SICK DL100 Pro CANopen - Page 81

Subindex Name Description
1h Speed Value Chan‐
nel 1
The manufacturer-specific object 2001h Velocity is mapped
onto the object 6030h.
Object 6200h Cyclic Timer Value
This object contains the Event Timer of TPDO1. A change of the Event Timer TPDO1
automatically updates object 6200h and vice versa.
Object 6500h Operating Status
This object provides the operating status of the encoder functions configured in object
6000h.
Object 6501h Single-turn Resolution and Measuring Step
Specification of the resolution for the distance value as a multiple of 1nm (nanometer).
The resolution output here corresponds to the resolution set via objects 4000h or
6005h subindex 1. E.g. a resolution of 1mm corresponds to 1,000,000.
Object 6502h Number of Distinguishable Revolutions
For linear encoders, i.e. also for the DL100 Pro, this value is always “1”.
Object 6503h Alarms
The object indicates pending alarms according to object 6504h. If an error is present,
the associated bit is set to the value 1.
Bit Function
0 Plausibility error
1 ... 11 Reserve (reserve bit = 0)
12 Error laser
13 Level error
14 Temperature error
15 Reserve (reserve bit = 0)
Object 6504h Supported Alarms
The following alarms are supported:
Table 43: Supported alarms, bit-coded
Bit 15 14 13 12 11 ... 2 1 0
Name msa4 msa3 msa2 msa1 r cde pe
Default value 0 1 1 1 0 0 1
Supports No Yes Yes Yes – No Yes
•
pe (Position error): Plausibility error
•
r: Reserve
•
msa1 (Manufacturer-specific alarm1): Laser error
•
msa2 (Manufacturer-specific alarm2): Level error
•
msa3 (Manufacturer-specific alarm3): Temperature error
•
msa4: Reserve
Object 6505h Warnings
The object indicates pending warnings according to object 6506h. If a warning is
present, the associated bit is set to the value 1.
CANOPEN INTERFACE 10
8015418/19HA/2022-12-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen
81
Subject to change without notice