Related Manuals for Siko AP04S
Summary of Contents for Siko AP04S
- Page 1 User manual Absolute Position Indicator with - interface and Firmware-Softwareversion 01 AP04S...
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Page 2: Table Of Contents
Node number (node ID) ______________________________________________________________ 13 Transmission of process data ________________________________________________ 14 From the AP04S to the bus master (position value + status byte) _____________________________ 14 From bus master to AP04S (target value) ________________________________________________ 15 Transfer of the SDO data (parameterization) ____________________________________ 15... - Page 3 Object 5F15h (Loop direction) _________________________________________________________ 41 Object 5F16h (Read target value) ______________________________________________________ 42 Object 5F18h (External Heartbeat source) _______________________________________________ 42 Object 5F19h (AP04S status) _________________________________________________________ 43 Object 5F1Ah (Hysteresis of detection of reversal of sense of rotation) _________________________ 43 Object 6000h (Operating Parameters) __________________________________________________ 44...
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Page 4: General Information
1. General Information This user manual is valid for the absolute position indicator AP04S with firmware version H1.01 or higher and is intended to provide the necessary information for handling this device. The Installation Instruction AP04S contains important information on warranty, safety, mechanical as- sembly, electrical connection as well as commissioning of the AP04S. -
Page 5: Intended Use
AP04 and AP04S with CAN interface (CANopen) AP04S must be operated together with the hollow shaft sensor GS04. Although designed with a bus in- terface, the position indicator is very compact. The AP04S functions with the following communication protocols: ... -
Page 6: Display
If the value to be displayed falls below -19999, the negative arithmetic sign will not be indicated perma- nently. Indication of the highest-value figure will alternate cyclically with the arithmetic sign. Keyboard The AP04S has the - and keys, which serve for device parameter adjustment. -
Page 7: Battery Buffering
The battery should be replaced as soon as the battery symbol appears on the display. The battery can be replaced by the SIKO distribution partners or at the SIKO main factory. For battery replacement it is mandatory to follow the instructions of the In- stallation Instruction. -
Page 8: Display
If no boot-up message can be sent because the baud rate was set wrongly, the AP04S will be rei- nitialized completely (warm start) and will try again to send the message. This becomes visible by a repeated display test. If no bus is connected, the AP04S will also try permanently to send the boot- up message but will only be reinitialized after a defined number of failed attempts. -
Page 9: Configuration Via Keyboard
The device supports this type of transmission with its factory setting. If the AP04S receives a SYNC telegram in the operational mode, the display will respond with the position value plus the status byte. For a more detailed description of transmission refer to section "... -
Page 10: Asynchronous (Cyclic) Transmission
The message with the highest priority (determined by the identifier) prevails. Data rate up to 1bit/s permissible (with 40 m network range). Closed network on both sides. AP04S-SW01-CANopen Date: 24.11.2016 Page 10 of 50 Art. no. 85300 Rev. status 351/16... -
Page 11: Canopen
The organization CAN in Automation (CiA) is responsible for the applicable standards of the respec- tive profiles. The position indicator AP04S with CANopen interface fulfils the conditions specified in the "CANo- pen Application Layer and Communication Profile" (CiA Draft Standard 301, version 4.02) and in the "CANopen Device profile for encoders"... -
Page 12: The Encoder Device Profile (Cia Draft Standard 406)
The functionality and features of a CANopen device can be described in the ASCII format as a standardized "Electronic Data Sheet" (EDS). The EDS file (CANopen configuration file) of the AP04S can be downloaded from the homepage of SIKO GmbH (www.siko-global.com/p/ap04s). -
Page 13: Function Code
(tx) and (rx) seen from the position indicator Node number (node ID) The 7bit node number is set on the AP04S via configuration and displayed upon pressing the key during operation. Node number 0 is reserved and must not be changed by any node. Therefore, resulting node numbers are in the range of 1 …... -
Page 14: Transmission Of Process Data
In the special version 01 the object 5F09h (ext. heartbeat timer) is additionally active. This means that with factory setting the AP04S expects a SYNC telegram at an interval of max. 300 ms. Other- wise the operational mode will be exited. -
Page 15: From Bus Master To Ap04S (Target Value)
From bus master to AP04S (target value) By means of PDO transmission from the bus master to the AP04S (RPDO), the target value can be transferred to the display. The following PDOs are accepted. COB ID Process data in binary code... - Page 16 (e. g. write attempt on read-only object, wrong index, etc.). The error codes are described in the CANopen profile (DS 301) or in the encoder profile (DSP 406), respectively. The table below shows the error codes used in the AP04S: Error code...
