SICK HIPERFACE DSL - Default Chapter; Table of Contents

Contents
1 List of figures..................................................................................... 5
2 Scope of application of the document........................................... 6
2.1 Symbols used............................................................................................ 6
2.2 Associated documents............................................................................. 6
2.3 HIPERFACE DSL
®
for Motor Feedback Systems...................................... 6
2.4 Features of HIPERFACE DSL
®
.................................................................. 7
3 Protocol overview.............................................................................. 9
3.1 Process data channel............................................................................... 11
3.2 Safe Channel 1......................................................................................... 12
3.3 Safe Channel 2......................................................................................... 13
3.4 Parameters Channel................................................................................. 13
3.5 SensorHub Channel.................................................................................. 13
4 Hardware installation....................................................................... 15
4.1 Interface circuit......................................................................................... 15
4.2 FPGA IP Core............................................................................................. 18
4.3 Cable specification................................................................................... 21
5 Interfaces............................................................................................ 22
5.1 Drive interface........................................................................................... 22
5.2 SPI PIPE Interface..................................................................................... 23
5.3 Control signals.......................................................................................... 24
5.4 Test signals............................................................................................... 26
6 Register map...................................................................................... 29
6.1 Explanation of the registers..................................................................... 29
6.2 Online Status D......................................................................................... 30
6.3 DSL Master function register................................................................... 32
6.4 Function register for the DSL Slave......................................................... 55
7 Central functions............................................................................... 59
7.1 System start.............................................................................................. 59
7.2 System diagnostics................................................................................... 60
7.3 Fast position.............................................................................................. 61
7.4 Safe position, Channel 1.......................................................................... 66
7.5 Parameters Channel................................................................................. 67
7.6 Status and error messages...................................................................... 74
8 Motor feedback system resources.................................................. 86
8.1 Access to resources.................................................................................. 86
8.2 Resources list............................................................................................ 89
8.3 Node.......................................................................................................... 90
8.4 Identification resources............................................................................ 93
CONTENTS
8017595/ZTW6/2018-01-15 | SICK T E C H N I C A L I N F O R M A T I O N | HIPERFACE DSL
®
3
Subject to change without notice