SICK AFS/AFM60 PROFINET

CONTENTS
8015078/1EF3/2021-12-13 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET
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Subject to change without notice
Contents
1 About this document ................................................................................ 5
1.1 Function of this document ......................................................................... 5
1.2 Scope .......................................................................................................... 5
1.3 Target group ............................................................................................... 5
1.4 Information depth ...................................................................................... 6
1.5 Symbols used ............................................................................................. 6
1.6 Abbreviations used ..................................................................................... 6
2 On safety ..................................................................................................... 8
2.1 Authorized personnel ................................................................................. 8
2.2 Correct use ................................................................................................. 8
2.3 General safety notes and protective measures ......................................... 9
2.4 Environmental protection ........................................................................... 9
3 Product description ................................................................................. 10
3.1 Special features ....................................................................................... 10
3.2 Operating principle of the encoder........................................................... 11
3.2.1 Scaleable resolution................................................................ 11
3.2.2 Round axis functionality .......................................................... 11
3.3 Integration in PROFINET ........................................................................... 13
3.3.1 Communication channels ....................................................... 14
3.3.2 Device identification in the PROFINET .................................... 14
3.3.3 GSDML file............................................................................... 14
3.3.4 Encoder model ........................................................................ 15
3.3.5 Submodules ............................................................................ 15
3.4 Communication telegrams for cyclic process data .................................. 16
3.4.1 I/O signals ............................................................................... 16
3.4.2 Structure of telegram 81 to 84 (as per encoder
profile V4.1) ............................................................................. 16
3.4.3 Contents of the signals ........................................................... 20
3.5 Acyclic process data ................................................................................. 24
3.5.1 Structure of the parameter Request ....................................... 25
3.5.2 Structure of the parameter Response .................................... 26
3.5.3 Examples on reading and writing a parameter....................... 27
3.5.4 PROFIdrive-specific parameters.............................................. 29
3.5.5 Vendor specific parameters .................................................... 32
3.5.6 Encoder profile-specific parameters ....................................... 36
3.6 Configurable functions ............................................................................. 37
3.6.1 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