SICK AFS/AFM60 PROFINET Operating Instructions Manual
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SICK AFS/AFM60 PROFINET Operating Instructions Manual

Absolute encoder
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O P E R A T I N G I N S T R U C T I O N S
AFS/AFM60 PROFINET
Absolute Encoder

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Summary of Contents for SICK AFS/AFM60 PROFINET

  • 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 PROFINET Absolute 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 modification, abridgment or translation of this document is prohibited without the express written permission of SICK AG.

  • Page 3: Table Of Contents

    Code sequence ................ 37 3.6.2 Class 4 functionality ..............37 3.6.3 G1_XIST1 preset control ............38 3.6.4 Scaling ..................38 3.6.5 Alarm channel control ............. 38 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 4 Replacement of an encoder in the PROFINET network ......63 Annex ......................64 Conformities and certificates ..............64 6.1.1 Compliance with EU directives ..........64 6.1.2 Compliance with UK statutory instruments ......64 OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 5: About This Document

    AFS60/AFM60 PROFINET or who are in charge of servicing and maintaining the device. These instructions are written for trained persons who are responsible for the in- stallation, mounting and operation of the AFS60/AFM60 PROFINET in an industrial environment. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 6: Information Depth

    Read carefully and follow the warning notices. Abbreviations used CNR_D Customized Number of Revolutions, Divisor = divisor of the customized number of revolutions CNR_N OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 7 Programmable Logic Controller Physical Measuring Range PROFINET Process Field Network Programmable Logic Controller TCP/IP Transmission Control Protocol/Internet Protocol UDP/IP User Datagram Protocol (connectionless network protocol)/Internet Protocol 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 8: On Safety

    In case of any other usage or modifications to the AFS60/AFM60 PROFINET, e.g. open- ing the housing during mounting and electrical installation, or in case of modifications to the SICK software, any claims against SICK AG under warranty will be rendered void. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET...

  • 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 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 10: Product Description

    Supports the diagnostic functions “General   diagnosis history” and “Error counter history” Supports the function “External Default Setting”   Table 3: Special features of the encoder variants OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 11: Operating Principle Of The Encoder

    (e.g. 12.5). NOTE The output position value is adjusted with the zero point correction, the counting direction set and the gearbox parameters entered. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 12 For the nominator for the number of revolutions 125 is configured, 10 as the divisor = 12.5). After 12.5 revolutions (that is after one complete revolution of the rotary table) the encoder reaches the total resolution of 9,000. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 13: Integration In Profinet

    PROFINET (output data) and also produces data for the PROFINET itself (input data). The AFS60/AFM60 PROFINET complies with the guidelines of the encoder profile version 4.1 class 3 with the encoder profile number 3D00h. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 14: Communication Channels

    3.3.3 GSDML file Common configuration tools (e.g. Siemens TIA Portal V13) require a GSDML file to integrate the device into the network. The GSDML file GSDML-V2.25-SICK-AFx60-xxxxxxxx.xml for the AFS60/AFM60 PROFINET is available at www.sick.com for download. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET...

  • Page 15: Encoder Model

    Number of output Number of input Number Description data words data words Telegram 81 Telegram 82 Telegram 83 Telegram 84 65,535 EO module representative (MAP) Table 4: Submodules 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 16: Communication Telegrams For Cyclic Process Data

    Encoder Sensor 1 Position 1 Position 2 state word 2 state word Table 7: Input data in telegram 81 Signal numbers as per encoder profile V4.1. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 17 Sensor 1 Speed Meaning Position 1 Position 2 state word state word Table 9: Input data in telegram 82 Signal numbers as per encoder profile V4.1. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 18 Data word G1_XIST2 G1_XIST2 NIST_B NIST_B Value Signal Length 32 Bit 32 Bit Meaning Position 2 Speed B Table 11: Input data in telegram 83 OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 19 NIST_B Signal Length 32 Bit 32 Bit Meaning Position 2 Speed B Table 13: Input data in telegram 84 Signal numbers as per encoder profile V4.1. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 20: Contents Of The Signals