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Page 17: Emergency Service
As with the SDO error messages, pre-defined error messages are assigned to the EMERGENCY object as well. A subset of these error codes described in the CAN Application Layer DS301 is used by the AP04S. They are described in the table below: Byte 0 ... Byte 1: Error Code... -
Page 18: Network Management Services (Nmt)
The COB ID for NMT commands is always zero (highest priority). The node ID is transferred in byte 2 of the NMT command. The node number corresponds with the node ID of the desired station. With node number = 0, all bus stations are addressed. AP04S-SW01-CANopen Date: 24.11.2016 Page 18 of 50 Art. no. 85300... -
Page 19: Command Byte
Enter_PRE-OPERATIONAL_State; change to state "Pre-Operational" Re-initialization of CAN connection Reset AP04S (warm start) NMT status After initializing, the encoder is in the "Pre-Operational" state. SDO parameters can be read and written in this state. To request PDOs, the encoder must first be switched to the "Opera- tional"... -
Page 20: State Change
Command byte Node number 0h ... 1Fh (0 ... 31) Re-initialization of the CAN card (5) COB ID Command byte Node number 0h ... 1Fh (0 ... 31) AP04S-SW01-CANopen Date: 24.11.2016 Page 20 of 50 Art. no. 85300 Rev. status 351/16... -
Page 21: Heartbeat
"Node Guard" or, alternatively, announce its ability to communicate by cyclic sending of a so-called „heartbeat” message. The "heartbeat" method is intended for the AP04S. One or several network subscribers can receive this message and, thus, monitor the as- signed subscriber. -
Page 22: Overview Of Objects
PDO for the synchronous operation Communication Pa- mode, including output of the position value via rameter 1A00h Transmit PDO1 Map- ping Parameter 1A01h Transmit PDO2 Map- ping Parameter AP04S-SW01-CANopen Date: 24.11.2016 Page 22 of 50 Art. no. 85300 Rev. status 351/16... - Page 23 6200h Cycle Timer PDO1 value in ms, identical with object 1800h, sub- index 5 6500h Operating Status indicates the counting direction and scaling func- tion currently set AP04S-SW01-CANopen Date: 24.11.2016 Page 23 of 50 Art. no. 85300 Rev. status 351/16...
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Page 24: Detailed Description Of Objects
Byte 1 Byte 2 Byte 3 0196h (= 406): CANopen Device Profile for Encoders, Version 3.01 0003h: Single-turn angle encoder, absolute, with battery-buffered electronic revolu- tion counter AP04S-SW01-CANopen Date: 24.11.2016 Page 24 of 50 Art. no. 85300 Rev. status 351/16... -
Page 25: Object 1001H (Error Register)
the whole error list is deleted by writing the value 0 at sub-index 0. the entries in the error list have the format described in, "Emergency Service". AP04S-SW01-CANopen Date: 24.11.2016 Page 25 of 50 Art. no. 85300 Rev. status 351/16... -
Page 26: Object 1005H (Cob Id Sync Message)
ASCII Access const Data type Visible_String EEPROM Default AP4S Data content Byte 0 Byte 1 Byte 2 Byte 3 41h ('A') 50h ('P') 34h ('4') 53h ('S') AP04S-SW01-CANopen Date: 24.11.2016 Page 26 of 50 Art. no. 85300 Rev. status 351/16... -
Page 27: Object 1009H (Manufacturer Hardware Version)
EEPROM. The "Store Parameter" command is not required for parameter storage! Sub-index Description describes the number of entries present in sub-index 1 Access Data type UNSIGNED 8 EEPROM Default AP04S-SW01-CANopen Date: 24.11.2016 Page 27 of 50 Art. no. 85300 Rev. status 351/16... - Page 28 5F18h External heartbeat source 5F1Bh Free factor 6000h Operating Status 6002h Total measurement range +/-65535999 6003h Preset value 6005h Resolution 6200h PDO1 Event Timer see object 1800-5 AP04S-SW01-CANopen Date: 24.11.2016 Page 28 of 50 Art. no. 85300 Rev. status 351/16...
