Name: SICK AFS60 PROFINET
Brand: SICK
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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

AFS60 PROFINET

AFM60 PROFINET

Absolute Encoder

Table of Contents3
About this Document5
Function of this Document5
Scope5
Target Group5
Information Depth6
Symbols Used6
Abbreviations Used6
On Safety8
Authorized Personnel8
Correct Use8
Table 1: Authorized Personnel8
General Safety Notes and Protective Measures9
Environmental Protection9
Table 2: Disposal of the Assemblies9
Product Description10
Special Features10
Table 3: Special Features of the Encoder Variants10
Operating Principle of the Encoder11
Scaleable Resolution11
Round Axis Functionality11
Figure 1: Example Position Measurement on a Rotary Table with Transmission Ratio12
Integration in PROFINET13
Figure 2: Example Position Measurement on a Rotary Table Without Transmission Ratio13
Communication Channels14
Device Identification in the PROFINET14
GSDML File14
Figure 3: PROFINET Communication Channels14
Encoder Model15
Submodules15
Figure 4: Encoder Object Model15
Table 4: Submodules15
Communication Telegrams for Cyclic Process Data16
I/O Signals16
Structure of Telegram 81 to 84 (as Per Encoder Profile V4.1)16
Table 5: Signal Numbers of the I/O Data16
Table 6: Output Data in the Telegram 8116
Table 7: Input Data in Telegram 8116
Table 8: Output Data in the Telegram 8217
Table 9: Input Data in Telegram 8217
Table 10: Output Data in the Telegram 8318
Table 11: Input Data in Telegram 8318
Table 12: Output Data in the Telegram 8419
Table 13: Input Data in Telegram 8419
Contents of the Signals20
Table 14: Sensor 1 Control Word (G1_STW)20
Table 15: Sensor 1 State Word (G1_ZSW)21
Table 16: Example for Position Values in G1_XIST1 MSW22
Table 17: Example for Position Values in G1_XIST1 LSW22
Table 18: Example for Position Values in G1_XIST2 MSW22
Table 19: Example for Position Values in G1_XIST2 LSW22
Table 20: Example for Position Values in G1_XIST323
Table 21: Encoder Control Word 2 (STW2_ENC)23
Table 22: Encoder State Word 2 (ZSW2_ENC)23
Acyclic Process Data24
Figure 5: Request and Response24
Table 23: Indices for the Data Access24
Structure of the Parameter Request25
Table 24: Structure of the Parameter Request25
Table 25: Structure of the Parameter Address25
Structure of the Parameter Response26
Table 26: Structure of the Parameter Value26
Table 27: Structure of the Parameter Response26
Table 28: Structure of the Parameter Value26
Examples on Reading and Writing a Parameter27
Table 29: Request Example for Reading a Parameter27
Table 30: Response Example for Reading a Parameter27
Table 31: Request Example to Write a Parameter28
Table 32: Response Example to Write a Parameter28
Profidrive-Specific Parameters29
Table 33: Profidrive-Specific Parameters31
Vendor Specific Parameters32
Table 34: Vendor Specific Parameters35
Encoder Profile-Specific Parameters36
Table 35: Encoder Profile-Specific Parameters36
Configurable Functions37
Code Sequence37
Class 4 Functionality37
Table 36: Bits of the Index 65.001.0137
G1_XIST1 Preset Control38
Scaling38
Alarm Channel Control38
Compatibility Mode38
Measuring Range Per Revolution38
Total Measuring Range39
Speed Measuring Unit39
Save Mode for the Preset Value39
Table 37: Examples for the Total Resolution of the AFM60 PROFINET39
Transmit Preset Value40
Round Axis Functionality40
Number of Revolutions, Nominator for the Round Axis Functionality40
Number of Revolutions, Divisor for the Round Axis Functionality40
Speed Filter, Sampling Interval40
Speed Filter, Number of Measurements40
Preset Value40
Controls and Status Indicators41
Figure 6: Position of the Leds and the Preset Pushbutton41
Commissioning42
Electrical Installation42
Connections of the AFS60/AFM60 PROFINET42
Figure 7: Position of the Connections of the AFS60/AFM60 PROFINET42
Figure 8: Connections of the AFS60/AFM60 PROFINET42
Settings on the Hardware44
Figure 9: Position of the Controls44
Integration into the PLC45
Installing the GSDML File (Only Once)45
Loading Encoder in the User Interface45
Figure 10: Installing Device Description File in the TIA Portal45
Figure 11: AFS60/AFM60 PROFINET in Other Field Devices45
Configuration of the Encoder Via the Parameter Access Point46
Figure 12: Connection from the PLC to AFS60A or AFM60A46
Figure 13: Configuration Data46
Reading the Position47
Figure 14: Vendor Specific Configuration Data47
Figure 15: Reading the Position47
Setting Preset Value48
Figure 16: Configuration Data for a Preset Value48
Figure 17: Vendor Specific Configuration Data for a Preset Value48
Figure 18: Setting Bit 12 of G1_STW49
Figure 19: Setting Bit 13 of G1_STW49
Configuring Encoder as Technology Object50
Figure 20: Project Navigation in the TIA Portal50
Figure 21: Add New Object Dialog Box50
Figure 22: Configuring the Basic Parameters51
Figure 23: Configuring the Hardware Interface51
Figure 24: Selecting AFM60A52
Figure 25: Data Exchange52
Test Notes53
Figure 26: Device View53
Troubleshooting54
In the Event of Faults or Errors54
SICK STEGMANN Support54
Diagnostics54
Error and Status Indications on the Leds54
Figure 27: Position of the Leds54
Error Transmission Via PROFINET55
Error Message on Vendor Specific Parameters56
Error Messages on Encoder Profile Specific Parameters60
Alarm Channel62
Error Codes in Telegram Part G1_XIST262
Replacement of an Encoder in the PROFINET Network63
Annex64
Compliance with EU Directives64
List of Illustrations65
List of Tables66

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General

Brand	SICK
Model	AFS60 PROFINET
Category	Media Converter
Language	English

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