Siko AP10 Manuale utente

37/22

AP10

Absolute Position Indicator with CANopen

interface

User manual

 
 
AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 2 of 78 
Table of contents 
1General Information .................................................................................................. 5 
1 Documentation ........................................................................................................5
1.1 History ................................................................................................................5
2Intended use............................................................................................................. 5 
1 Switching on the supply voltage.................................................................................6
3Display and control keys ............................................................................................ 6 
1 General ...................................................................................................................6
2 LCD display..............................................................................................................7
2.1 Extended display range ..........................................................................................7
3 LED display..............................................................................................................7
4 Keys .......................................................................................................................7
4Functional Description ............................................................................................... 8 
1 Operating modes ......................................................................................................8
1.1 Position-bound operating modes.............................................................................9
1.1.1 Positioning.......................................................................................................9
1.1.2 Loop positioning .............................................................................................10 
1.2 Alpha-numeric display operating mode...................................................................11 
2 Battery buffering....................................................................................................12 
3 Parameterization of the position indicator .................................................................12 
3.1 Manual parameterization......................................................................................12 
3.1.1 Starting parameterization .................................................................................12 
3.1.2 Value input.....................................................................................................13 
3.1.3 Value selection................................................................................................13 
3.1.4 Adjustable parameters......................................................................................13 
3.2 Parameterization via interface ..............................................................................13 
4 Warnings / Errors....................................................................................................13 
4.1 Warnings ...........................................................................................................13 
4.2 Errors ................................................................................................................14 
5 System commands ..................................................................................................14 
5.1 Calibration .........................................................................................................14 
5.2 Restore factory settings .......................................................................................15 
5.3 Diagnosis...........................................................................................................16 
5Communication via CAN bus (CANopen) .................................................................... 16 
1 Telegram setup.......................................................................................................16 
2 Node control..........................................................................................................18 
2.1 Network management services (NMT) .....................................................................18 
2.1.1 NMT communication statuses ............................................................................18 
2.1.2 Switching between NMT communication states ....................................................19 
2.2 Boot-Up.............................................................................................................19 
2.3 SYNC object........................................................................................................19 

 
 
AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 3 of 78 
3 Process data exchange ............................................................................................20 
3.1 Transfer of Process Data Objects (PDO)...................................................................20 
3.1.1 Transmit PDO (from AP10 to the master).............................................................20 
3.1.2 Receive-PDO (from master to AP10) ...................................................................21 
3.2 Control word ......................................................................................................21 
3.3 Status word........................................................................................................22 
4 Parameter data exchange.........................................................................................23 
4.1 Transfer of Service data objects (SDO)....................................................................23 
4.2 Error Response....................................................................................................25 
4.3 Examples of SDO access........................................................................................25 
5 Node monitoring ....................................................................................................26 
5.1 Emergency Service (EMCY) ....................................................................................26 
5.2 Node Guarding....................................................................................................27 
5.3 Heartbeat ..........................................................................................................28 
5.4 External heartbeat...............................................................................................28 
5.5 Guarding Bit.......................................................................................................28 
6 Auto functions .......................................................................................................29 
6.1 Auto-Baud .........................................................................................................29 
6.2 Auto-ID .............................................................................................................29 
7 Directory of objects ................................................................................................31 
7.1 Overview of objects .............................................................................................31 
7.2 Description of objects..........................................................................................33 
7.2.1 1000h: Device Type..........................................................................................33 
7.2.2 1001h: Error Register .......................................................................................34 
7.2.3 1002h: Manufacturer Status Register ..................................................................34 
7.2.4 1003h: Pre-defined Error Field...........................................................................34 
7.2.5 1005h: COB-ID SYNC message............................................................................35 
7.2.6 1008h: Manufacturer Device Name .....................................................................36 
7.2.7 1009h: Manufacturer Hardware Version ...............................................................36 
7.2.8 100Ah: Manufacturer Software Version................................................................36 
7.2.9 100Ch: Guard Time...........................................................................................37 
7.2.10 100Dh: Life Time Factor....................................................................................37 
7.2.11 1010h: Store Parameter....................................................................................37 
7.2.12 1011h: Restore Parameter.................................................................................40 
7.2.13 1014h: COB-ID Emergency Message ....................................................................42 
7.2.14 1017h: Producer Heartbeat Time........................................................................42 
7.2.15 1018h: Identity Object.....................................................................................42 
7.2.16 1200h: Server SDO Parameter ............................................................................44 
7.2.17 1400h: 1. Receive PDO Parameter ......................................................................44 
7.2.18 1401h: 2. Receive PDO Parameter ......................................................................46 
7.2.19 1600h: 1. Receive PDO Mapping Parameter..........................................................47 
7.2.20 1601h: 2. Receive PDO Mapping Parameter..........................................................48 
7.2.21 1800h: 1. Transmit PDO Parameter .....................................................................49 
7.2.22 1801h: 2. Transmit PDO Parameter .....................................................................50 