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Page 29: Object 1011H (Restore Default Parameters)
29bits identifier (CAN 2.0B) ! not supported ! Bit 28 ... 11 if bit 29 = 0 bits 10 – 0 of the EMCY-COB ID Bit 10 ... 0 AP04S-SW01-CANopen Date: 24.11.2016 Page 29 of 50 Art. no. 85300 Rev. status 351/16... -
Page 30: Object 1017H (Producer Heartbeat Time)
Description number of entries Access Data type UNSIGNED 8 EEPROM Default Sub-index Description the manufacturer identification number (vendor ID) for the company SIKO GmbH allocated by the CiA (see www.can-cia.org) Access Data type UNSIGNED 32 EEPROM Default 195h Sub-index Description... -
Page 31: Object 1200H (Server Sdo Parameter)
COB ID of RPDO1 Access Data type UNSIGNED 32 EEPROM Default 40000200h + Node-ID Bit30 = 1: RTR for this PDO not released, bit is always set AP04S-SW01-CANopen Date: 24.11.2016 Page 31 of 50 Art. no. 85300 Rev. status 351/16... -
Page 32: Object 1401H (Receive Pdo2 Parameter, Synchronous Operational Mode)
PDO receipt Object 1600h (Receive PDO1 Mapping Parameter) Sub-index Description number of objects mapped Access const Data type UNSIGNED 8 EEPROM Default AP04S-SW01-CANopen Date: 24.11.2016 Page 32 of 50 Art. no. 85300 Rev. status 351/16... -
Page 33: Object 1601H (Receive Pdo2 Mapping Parameter)
(object 5F16h, 32bit) Sub-index Description Describes the 2 portion of the PDO2 message (data byte 4) Access const Data type UNSIGNED 8 EEPROM Default 5F0C0008h (object 5F0Ch, 8bit) AP04S-SW01-CANopen Date: 24.11.2016 Page 33 of 50 Art. no. 85300 Rev. status 351/16... -
Page 34: Object 1800H (Transmit Pdo1 Parameter, Asynchronous Operation Mode)
0 ... 65535 (1h ... FFFFh); the numerical value corresponds to a multiple of 1 ms. The service is disabled by writing the value 0. The content of this object is identical with object 6200h. AP04S-SW01-CANopen Date: 24.11.2016 Page 34 of 50 Art. no. 85300... -
Page 35: Object 1801H (Transmit Pdo2 Parameter, Synchronous Operation Mode)
Describes the 1 portion of the PDO1 message (data bytes 0 to 3) Access const Data type UNSIGNED 32 EEPROM Default 60040020h (object 6004h, 32bit) position value AP04S-SW01-CANopen Date: 24.11.2016 Page 35 of 50 Art. no. 85300 Rev. status 351/16... -
Page 36: Object 1A01H (Transmit Pdo2 Mapping Parameter)
PDO1 message (data byte 4) Access const Data type UNSIGNED 8 EEPROM Default 5F190008h (object 5F19h, 8bit) AP04S status Object 1A01h (Transmit PDO2 Mapping Parameter) Sub-index Description number of objects mapped Access const Data type UNSIGNED 8... -
Page 37: Object 2002H (Zeroing Of Encoder Value)
Access (writable in the "Pre-Operational" and "Operational" states) Data type UNSIGNED 8 EEPROM Default Value range 0: Zeroing via key disabled 1: Zeroing via key enabled AP04S-SW01-CANopen Date: 24.11.2016 Page 37 of 50 Art. no. 85300 Rev. status 351/16... -
Page 38: Object 2004H (Incremental Measurement Enable)
Object 5F09h (External Heartbeat Timer) Sub-index Description If a value > 0 is entered here, the AP04S will expect an event to occur in this interval (see object 5F18h). If no such event occurs, the AP04S will change to the „Pre-operational” state. -
Page 39: Object 5F0Ch (Control Byte)
Description Number of decimal places Access (writable in the "Pre-Operational" and "Operational" states) Data type UNSIGNED 8 EEPROM Default 0 ... 4 (0h … 4h) Value range AP04S-SW01-CANopen Date: 24.11.2016 Page 39 of 50 Art. no. 85300 Rev. status 351/16... -
Page 40: Object 5F12H (Display Orientation And Led)
