SICK AFS60 EtherCAT Operating Instructions Manual
Absolute encoder
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Summary of Contents for SICK AFS60 EtherCAT
- Page 1 O P E R A T I N G I N S T R U C T I O N S AFS60 EtherCAT AFM60 EtherCAT Absolute Encoder...
- Page 2 Legal information This document is protected by the law of copyright. Whereby all rights established therein remain with the company SICK STEGMANN GmbH. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law.
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Page 3: Table Of Contents
Operating modes and synchronization ............. 27 3.5.1 EtherCAT State Machine............27 3.5.2 Operating modes ..............28 3.5.3 Synchronous operating modes..........28 3.5.4 Cycle times ................29 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... - Page 4 4.3.2 System configuration............... 72 Test notes ....................75 Fault diagnosis..................76 In the event of faults or errors ..............76 SICK STEGMANN support ................. 76 Error and status indications on the LEDs..........76 5.3.1 Identification of the encoder ........... 76 5.3.2 NMOD, STAT and Encoder status LEDs ........
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Page 5: About This Document
ETG.2200, EtherCAT Slave Implementation Guide • CiA DS-406, Profile Encoder for CANopen • CiA DS-301, CANopen communication profile • ET1810/1812, Slave Controller IP Core for Altera FPGA • 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 6: Scope
Beckhoff Automation GmbH, Germany Process Data Object Programmable Logic Controller Physical Measuring Range Physical Resolution Span (per revolution) Service Data Object OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 7: Symbols Used
A warning notice indicates an actual or potential risk or health hazard. They are designed to help you to prevent accidents. Read carefully and follow the warning notices. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 8: On Safety
In case of any other usage or modifications to the AFS60/AFM60 EtherCAT, e.g. opening the housing during mounting and electrical installation, or in case of modifications to the SICK software, any claims against SICK STEGMANN GmbH under warranty will be rendered void. -
Page 9: General Safety Notes And Protective Measures
Shaft Stainless steel Scrap metal Flange Aluminium Scrap metal Housing Aluminium die cast Scrap metal Electronic assemblies Various Electronic waste Table 2: Disposal of the assemblies 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 10: Product Description
– Β EtherCAT interface (as per IEC 61784-1) Β Β Supports the encoder profile CiA DS-406 Β Β Table 3: Special features of the encoder variants OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 11: Operating Principle Of The Encoder
Optical acquisition of the rotary position value is from an internal coded disk. The AFS60 EtherCAT is a singleturn encoder Singleturn encoders are used if absolute acquisition of the rotation of a shaft is required. -
Page 12: Round Axis Functionality
For the nominator for the number of revolutions 125 is configured, 10 as the divisor 10= 12.5 After 12.5 revolutions (that is after one complete revolution of the rotating table) the encoder reaches the total resolution of 9,000. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 13: Figure 3: Example Position Measurement On A Rotating Table Without Transmission Ratio
For the nominator for the number of revolutions 1 is configured, 9 as the divisor ( revolutions = 1,000). After revolutions of the encoder shaft there are 1,000 steps, then the encoder starts to count at 0 again. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 14: Electronic Cam Mechanism
EtherCAT topology ∇ EtherCAT supports a large variety of topologies such as line, tree, ring, star and their combinations. Encoder E.g. I/O Figure 5: EtherCAT topology OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 15: Figure 6: Two Ethernet Interfaces On The Encoder
— as a quasi reply telegram. Master Slave 1 Slave 2 Slave 3 Slave n Figure 8: Returning the EtherCAT telegram 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 16: Ethercat Telegram In The Ethernet Frame
Each bus user has an addressable memory area of 64 kbyte in the telegram; data can be read, written or read and written simultaneously. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 17: Canopen Over Ethercat (Coe)
PDO frames. The process data objects are used for the quick and efficient exchange of real time data (e.g. I/O data, set or actual values). 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 18: Esi File
AFS60/AFM60 EtherCAT and default configuration of • the process data EEPROM AFS60/AFM60 EtherCAT Figure 11: Integration via ESI file ® Copy the ESI file SICK-AFx_vX-xxx in the TwinCAT folder to the folder α TwinCAT\IO\EtherCat. ® Restart the TwinCAT system manager. -
Page 19: Configurable Functions
16 bits wide. Example: Bit 0 = code sequence ccw = 1 Bit 2 = scaling on = 1 Value Table 4: Example for binary code 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 20: Figure 13: Example For The Parameterization Of Object 6000H