    To activate the preset value, bit 10 in control word STW2_ENC has to be set: STW2_ENC = 0400h (Not relevant when using encoder profile version 3) OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 21 Reaction to bit 15 in the sensor control word 1 G1_STW is acknowledged (see Table 14) Reserved – 9 … 0 Not supported – Table 15: Sensor 1 state word (G1_ZSW) 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 22 To transmit the position value in the telegram part G1_XIST2, corresponding bits  must be set in the control words: ○ G1_STW = 2000h ○ STW2_ENC = 0400h OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 23 0 = No control by the PLC requested 1 = Control by the PLC requested 8 … 0 Reserved – Table 22: Encoder state word 2 (ZSW2_ENC) 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 24: Acyclic Process Data

    B02Eh as function parameters. A Request parameter is transmitted to the encoder using WRREC. The reply, Response parameter, is then read using the function RDREC. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 25: Structure Of The Parameter Request

    FDE8h = 65,000 0001h … FFFFh 4 … 5 Subindex Subindex for the first element 0000h … FFFEh that is accessed Table 25: Structure of the parameter address 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 26: Structure Of The Parameter Response

    Number of Number of values that follow 00h … EAh elements 2 … x Values Values of the parameter – Table 28: Structure of the parameter value OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 27: Examples On Reading And Writing A Parameter

    Request reference returned Request ID Axis no./DO-ID returned Number of parameters Format Number of values Value 00000064h (64h = 100) Table 30: Response example for reading a parameter 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 28 Description Value Request reference returned 02h (= parameter Request ID change successful) Axis no./DO-ID returned Number of parameters Table 32: Response example to write a parameter OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 29: Profidrive-Specific Parameters

    PROFIdrive DO type classification 00.05h 5 = Encoder PROFIdrive DO subclassification 1 40.00h Bit 14 = 1: Encoder Class 3 01000000.0000000 R = Read access, W = Write access. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 30 MAC port 2 1,012 FPGA version 1,013 Operating temperature 1,014 Name of the station (of the encoder) 61,000 IP address of the station (of the 61,001 encoder) OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 31 Subnet mask of the station (of the 61,004 encoder) Preset value (is saved in EEPROM) 65,000 Operating status 65,001 End of the list Table 33: PROFIdrive-specific parameters 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 32: Vendor Specific Parameters

    Maximum operating temperature in °C 0 … FF.FF.FF.FFh Minimum operating temperature in °C 0 … FF.FF.FF.FFh (must be interpreted as INT-32) R = Read access, W = Write access. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 33 1 … 255 Bit 8 1 … 255 Bit 9 1 … 255 Bit 10 1 … 255 Bit 11 1 … 255 Bit 12 1 … 255 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 34 Defines the lower limit for the supply 9,000 voltage allowed in mV 24,000 Defines the upper limit for the supply 10,000 voltage allowed in mV 30,000 OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 35 FPGA version UINT-32 Example: DWORD Value = 00010200h Version = 1.2.0 1,014 Operating temperature INT-16 Current operating temperature in °C WORD Table 34: Vendor specific parameters 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 36: Encoder Profile-Specific Parameters

    0 = steps/s 1 = steps/100 ms 2 = steps/10 ms 3 = rpm Table 35: Encoder profile-specific parameters R = Read access, W = Write access. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 37: Configurable Functions

    If the parameter is deactivated (disable), the settings for the following parameters are fixed: Code sequence = clockwise  Scaling = off  No preset via telegram or preset pushbutton possible  8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 38: G1_Xist1 Preset Control

    The resolution is max. 262,144 steps per revolution. The resolution can be scaled from 1 … 262,144 as an integer. NOTE The parameter is not used if the round axis functionality (see 3.6.12 on page 40) is activated. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 39: Total Measuring Range

    P971: The values must be written to the EEPROM using the parameter 971 (see  section 3.5 “Acyclic process data” on page 24 and Table 33 on page 31). 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 40: Transmit Preset Value

    Preset value The Preset value parameter contains the value that is transmitted to the encoder with the parameter Transmit preset value (see section 3.6.11 on page 40). OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 41: Controls And Status Indicators

    The LEDs are multi-colored. Table 40 on page 54 and Table 43 on page 55 show the meaning of the signals. The preset push-button is under the screw cover. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 42: Commissioning

    Port 1 Voltage supply Port 2 M12 × 4, female connector M12 × 4, plug M12 × 4, female connector Figure 8: Connections of the AFS60/AFM60 PROFINET OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 43 Connect the screen to the encoder’s housing!  Pay attention to the maximum cable lengths.  Mount all cables with strain relief.  On the usage of pre-wired cables. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 44: Settings On The Hardware

    Open the screw cover using a screwdriver for slot-head screws with a blade width  of min. 10.0 mm. Preset push-button Address switches Figure 9: Position of the controls OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 45: Integration Into The Plc

    In the Hardware catalog open the Other Field Devices, PROFINET IO, Encoders,  SICK AG, SICK folder and finally the AFx60A folder. Here there is a dedicated icon for each of the two variants of the encoder (see Table 3 on page 10).