 
 
AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 4 of 78 
7.2.23 1A00h: 1. Transmit PDO Mapping Parameter ........................................................52 
7.2.24 1A01h: 2. Transmit PDO Mapping Parameter ........................................................53 
7.2.25 2001h: Application Offset.................................................................................54 
7.2.26 2002h: Calibrate encoder value..........................................................................54 
7.2.27 2003h: Calibration enable.................................................................................55 
7.2.28 2004h: Incremental measurement enable ............................................................55 
7.2.29 2005h: Configuration enable via keyboard and delay of start of configuration ..........55 
7.2.30 5000h: Diagnosis of CAN bus errors ....................................................................57 
7.2.31 5F09h: External Heartbeat timer and external Heartbeat source..............................57 
7.2.32 5F0Ah: Node-ID, Auto-ID and Baud rate Bus CAN .................................................58 
7.2.33 5F0Bh: Display in the 2nd row ............................................................................59 
7.2.34 5F0Ch: Control word.........................................................................................59 
7.2.35 5F0Dh: Differential value and difference formation...............................................60 
7.2.36 5F10h: Target window1 (near field)....................................................................60 
7.2.37 5F11h: Decimal places......................................................................................61 
7.2.38 5F12h: Display orientation and LEDs ..................................................................61 
7.2.39 5F13h: Display divisor (ADI) and ADI application .................................................64 
7.2.40 5F14h: Loop length..........................................................................................65 
7.2.41 5F15h: Positioning type ...................................................................................65 
7.2.42 5F16h: Read target value..................................................................................65 
7.2.43 5F19h: Status word..........................................................................................67 
7.2.44 5F1Bh: Sensor type and operating mode .............................................................67 
7.2.45 5F1Ch: Acknowledgement settings .....................................................................68 
7.2.46 5F1Fh: Direction indicators (CW, CCW) ................................................................68 
7.2.47 5F21h: Target window2 (far) and target window2 visualization ..............................69 
7.2.48 6000h: Operating Parameters ............................................................................70 
7.2.49 6001h: Measuring steps per revolution (Display per revolution = APU) ....................70 
7.2.50 6002h: Total of measuring steps........................................................................71 
7.2.51 6003h: Preset value (calibration value)...............................................................71 
7.2.52 6004h: Position value ......................................................................................71 
7.2.53 6200h: Cycle Timer ..........................................................................................72 
7.2.54 6500h: Operating Status...................................................................................72 
7.2.55 6501h: Single-turn resolution............................................................................72 
7.2.56 6502h: Number of distinguishable revolutions .....................................................73 
7.2.57 6503h: Alarms.................................................................................................73 
7.2.58 6504h: Supported Alarms..................................................................................74 
7.2.59 6505h: Warnings .............................................................................................74 
7.2.60 6506h: Supported Warnings ..............................................................................75 
7.2.61 6507h: Profile and Software Version...................................................................75 
7.2.62 6508h: Operating Time.....................................................................................75 
7.2.63 6509h: Encoder calibration value .......................................................................76 
7.2.64 650Ah: Module Identification............................................................................76 
7.2.65 650Bh: Serial Number.......................................................................................77 
 

General Information

AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 5 of 78

1General Information

1.1 Documentation

The following documents describe this product:

•The data sheet describes the technical data, the dimensions, the pin assignments, the

accessories and the order key.

•The installation instructions describe the mechanical and electrical installation including

all safety-relevant requirements and the associated technical specification.

•The user manual for commissioning and integrating the position indicator into a fieldbus

system.

•EDS file (electronic data sheet); this file enables integration and configuration in a

CANopen network by means of commercial CANopen configurators.

These documents can also be downloaded at http://www.siko-global.com/p/ap10.