Figure 14: Example for the parameterization of object 6001h The resolution of the AFS60/AFM60 EtherCAT Advanced is max. 262,144 steps per revolution. The resolution can be scaled from 1 … 262,144 as an integer. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 21: Preset Function
The total resolution is configured using the object 6002h (see Table 34 on page 43). Figure 15: Example for the parameterization of object 6002h The total resolution, that is the measuring range of the AFS60 EtherCAT, is max. 262,144 steps. The total resolution of the AFM60 EtherCAT is max. 1,073,741,824 steps. -
Page 22: Figure 16: Example For The Parameterization Of Object 6003H
55). The function is available if the EtherCAT state machine is in the Operational status. The object is configured using a bit sequence 16 bits wide. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 23: Cyclic Process Data
The object to be integrated is entered with its object number, the subindex and the data length (see Table 25 on page 37). Example: 60040020h Object = 6004h Subindex = 00h Data length = 20h (32 bit) 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 24: Synchronization
The factory setting is 3h = rpm. Using the other Subindices you can configure the refresh time as well as the maximum and minimum speed (see Table 70 on page 57). OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 25: Round Axis Functionality
The divisor (2001.03h – Number of Revolutions, Divisor) can be scaled from 1 … 2,048 as an integer. The default factory setting for the divisor is 1. Figure 23: Example for the parameterization of subindex 2001.03h 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 26: Electronic Cam Mechanism
Each position parameter is defined by its minimum switching point (objects 6310h to 6317h), its maximum switching point (objects 6320h to 6327h) and its switching hysteresis (objects 6330h to 6337h). Figure 24: Objects for the electronic cam mechanism OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 27: Operating Modes And Synchronization
Errors on the transition between statuses of the EtherCAT state machine are sent • to the master via so-called emergency messages (see section 5.4.4 on page 81). 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 28: Operating Modes
• (125 µs … 100,000 µs), the encoder signals a bus communication error and the STAT status LED illuminates red (see section 5.3.2 on page 77). OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 29: Cycle Times
Newly calculated Previously calculated position value position value Figure 26: Standard data exchange 0 = process data cycle of the master 1 = cycle of the encoder 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 30: Figure 27: Fast Data Exchange
0 = process data cycle of the master 1 = cycle of the encoder Using the object 6000h (see Table 31 on page 42) the parameter Fast Data Exchange Mode is configured. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 31: Object Library
Transmit (Tx) PDO mapping .0 … .9 1A01h Record Transmit (Tx) PDO mapping .0 … .9 Sync Manager Communication Type 1C00h Array .0 … .4 UINT-8 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 32: Detailed Information On The Standard Objects
Object 1009h – Manufacturer Hardware Version Object Access Data type Designation Data values 1009h STRG Manufacturer Hardware E.g. HW_01.01 8 byte Version (depending on the release) Table 13: Object 1009h OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 33: Table 14: Object 100Ah
Then the data must be saved in the EEPROM using the object 1010h – Save • Parameter, otherwise the encoder will load the data saved in the EEPROM the next time it is switched on. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 34: Table 17: Object 1011H
Diagnosis Error Reaction – UINT-8 Number of entries UINT-32 Defines error handling UINT-32 Sync Error Count Limit Limit of the counter for synchronization errors Table 20: Object 10F1h OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 35: Pdo Mapping Objects
Data are transmitted cyclically to the PLC by the encoder using the Transmit (Tx) • PDO. NOTE Parameter changes to the PDO mapping objects are only executed in the ESM status Pre-Operational. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 36: Table 22: Object 1600H
UINT-32 2018.01h Time Stamp MSec UINT-32 2015h Temperature Value UINT-32 2019h Process Cycle Time UINT-32 6030h Speed Value 16-Bit Table 23: Object 1A00h – default subindices OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 37: Table 24: Object 1A01H - Default Subindices
Time Stamp MSec 20180110h Time Stamp Sec 20180210h 2019h Process Cycle Time 20190020h Table 87, page 67 Table 25: Objects and subindices that can be mapped 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 38: Table 26: Object 1C00H
Record SM RxPDO assign – UINT-8 Number of entries UINT-16 1600h PDO mapping object index of assigned RxPDO Index of the RxPDO Table 27: Object 1C12h OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 39: Table 28: Object 1C13H
Bit 4 … 2: Sync mode Bit 6 … 5: Shift mode Bit 15 … 7: Reserved For Bit 4 … 2 only the value 001 = Sync0 event is supported. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 40: Table 29: Objects 1C32H And 1C33H
Reserved – – Sync Error – Table 29: Objects 1C32h and 1C33h For Bit 6 … 5 only the value 00 = no shift is supported. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 41: Overview Of The Encoder Profile-Specific Objects
Operating Time 6509h INT-32 Offset Value 650Ah Array of Module Identification .0 … .3 UINT-32 650Bh UINT-32 Serial Number Table 30: Implemented encoder profile specific objects 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 42: Detailed Information On The Encoder Parameters
Data type Designation Data values Description (default value) 6001h UINT-32 Counts Per Revolution 00000001h (CPR) 00040000h (00040000h) Number of steps per revolution Table 33: Object 6001h OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 43: Table 34: Object 6002H
An error code (Err_PosVal) can also be output instead of the position value (see Table 76 on page 61). The output of the Err_PosVal must be configured using the object 6000h (see Table 31 on page 42). 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 44: Table 37: Object 6030H
Data values Subindex Description 6030h Array Speed Value – INT-16 INT-16 Number of entries INT-16 Speed Value –32,768 Speed in 16 Bit +32,767 Table 37: Object 6030h OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 45: Detailed Information On The Electronic Cam Mechanism (Cam)
If, for instance, the value read is 88h (10001000b), then cams 8 and 4 are active. None of the other cams are active. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 46: Table 40: Object 6301H
Table 41: Object 6301h – details If, for instance 4Ah (01001010b) is transmitted in the subindex, the cams 2, 4 and 7 are used. All other cams are not used. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 47: Table 42: Object 6302H
CAM has already been set (see Table 45 on page 48). The value for the Lower Limit must be lower than the value for the Upper Limit. • 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 48: Table 44: Object 6310H
Number of entries UINT-16 Channel 1 0000h FFFFh UINT-16 Channel 2 0000h FFFFh Table 46: Object 6330h … 6337h Physical measuring range, depending on the encoder type. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 49: Detailed Information On The Diagnostics
Object 6502h – Number of Revolutions Object Access Data type Data values Designation Description 6502h UINT-16 Number of Revolutions AFS = 0001h Multiturn resolution AFM = 4,096 Table 50: Object 6502h 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 50: Table 51: Object 6503H
15 … 13 Manufacturer-specific Not supported EEPROM error Supported 11 … 2 Reserved – Commissioning diagnostics Not supported Position error Supported Table 54: Object 6504h – details OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 51: Table 55: Object 6505H
Reserved – Sensor LED current too high Not active Active Not active Maximum frequency/rotational speed outside the range allowed Active Table 56: Object 6505h – details 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 52: Table 57: Object 6506H
7 … 0 Last part of the profile version Table 60: Object 6507h – details Internal manufacturer software version, can vary from the objects 100Ah and 1018h. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 53: Table 61: Object 6508H
Data type Data values Designation Description 650Bh UINT-32 Serial Number Serial number YYWWxxxx (year/week/sequential number) Table 64: Object 650Bh Physical measuring range, depending on the encoder type. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 54: Overview Of The Manufacturer-Specific Objects
Speed Value 32-Bit 2018h Array Time Stamp Signals .0 … .2 UINT-16 2019h UINT-32 Process Cycle Time Table 66: Implemented manufacturer-specific objects that provide status information OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 55: Detailed Information On Objects For The Encoder Configuration
The preset function is triggered with the rising edge (transition of bit 12 from 0 to • 1). To set a preset value again, the bit must therefore be reset to 0. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 56: Table 69: Object 2001H
Table 69: Object 2001h NOTE The Round axis functionality can only be used with the multiturn encoder. It is only executed if scaling has been enabled using object 6000h. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 57: Table 70: Object 2002H
T1 defines the time between the individual measurements. Example: If T1 = 2 ms and T2 = 200, then the speed is calculated from the last 0.4 s. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 58: Table 71: Object 2004H
Data values Subindex 2005h UINT-32 Configuration Preset Value 0 … CMR-1 Table 73: Object 2005h NOTE The preset value must lie within the measuring range configured. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 59: Detailed Information On Objects That Provide Status Information
S_STAT-A, Sensor State 0000h … FFFFh UINT-16 S_STAT-B, State Flag 2 0000h … FFFFh UINT-16 S_STAT-C, State Flag 3 0000h … FFFFh Table 75: Object 2010h 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... - Page 60 Output signal from the encoder sensor. Internal Hall sensor that determines the multiturn position by means of magnetic scanning. LY = internal sensor for the singleturn position. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice...
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Page 61: Table 76: Object 2010H - Sensor Status (S_Stat-A)
In the area of the encoder profile specific objects • In the area of the PDO configuration • Table 77: Object 2010h – Sensor Status (S_STAT-B) 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 62: Table 78: Object 2010H - Sensor Status (S_Stat-C)
Bit 1 = 1 and Bit 0 = 0: Save operation complete Bit 1 = 0 and Bit 0 = 1: Save operation requested and operation in progress Table 78: Object 2010h – Sensor Status (S_STAT-C) OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 63: Table 79: Object 2011H
UINT-32 Ex.: at 1.555 = 555 CPR, Counts Per Revolution (Fract) Steps per revolution, digits after the decimal separator Table 79: Object 2011h 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... - Page 64 Max. Operating – Temperature Maximum operating temperature in °C INT-16 Min. Operating LED-Current – Minimum internal LED current in µA From movements with a speed >12 rpm. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice...
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Page 65: Table 80: Object 2012H
Error on the calculation of the amplitude values Sin + Cos in the multiturn stage UINT-32 Frequency out of range – Speed outside the minimum or maximum limit configured 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 66: Table 81: Object 2013H
Designation Data values Description 2014h UINT-32 Time Stamp Counter 00000000h FFB741C0h Time stamp in ms, overall range 4,290,200 seconds or 136 years Table 82: Object 2014h OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 67: Table 83: Object 2015H
125 µs and 100,000 µs. Object Access Data type Data values Designation Description 2019h UINT-32 Process Cycle Time Cycle time in µs 100,000 Table 87: Object 2019h 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 68: Controls And Status Indicators
The LEDs are multi-colored. Table 90 on page 78 and Table 91 on page 78 show the meaning of the signals. The preset push-button is under the screw cover. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 69: Commissioning
Port 2 – OUT M12 × 4, female connector M12 × 4, male connector M12 × 4, female connector Figure 30: Connections of the AFS60/AFM60 EtherCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 70: Table 88: Pin Assignment For The Connection Of The Voltage Supply
Connect the shielding to the encoder’s housing! α Pay attention to the maximum cable lengths. α Mount all cables with strain relief. α On the usage of pre-wired cables. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 71: Settings On The Hardware
The preset function results in a change in the position value output by the encoder. This change could cause an unexpected movement that may result in a hazard for persons or damage to the system or other items. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 72: Configuration
All configuration information relates to Beckhoff controllers that are configured and ® diagnostics undertaken using the configuration tool TwinCAT EEPROM AFS60/AFM60 EtherCAT ® Figure 32: Integration in TwinCAT with ESI file OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 73: Figure 33: Context Menu Command Append Box
COMMISSIONING ® Copy the ESI file SICK-AFx_vX-xxx in the TwinCAT directory to the folder α TwinCAT\IO\EtherCat. ® Then restart the TwinCAT system manager. α Add the encoder in the device tree as a box. α Figure 33: Context menu command Append box... -
Page 74: Figure 36: Configuration Mode Button
Mode in blue. NOTE ® The Free Run mode of the TwinCAT system manager described here is not be confused with the encoder’s Free Run operating mode. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 75: Test Notes
Please read the notes in chapter 2 “On safety” on page 8. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 76: Fault Diagnosis
Stop the machine if you cannot clearly identify or allocate the error and if you cannot safely rectify the malfunction. SICK STEGMANN support If you cannot remedy an error with the help of the information provided in this chapter, please contact your local SICK STEGMANN subsidiary. Error and status indications on the LEDs STAT Encoder... -
Page 77: Nmod, Stat And Encoder Status Leds
Ν Application error LED Encoder Initialization phase No supply voltage ν ∏ Red/green Self-test at power-on Green Initialization complete/no error Ν ∏ Green Initialization completed incorrectly 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 78: Ethernet Link Leds L/A1 And L/A2
Interface port locked Ν Green Connection established, internal ESC port open, data transmission ∏ active Yellow Data collisions ∏ Table 91: Meaning of the LEDs L/A1 and L/A2 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 79: Diagnostics Via Ethercat
If a new diagnostics message has occurred, it is indicated via the subindex .4 “Diagnosis Flag” of the object 10F3h. By default this object is transferred cyclically via the process data object 1A01h. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 80: Coe Specific Errors
Data can not be transmitted or saved in the application. Reason: actual device status 08000023h Dynamic object directory creation error or object directory does not exist Table 92: CoE specific errors OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 81: Ethercat Specific Errors
Transition from Safe-Operational to Operational status was not successful Table 95: Emergency error codes NOTE If an error condition is rectified, a new emergency message is sent with the emergency error code 0000h. 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 82: Table 96: Error Register
An incorrect address is assigned to the Sync Manager. PDO Length Error The PDO length is incorrect. Sync Manager Settings Error Erroneous configuration of the Sync Manager. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 83: Figure 43: Display Of An Error Message In Twincat
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-STEGMANN support. AL status information Value Designation Description 0000h... - Page 84 Background watchdog – 002Bh No valid inputs or outputs – 002Ch Fatal Sync error The Sync0 or Sync1 events can no longer be received by the encoder. OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice...
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Page 85: Error Messages
Invalid communication with the I C device in the sensor module 0002h Reserved Error 0002h Position error: Error Invalid EEPROM checksum Invalid internal SSI communication (MFP4 signal) 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 86: Table 99: Error Messages Based On The S_Stat-A Flags
Current measured value outside of the minimum or maximum limit 0001h Warning: Warning General start-up error at power-on Table 99: Error messages based on the S_STAT-A flags OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 87: Table 100: Error Messages Based On The S_Stat-B Flags
The preset value, defined by the scaling parameter, is outside the measuring range (CMR). 203 … 0001h Warning, occurred on changing or writing parameter values Warning Table 100: Error messages based on the S_STAT-B flags 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 88: Table 101: Error Messages Based On The S_Stat-C Flags
1010h, see Table 15 page 33): Information Save operation requested and operation in progress Save operation complete – Reserved Table 101: Error messages based on the S_STAT-C flags OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 89: Annex
EU directive(s) (including all applicable amendments), and that the respective standards and/or technical specifica- tions have been applied. Complete EU declaration of conformity for download: www.sick.com 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 90: List Of Illustrations
Figure 33: Context menu command Append box..........73 Figure 34: Dialog box for adding an EtherCAT device.......... 73 Figure 35: Encoder in the device tree..............73 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... -
Page 91: List Of Illustrations
Status indication for the Free Run mode or configuration mode ..74 Figure 41: CoE Online tab..................75 Figure 42: Position of the LEDs ................76 Figure 43: Display of an error message in TwinCAT®.......... 83 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice... -
Page 92: List Of Tables
Object 6001h ..................42 Table 34: Object 6002h ..................43 Table 35: Object 6003h ..................43 Table 36: Object 6004h ..................43 Table 37: Object 6030h ..................44 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice... - Page 93 Table 71: Object 2004h ..................58 Table 72: Object 2004h – Service Codes............58 Table 73: Object 2005h ..................58 Table 74: Object 2006h ..................59 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice...
- Page 94 Error messages based on the S_STAT-A flags........86 Table 100: Error messages based on the S_STAT-B flags........87 Table 101: Error messages based on the S_STAT-C flags........88 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN Subject to change without notice...
- Page 95 LIST OF TABLES 8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT Subject to change without notice...
- Page 96 Phone +386 (0)1-47 69 990 E-Mail ghk@sick.com.hk E-Mail office@sick.si Hungary South Africa Phone +36 1 371 2680 Phone +27 11 472 3733 More representatives and agencies E-Mail office@sick.hu E-Mail info@sickautomation.co.za at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...
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