  • Page 46: Configuration Of The Encoder Via The Parameter Access Point

    Access Point. For the possible parameter settings, see section 3.6 on page 37. Configuration data Figure 13: Configuration data The AFS60/AFM60 PROFINET is supplied with the configuration data shown. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 47: Reading The Position

    Set bit 13 of the control word G1_STW to 1 (= 2000h). This results in the cyclic  output of the position value in G1_XIST2 (see Table 14 on page 20). 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 48: Setting Preset Value

    Set the parameter Transmit preset value to Enable.  Set the parameter Preset value e.g. to 600.  Figure 17: Vendor specific configuration data for a preset value OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 49 To be able to set the preset value again, you must again set bit 12 of G1_STW to 0. Due to the shift of two bits, in the decimal depiction the value is four times the preset value (in the example 2400 instead of 600). 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET...

  • Page 50: Configuring Encoder As Technology Object

    As Motion Control choose TO_ExternalEncoder () (for an external encoder).  If necessary, enter a type code for the encoder in the Type field () (e.g. AFx60).  Click OK ().  OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 51 Figure 23: Configuring the hardware interface Select Hardware interface ().  Choose the PROFIdrive encoder on PROFINET/PROFIBUS option ().  Click the Encoder... list box ().  8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 52 AFS60 = 14 ○ AFM60 = 2 In the Bits in incr. actual value (Gn_XIST2) () field enter the value 0.  Then click Device configuration ().  OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 53: Test Notes

    Please read the notes in chapter 2 “On safety” on page 8. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 54: Troubleshooting

    Stop the machine if you cannot clearly identify or allocate the error and if you cannot safely rectify the malfunction. Support If you cannot remedy an error with the help of the information provided in this chapter, please contact your local SICK representative. Diagnostics 5.3.1 Error and status indications on the LEDs...

  • Page 55: Error Transmission Via Profinet

    15 of the sensor 1 control word (G1_STW). This is only possible if the cause of the error has been rectified and the status of the encoder is within the defined limits. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET...

  • Page 56: Error Message On Vendor Specific Parameters

    Internal interface between EEPROM and sensor for the encoder. Output signal from the encoder sensor. Internal Hall sensor that determines the multiturn position magnetically. LY = internal sensor for the singleturn position. OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 57 Warning in relation to the temperature: Current measured value outside of the minimum or maximum limit – Warning: General start-up error at power-on Table 44: Subindex .0 – Sensor status (S_STAT-A) 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...
  • Page 58 Warning, occurred on changing or writing INVALID_PARAM_BAS parameter values: In the area of the encoder profile specific  objects – Reserved Table 45: Subindex .1 – Sensor status (S_STAT-B) OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 59 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 46: Subindex .2 – Sensor status (S_STAT-C) 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 60: Error Messages On Encoder Profile Specific Parameters

    Short-circuit 0 = Not supported Overvoltage 1 = Supported Undervoltage 1 = Supported Position error 1 = Supported Table 48: Subindex .3 – Supported error messages OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...
  • Page 61 1 control word (G1_STW). This is only possible if the cause of the error has been rectified and the status of the encoder is within the defined limits. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET...

  • Page 62: Alarm Channel

    Minimum operating voltage dropped below. The encoder is started again once the minimum operating voltage is reached. 1004h Overvoltage Maximum operating voltage exceeded Table 53: Error codes in telegram part G1_XIST2 OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/1EF3/2021-12-13 | SICK STEGMANN Subject to change without notice...

  • Page 63: Replacement Of An Encoder In The Profinet Network

    The encoder is reset to the factory settings and the device name is deleted. Connect the two Ethernet cables to the encoder.  The configuration from the old encoder is loaded onto the new encoder. 8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET Subject to change without notice...

  • Page 64: 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 65 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...

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