SICK DL100 Pro CANopen - Page 80

NOTE
When activating the preset, the output of measured values of the distance sensor will
be temporarily unavailable. We recommend carrying out the preset while the machine
is at a standstill or running at very low speeds. The maximum activation number is
typically around 10,000 cycles. The offset value calculated when activating the preset
is permanently saved in the device.
NOTE
Resetting a previously set preset and the offset calculated from it is done via the
fieldbus interface (see "Object 4006h Command", page 78).
Object 6004h Position Value
According to the CiA 406 specification, object 6004h Position Value is of data type
uInt32 and can only display positive values. If there is a negative value, the object
6004h is assigned the value of 0.
The manufacturer-specific object 2000h Distance must be used in order to represent
negative values. This is mapped to object 6004h.
Object 6005h Linear Encoder Measuring Step Settings
This object has the same functionality as object 4000h. The difference is that any
resolution can be specified between the lowest and the highest resolution.
Subindex Name Description
0h Linear Encoder
Measuring Step Set‐
tings
Specification of the number of subindices within the object
6005h.
1h Position Measuring
Step
Resolution as a multiple of 1nm (nanometer) within range
1nm...100,000,000nm.
2h Speed Measuring
Steps
Specify as a multiple of 0.01mm/s within range 0.01mm/
s...100mm/s.
Object 6010h Preset Values for Multi-Sensor Devices
This object has no function (no implementation) and is not listed in the EDS file.
According to specification CiA 406 V3.2.0, table 18, page 16, object 6010h is specified
as mandatory for class 2, but only for encoders of type 10d. The encoder here is of type
8d (Absolute Linear Encoder).
See specification CiA 406 V3.2.0, page 23: “This object is only mandatory for multi-sen‐
sor encoders (object 1000h encoder type: code 10d).”
Object 6020h Position Values for Multi-Sensor Devices
This object has no function (no implementation) and is not listed in the EDS file.
According to specification CiA 406 V3.2.0, table 18, page 16, object 6010h is specified
as mandatory for class 2, but only for encoders of type 10d. The encoder here is of type
8d (Absolute Linear Encoder).
See specification CiA 406 V3.2.0, page 24: “This object is only mandatory for multi-sen‐
sor encoders (object 1000h encoder type: code 10d).”
Object 6030h Speed Value
Subindex Name Description
0h Number of Available
Channels
Specification of available channels
10 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