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AP10
Siko AP10 User Manual
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Communication via
CAN bus (CANopen)
AP10
Date: 28
.0
2.20
22
Art. No. 86853
Mod. status
37
/
22
Page
62
of
78
Sub-index
02h
Description
LED1 gr
ee
n
le
ft
Access
rw
PDO mapping
no
Data type
UNSIGNED 8
Default
1h
EEPROM
yes
Data content
0: O
ff
1: position-depende
nt
Sub-index
03h
Description
LED2 r
ed
left
Access
rw
PDO mapping
no
Data type
UNSIGNED 8
Default
1h
EEPROM
yes
Data content
0: O
ff
1: position-depende
nt
Sub-index
04h
Description
LED3 gr
ee
n
rig
ht
Access
rw
PDO mapping
no
Data type
UNSIGNED 8
Default
1h
EEPROM
yes
Data content
0: Off
1: position-depende
nt
Sub-index
05h
Description
LED4 r
ed
right
Access
rw
PDO mapping
no
Data type
UNSIGNED 8
Default
1h
EEPROM
yes
Data content
0: Off
1: position-depende
nt
61
63
Table of Contents
Table of Contents
2
General Information
5
Documentation
5
History
5
Intended Use
5
Switching on the Supply Voltage
6
Display and Control Keys
6
General
6
LCD Display
7
Extended Display Range
7
LED Display
7
Keys
7
Functional Description
8
Operating Modes
8
Position-Bound Operating Modes
9
Positioning
9
Loop Positioning
10
Alpha-Numeric Display Operating Mode
11
Battery Buffering
12
Parameterization of the Position Indicator
12
Manual Parameterization
12
Starting Parameterization
12
Value Input
13
Value Selection
13
Adjustable Parameters
13
Parameterization Via Interface
13
Warnings / Errors
13
Warnings
13
Errors
14
System Commands
14
Calibration
14
Restore Factory Settings
15
Diagnosis
16
Communication Via CAN Bus (Canopen)
16
Telegram Setup
16
Node Control
18
Network Management Services (NMT)
18
NMT Communication Statuses
18
Switching between NMT Communication States
19
Boot-Up
19
SYNC Object
19
Process Data Exchange
20
Transfer of Process Data Objects (PDO)
20
Transmit PDO (from AP10 to the Master)
20
Receive-PDO (from Master to AP10)
21
Control Word
21
Status Word
22
Parameter Data Exchange
23
Transfer of Service Data Objects (SDO)
23
Error Response
25
Examples of SDO Access
25
Node Monitoring
26
Emergency Service (EMCY)
26
Node Guarding
27
Heartbeat
28
External Heartbeat
28
Guarding Bit
28
Auto Functions
29
Auto-Baud
29
Auto-ID
29
Directory of Objects
31
Overview of Objects
31
Description of Objects
33
1000H: Device Type
33
1001H: Error Register
34
1002H: Manufacturer Status Register
34
1003H: Pre-Defined Error Field
34
1005H: COB-ID SYNC Message
35
1008H: Manufacturer Device Name
36
1009H: Manufacturer Hardware Version
36
100Ah: Manufacturer Software Version
36
100Ch: Guard Time
37
100Dh: Life Time Factor
37
1010H: Store Parameter
37
1011H: Restore Parameter
40
1014H: COB-ID Emergency Message
42
1017H: Producer Heartbeat Time
42
1018H: Identity Object
42
1200H: Server SDO Parameter
44
1400H: 1. Receive PDO Parameter
44
1401H: 2. Receive PDO Parameter
46
1600H: 1. Receive PDO Mapping Parameter
47
1601H: 2. Receive PDO Mapping Parameter
48
1800H: 1. Transmit PDO Parameter
49
1801H: 2. Transmit PDO Parameter
50
1A00H: 1. Transmit PDO Mapping Parameter
52
1A01H: 2. Transmit PDO Mapping Parameter
53
2001H: Application Offset
54
2002H: Calibrate Encoder Value
54
2003H: Calibration Enable
55
2004H: Incremental Measurement Enable
55
2005H: Configuration Enable Via Keyboard and Delay of Start of Configuration
55
5000H: Diagnosis of CAN Bus Errors
57
5F09H: External Heartbeat Timer and External Heartbeat Source
57
5F0Ah: Node-ID, Auto-ID and Baud Rate Bus CAN
58
5F0Bh: Display in the 2
59
Nd Row
59
5F0Ch: Control Word
59
5F0Dh: Differential Value and Difference Formation
60
5F10H: Target Window1 (Near Field)
60
5F11H: Decimal Places
61
5F12H: Display Orientation and Leds
61
5F13H: Display Divisor (ADI) and ADI Application
64
5F14H: Loop Length
65
5F15H: Positioning Type
65
5F16H: Read Target Value
65
5F19H: Status Word
67
5F1Bh: Sensor Type and Operating Mode
67
5F1Ch: Acknowledgement Settings
68
5F1Fh: Direction Indicators (CW, CCW)
68
5F21H: Target Window2 (Far) and Target Window2 Visualization
69
6000H: Operating Parameters
70
6001H: Measuring Steps Per Revolution (Display Per Revolution = APU)
70
6002H: Total of Measuring Steps
71
6003H: Preset Value (Calibration Value)
71
6004H: Position Value
71
6200H: Cycle Timer
72
6500H: Operating Status
72
6501H: Single-Turn Resolution
72
6502H: Number of Distinguishable Revolutions
73
6503H: Alarms
73
6504H: Supported Alarms
74
6505H: Warnings
74
6506H: Supported Warnings
75
6507H: Profile and Software Version
75
6508H: Operating Time
75
6509H: Encoder Calibration Value
76
650Ah: Module Identification
76
650Bh: Serial Number
77
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Siko AP10 Specifications
General
Brand
Siko
Model
AP10
Category
Measuring Instruments
Language
English
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