0: Indication of the position value: "10000" 1: Indication of the position value: "1000" 2: Indication of the position value: "100" 3: Indication of the position value: "10" AP04S-SW01-CANopen Date: 24.11.2016 Page 40 of 50 Art. no. 85300 Rev. status 351/16... -
Page 41: Object 5F14H (Loop Width)
2Dh: = ASCII "-" in negative counting direction 524944h: =ASCII "DIR" direct (response to read) If the AP04S is operated on a spindle, then the spindle play can be compensated by means of loop positioning. In this case, travelling to the target value is always from the same direction. -
Page 42: Object 5F16H (Read Target Value)
Case 2 new target value = 500 The positioning aid (arrows) of AP04S requires that the target position (500) will be exceeded by the loop width (object 5F14h). Upon reaching the loop target position (400 = target position – loop width), the positioning arrows will be reversed and travel to the target position 500 is enabled. -
Page 43: Object 5F19H (Ap04S Status)
Object 5F19h (AP04S status) Sub-index Description The status byte informs about the current state of AP04S. Access (readable in the "Pre-Operational" and "Operational" PDO states only) Data type UNSIGNED 8 EEPROM Default Value range 1h ... EEh The bits of the status byte have the following meaning:... -
Page 44: Object 6000H (Operating Parameters)
Default 1 … FFFFFFFFh Value range Example: APU = 400, position = 0; When the shaft is moved by one revolution, the new position will be 400 AP04S-SW01-CANopen Date: 24.11.2016 Page 44 of 50 Art. no. 85300 Rev. status 351/16... -
Page 45: Object 6002H (Total Measuring Range [Total Of Measurement Steps])
Access Data type SIGNED 32 EEPROM The position value of the AP04S is calculated by using the following formula: Position value = (encoder value - encoder zeroing value)*RF + preset value + Manufac- turer Offset Encoder value: absolute value sensed by the encoder sensor system,... -
Page 46: Object 6200H (Cycle Timer)
Object 6003h, Manufacturer Offset see Object 2001h With the AP04S, the total measuring range is subdivided into a negative and positive value range: -1/2 total measuring range ... 0 ... +1/2 (total measuring range – 1) Therefore, the representation of the position value is in the 2-complement format in a signed 32 bits number. -
Page 47: Object 6501H (Singleturn Resolution)
OK battery voltage near low- est tolerable value battery error battery OK or still in tolerable battery discharged range 14 … 15 not used AP04S-SW01-CANopen Date: 24.11.2016 Page 47 of 50 Art. no. 85300 Rev. status 351/16... -
Page 48: Object 6504H (Supported Alarms)
Object 6506h (Supported Warnings) Sub-index Description The object indicates which warnings are supported. Access Data type UNSIGNED 16 EEPROM Default 0010h Bit 4: Battery warning is supported AP04S-SW01-CANopen Date: 24.11.2016 Page 48 of 50 Art. no. 85300 Rev. status 351/16... -
Page 49: Object 6507H (Profile And Software Version)
Byte 3 (High) Byte 2 (Low) Byte 1 (High) Byte 0 (Low) Object 6508h (Operating Time) Sub-index Description Operation time counter (not implemented in the AP04S) Access Data type UNSIGNED 32 EEPROM Default FFFFFFFFh (shows that the function is not supported) -
Page 50: Object 650Ah (Module Identification)
Data type SIGNED 32 EEPROM Default 5242880 Object 650Bh (Serial Number) Sub-index Description Provides the serial number of the encoder (not supported with the AP04S). Access Data type UNSIGNED 32 EEPROM Default FFFFFFFFh (Function is not implemented) AP04S-SW01-CANopen Date: 24.11.2016 Page 50 of 50 Art.
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