1.1.1 History

Mod. status

Date

Description

037/22

28.02.2022

from firmware V3.01

Chapter 1.1.1 History new

Chapter 3.2.1 Extended display range add text

Chapter 5.3.1.1 Transmit PDO (from AP10 to the master) revised

Chapter 5.3.1.2 Receive-PDO (from master to AP10) revised

Chapter 5.3.2 Control word revised

Chapter 5.3.3 Status word revised

Chapter 1A00h: 1. Transmit PDO Mapping Parameter revised

Chapter 1A01h: 2. Transmit PDO Mapping Parameter revised

Chapter 2005h: Configuration enable via keyboard and delay of

start of configuration revised

Chapter 5F16h: Read target value revised

Chapter 5F1Ch: Acknowledgement settings sub-index 1 revised

Chapter 6002h: Total of measuring steps revised

Chapter 6502h: Number of distinguishable revolutions revised

Chapter 6507h: Profile and Software Version revised

Chapter 650Ah: Module Identification revised

2Intended use

Absolute position indicator with hollow shaft suitable for direct shaft mounting. Actual and

target values are indicated via the backlit two-row LC display. A direction indicator (arrow) is

blended in if the actual value deviates from the target value including the adjustable target

window. The direction of the arrow indicates the direction of shaft movement necessary to

reach the target. Additionally, various visualization tasks can be realized by means of two bi-

color LEDs.

Display and control keys

AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 6 of 78

The device parameters can be adjusted by means of 3 keys. You can change the set point,

output the position value and adjust all device parameters via the integrated bus interface.

Scanning is magnetically incremental. In the currentless state, scanning and saving of

changes of the position value are battery-supported.

The state of charge of the replaceable battery is monitored and signified.

Display and interface are active with external power supply only.

2.1 Switching on the supply voltage

The AP10 will be initialized after switching on the supply voltage. A display test is executed

during initialization, the LEDs are lighted consecutively and the configuration parameters are

loaded from the non-volatile memory into the RAM of the controller.

With the display still unconfigured all parameters are set to their default values. See to it that

the bus will be connected only after correct adjustment of baud rate and ID (see chapter 4.3

and chapter 5.6). The AP10 functions with the data last parameterized.

After completing the initialization procedure, the AP10 with CAN interface sends a specific

NMT command, the Boot-Up Message, which informs the system about the availability of the

display. The AP10 is now in the Pre-Operational Mode. In this state, the display can be

parameterized via SDO commands in accordance with the requirements of the application. This

applies to configuration parameters as well as to the way it makes available to the system its

position values (asynchronous or synchronous data transmission).

3Display and control keys

3.1 General

The position indicator has a two-line display with special characters and three control keys.

The keys serve for position indicator parameterization and control. Two LEDs (1) serve for

monitoring positioning.

Fig. 1: Control elements

LED3+4

LED1+2

Display and control keys

AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 7 of 78

3.2 LCD display

The The display range is limited to -19999 … 99999. Values outside this

range are displayed with "".

With supply voltage applied to the position indicator with factory settings, the actual value

will be displayed in the 1st row and the set point in the 2nd row. If there is no valid set point,

"---" will be displayed in the 2nd row. The values displayed are determined by the operating

mode.

Direction indicators (arrows) support positioning.

The battery symbol is shown with a critical or insufficient battery status.

With incremental measurement function activated, the incremental measurement symbol

is shown.

If battery voltage drops to a critical value, the battery symbol on the display will flash. If it

falls below the minimum value, the symbol will glow permanently.

3.2.1 Extended display range

Values up to -999999 can be displayed by means of the control word. If the relevant bit has

been set and the value to be displayed is between -199999 and -999999, then the negative

sign and the digit of the highest order will flash alternately. If the value range drops below -

99999, "" will be displayed.

This function is not available in the alpha-numeric display mode for unacknowledged values.

3.3 LED display

In its basic state (factory setting) the LED display has different meanings depending on the

operating mode (see chapter 4.1.1 and 4.1.2).

With the basic function of the LEDs inactivated, every LED can be controlled independently via

the control word (see object 5F12h: Display orientation and LEDs and chapter 5.3.2).

3.4 Keys

Pressing the key enables or disables the incremental measurement function. With the

Auto-ID function, the new ID is adopted by actuating this key (see chapter 5.6).

Pressing the key starts calibration (see chapter 4.5.1) and acknowledges a pending error

(see chapter 4.4.2).

Pressing the key starts the parameterization mode (see chapter 4.3).

