuring range configured. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 51: Detailed Information On Objects That Provide Status Information

    Position error: Invalid EEPROM checksum Invalid internal SSI communication (MFP4 signal 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...
  • Page 52 The output of the Err_PosVal must be configured using the object 6000h (see table 31, page 39). O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 53 Bit 1 = 0 and Bit 0 = 1: Save operation requested and operation in progress 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 54 O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 55 Counter for the save proc‐ esses in the EEPROM From movements with a speed >12 rpm. 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 56 (MFP4 signal) UINT-16 Synchronization error multi‐ turn/singleturn stage O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 57 Time Stamp Sec 0000h Time stamp in seconds FFFFh 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 58: Controls And Status Indicators

    The preset push-button is under the screw cover. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 59: Commissioning

    Figure 31: Supply voltage: Male connector, M12, M12, 4-pin 4-pin 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 60: Settings On The Hardware

    Open the screw cover using a screwdriver for slot-head screws with a blade width of min. 10.0 mm. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 61 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 62: Configuration

    All configuration information relates to Beckhoff controllers that are configured and diagnostics undertaken using the configuration tool TwinCAT ® Figure 33: Integration in TwinCAT ® with ESI file Copy the ESI file SICK-AFx_vX-xxx in the TwinCAT ® directory to the folder Then restart the TwinCAT ® system manager.
  • Page 63 COMMISSIONING Figure 34: Context menu command Append box... Choose the required encoder type under SICK AG. (… MT = Multiturn, … ST = Singleturn) Figure 35: Dialog box for adding an EtherCAT device The encoder is displayed in the device tree as Box n.
  • Page 64 Figure 38: Configuration mode prompt Figure 39: Load I/O Devices prompt O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 65 All object parameters can now be read or configured on the CoE - Online tab (see "Configurable functions", page 19). 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 66: Test Notes

    Please read the notessee "", page O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 67: Troubleshooting

    The machine must be put out of operation if the error cannot be clearly assigned and safely rectified. Support If a fault cannot be rectified with the help of the information in this chapter, then contact the responsible SICK subsidiary. Error and status indications on the LEDs Figure 43: Position of the LEDs 5.3.1 Identification of the encoder Place the encoder (e.g.

  • Page 68: Ethernet Link Leds L/A1 And L/A2

    Connection established, internal ESC port open, data transmission Ö Green active O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 69: Diagnostics Via Ethercat

    Subindex does not exist 06090030h Parameter value range exceeded, only on write access 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...

  • Page 70: Ethercat ® Specific Errors

    Diag 0. You will find detailed information in document ETG.1006, chapter “ESM Transition Error”. O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 71 The PDO length is incorrect. Sync Manager Settings Error Erroneous configuration of the Sync Manager. 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ®...
  • Page 72 02h: Status of the EtherCAT state machine = Pre-operational ® • 0Eh: The PDO length in Sync Manager 3 is incorrect. NOTE The four other values are needed, for instance, for SICK support. AL status information Table 98: status information Value Designation Description...
  • Page 73 Free Run needs 3 Buffer mode 002Ah Background watchdog 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...

  • Page 74: Error Messages

    The error register in LY is activated (MFP5 signal). Invalid internal SSI communication (MFP4 signal) O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...
  • Page 75 0001h Cycle time set for the system <480 μs Warning 8015235/1EF3/2021-12-08 | SICK O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® Subject to change without notice...
  • Page 76 Save operation requested and operation in progress Save operation complete Reserved O P E R A T I N G I N S T R U C T I O N S | AFS/AFM60 EtherCAT ® 8015235/1EF3/2021-12-08 | SICK Subject to change without notice...

  • Page 77: Annex

    You can obtain declarations of conformity, certificates, and the current operating instructions for the product at www.sick.com. To do so, enter the product part number in the search field (part number: see the entry in the “P/N” or “Ident. no.” field on the type label).
  • Page 78 E-Mail office@sick.com.gr E-Mail info@sick.ru Vietnam Hong Kong Singapore Phone +65 6744 3732 Phone +852 2153 6300 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail ghk@sick.com.hk E-Mail sales.gsg@sick.com Detailed addresses and further locations at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...

This manual is also suitable for:

Ethercat afm60Afs60Afm60

Table of Contents