Siko AP10 - Page 30

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Communication via CAN bus (CANopen)

AP10

Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 30 of 78

Fig. 6: Auto-ID function

Main Page

Table of Contents2
General Information5
Documentation5
History5
Intended Use5
Switching on the Supply Voltage6
Display and Control Keys6
General6
LCD Display7
Extended Display Range7
LED Display7
Keys7
Functional Description8
Operating Modes8
Position-Bound Operating Modes9
Positioning9
Loop Positioning10
Alpha-Numeric Display Operating Mode11
Battery Buffering12
Parameterization of the Position Indicator12
Manual Parameterization12
Starting Parameterization12
Value Input13
Value Selection13
Adjustable Parameters13
Parameterization Via Interface13
Warnings / Errors13
Warnings13
Errors14
System Commands14
Calibration14
Restore Factory Settings15
Diagnosis16
Communication Via CAN Bus (Canopen)16
Telegram Setup16
Node Control18
Network Management Services (NMT)18
NMT Communication Statuses18
Switching between NMT Communication States19
Boot-Up19
SYNC Object19
Process Data Exchange20
Transfer of Process Data Objects (PDO)20
Transmit PDO (from AP10 to the Master)20
Receive-PDO (from Master to AP10)21
Control Word21
Status Word22
Parameter Data Exchange23
Transfer of Service Data Objects (SDO)23
Error Response25
Examples of SDO Access25
Node Monitoring26
Emergency Service (EMCY)26
Node Guarding27
Heartbeat28
External Heartbeat28
Guarding Bit28
Auto Functions29
Auto-Baud29
Auto-ID29
Directory of Objects31
Overview of Objects31
Description of Objects33
1000H: Device Type33
1001H: Error Register34
1002H: Manufacturer Status Register34
1003H: Pre-Defined Error Field34
1005H: COB-ID SYNC Message35
1008H: Manufacturer Device Name36
1009H: Manufacturer Hardware Version36
100Ah: Manufacturer Software Version36
100Ch: Guard Time37
100Dh: Life Time Factor37
1010H: Store Parameter37
1011H: Restore Parameter40
1014H: COB-ID Emergency Message42
1017H: Producer Heartbeat Time42
1018H: Identity Object42
1200H: Server SDO Parameter44
1400H: 1. Receive PDO Parameter44
1401H: 2. Receive PDO Parameter46
1600H: 1. Receive PDO Mapping Parameter47
1601H: 2. Receive PDO Mapping Parameter48
1800H: 1. Transmit PDO Parameter49
1801H: 2. Transmit PDO Parameter50
1A00H: 1. Transmit PDO Mapping Parameter52
1A01H: 2. Transmit PDO Mapping Parameter53
2001H: Application Offset54
2002H: Calibrate Encoder Value54
2003H: Calibration Enable55
2004H: Incremental Measurement Enable55
2005H: Configuration Enable Via Keyboard and Delay of Start of Configuration55
5000H: Diagnosis of CAN Bus Errors57
5F09H: External Heartbeat Timer and External Heartbeat Source57
5F0Ah: Node-ID, Auto-ID and Baud Rate Bus CAN58
5F0Bh: Display in the 259
Nd Row59
5F0Ch: Control Word59
5F0Dh: Differential Value and Difference Formation60
5F10H: Target Window1 (Near Field)60
5F11H: Decimal Places61
5F12H: Display Orientation and Leds61
5F13H: Display Divisor (ADI) and ADI Application64
5F14H: Loop Length65
5F15H: Positioning Type65
5F16H: Read Target Value65
5F19H: Status Word67
5F1Bh: Sensor Type and Operating Mode67
5F1Ch: Acknowledgement Settings68
5F1Fh: Direction Indicators (CW, CCW)68
5F21H: Target Window2 (Far) and Target Window2 Visualization69
6000H: Operating Parameters70
6001H: Measuring Steps Per Revolution (Display Per Revolution = APU)70
6002H: Total of Measuring Steps71
6003H: Preset Value (Calibration Value)71
6004H: Position Value71
6200H: Cycle Timer72
6500H: Operating Status72
6501H: Single-Turn Resolution72
6502H: Number of Distinguishable Revolutions73
6503H: Alarms73
6504H: Supported Alarms74
6505H: Warnings74
6506H: Supported Warnings75
6507H: Profile and Software Version75
6508H: Operating Time75
6509H: Encoder Calibration Value76
650Ah: Module Identification76
650Bh: Serial Number77

Siko AP10 - Page 30

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