In the "Alpha-numeric display" operating mode, the set points previously received (set point1

and set point2) are acknowledged via the respective buttons depending on the

acknowledgment settings (see chapter 5.7.2.45).

Functional Description

AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 8 of 78

4Functional Description

4.1 Operating modes

The following position-dependent operating modes are differentiated: Absolute Position,

Differential Value, Modulo and the position-independent operating mode Alpha-numeric

Display.

Operating

mode

Absolute position

Differential value

Modulo

Alpha-numeric

Display

Line 1

Actual position

Set point1

Line 2

Set point

Differential value

Set point

Set point2

Table 1: Display with different operating modes

Absolute position:

Linear absolute position values are displayed.

Differential value display:

With factory setting: Differential value = actual position - set point

Modulo display:

Position values ranging from 0° to 359° are displayed.

Using the "Decimal places" parameter (see object 5F11h: Decimal places) the resolution and

the modulo point of the displayed values are set.

Decimal places

Display resolution

Display range

1°

0° …359°

1/10°

0.0° …35.9°

1/100°

0.00° …3.59°

1/1000°

0.000° …0.359°

1/10000°

0.0000° …0.0359°

Table 2: Modulo display

Alpha-numeric display:

Both rows can be written freely. Set point1 is received via the Receive data object 1 (RPDO1),

set point2 is received correspondingly with RPDO2. The data identifier must be correctly set in

the relevant control word. The data identifier differentiates whether the data is interpreted

and displayed as figures or alpha-numeric characters (ASCII) (see chapter 5.3.2).

Functional Description

AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 9 of 78

4.1.1 Position-bound operating modes

4.1.1.1 Positioning

(see chapter 4.1.1.2)

Arrows: (see object 5F1Fh: Direction indicators (CW, CCW))

Arrows are displayed to support the user with positioning as long as the current actual

position value is outside (see object 5F10h: Target window1 (near field)) target window1. The

direction of the arrow indicates the direction of shaft rotation in order to arrive at the set

point.

LED display: (see e. g. object 5F12h: Display orientation and LEDs)

With factory setting, the LED glows green as long as the actual position is within the

programmed window1. When leaving target window1, the LED glows red. The shaft must be

rotated in the direction of the glowing LED in order to arrive at the set point. The red glowing

LED on the right means: clockwise (cw) rotation required. Red glowing LED on the left:

counter-clockwise (ccw) rotation required.

An additional target window (target window2) and an associated visualization can also be

configured (5F21h: Target window2 (far) and target window2 visualization).

With factory settings, the LED display has the following meaning:

Operating state

LED

Status

Meaning

There is no valid set

point.

both

off

Positioning disabled.

There is a valid set

point.

LED left

off

Target window not reached!

The shaft must be rotated clockwise (cw) in

order to reach the target.

red

Target window not reached!

The shaft must be rotated counter-clockwise

(ccw) in order to reach the target.

green

Target window reached

LED right

off

Target window not reached!

The shaft must be rotated counter-clockwise

(ccw) in order to reach the target.

red

Target window not reached!

The shaft must be rotated clockwise (cw) in

order to reach the target.

green

Target window reached

Table 3: LED display

Control word (see chapter 5.3.2):

The set point is not displayed and positioning not monitored unless the set point is marked as

valid in the control word.

Status word (see chapter 5.3.3):

Upon reaching target window1, the static and dynamic target-window-reached bits are set in

the status word. The dynamic bit is deleted when leaving target window1. The user must

acknowledge the static bit.

Functional Description

AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 10 of 78

Example Position monitoring:

Parameterization: Factory setting

Additionally: Set point = 100

Fig. 2: Positioning monitoring

Example of position monitoring with additionally activated target window2 parameter:

Parameterization: Factory setting

Additionally: Target window 2 = 15

Visualization target window 2 = 1

Set point = 100

Fig. 3: Positioning monitoring with target window2

4.1.1.2 Loop positioning

Target window1 is also applied to the loop length.

If the position indicator is operated on a spindle or an additional gear, the spindle or external

gear backlash can be compensated by means of loop positioning. Therefore, movement

towards the set point is always in the same direction. This direction of approach can be

defined.

Example:

The direction from which every target position shall be driven to is positive.

100

Target

window1

105

LED left

Positioning monitoring

LED right

Target

window1

Target window2

LED left

Positioning monitoring

115

LED right

100

105

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