SICK DL100 Pro CANopen - Device Profile Cia 406 Absolute Linear Encoder

Object 4004h – Device Temperature
Indication of the temperature in the device in °C.
Object 4005h – Laser Operating Hours
Specification of the laser operating time in hours.
Object 4006h Command
The following commands are available on the DL100 Pro:
•
Value: 00h: Initial (no function)
•
Value: 01h: Laser off
•
Value: 02h: Laser on
•
Value: 03h: Reset Preset (Preset = Offset = 0), deletes an existing preset
•
Value: 04h...FFh: Reserve
10.4.4 Device profile CiA 406 absolute linear encoder (6000h to 9FFFh)
The device profile is an encoder profile, thus enabling complete replacement by devices
which also use the CiA406 device profile. The device profile is divided into different
classes. The DL100 Pro supports device profile CiA 406 (absolute linear encoder),
version 3.2, class 2 (C2).
Object 6000h Operating Parameters
Table 42: Operating parameter, bit-coded
Bit 15...12 11...5 4 3 2 1 0
Name msp1...msp4 r hsfc md sfc cdc cs
Default value 0 0 0 0 0 0 0
Done No - No Yes Yes No No
•
Cs (Code sequence): Only relevant for rotary encoders.
•
Cdc (Commissioning diagnostics control):
This bit activates (value = 1) the commissioning diagnostics control. These can
be user-specific/sensor-specific functions that are called, for example, during the
initialization phase. This bit can thus be used to switch a so-called self-test on and
off in the encoder.
This test should only be performed if the encoder positions are not used by any
other device (encoder standstill). The result of the self-test is displayed in object
6503h subindex 0h, bit 1 (cde).
A self-test is optional. That means this bit does not have to be supported. It is
recommended that object 6500h subindex 0h, bit 1 (cdc) indicates whether the
encoder has a self-test. The product does not currently have a self-test.
•
Sfc (Scaling function control): Activates (Sfc = 1) the scaling functions. These are
given via objects
6001h (Measuring Units per Revolution), 6002h (Total Measuring Range in Meas‐
uring Units) and 600Ah (High Resolution Total Measuring Range in Measuring
Units).
The DL100 Pro only supports 6002h. If Sfc is deactivated (value = 0), the above
object settings are ignored.
NOTE
If you want to activate Sfc, you must first delete an existing preset (see "Object
4006h Command", page 78). An existing preset is applied when the object 6509h
is not equal to 0. If the Sfc bit is set, no new preset should be set.
•
Md (Measuring direction): The md bit defines the counting direction and inverts the
current measured value.
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CANOPEN INTERFACE
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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 | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice