Siko AP20S Manual de usuario

145/19

AP20S

Absolute / Electronic Position Indicator with

plug connector for magnetic sensor and

interface

User manual

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 2 of 82

Table of contents

1General Information .................................................................................................. 6

1.1 Documentation ........................................................................................................6

1.2 Definitions ..............................................................................................................6

1.3 Intended use ...........................................................................................................6

1.4 Switching on the operating voltage.............................................................................7

2Display and control keys ............................................................................................ 7

2.1 General ...................................................................................................................7

2.2 LCD display..............................................................................................................7

2.2.1 Extended display range ..........................................................................................8

2.3 LED display..............................................................................................................8

2.3.1 Positioning status.................................................................................................8

2.3.1.1 Device status LED1, LED2....................................................................................8

2.3.2 EtherCAT module status .........................................................................................9

2.3.2.1 RUN LED3 .........................................................................................................9

2.3.2.2 Link/Activity LED4, LED5 ....................................................................................9

2.3.2.3 Module status LED6............................................................................................9

2.4 Control keys.............................................................................................................9

3Functional Description ............................................................................................. 10

3.1 Operating modes ....................................................................................................10

3.1.1 Position-bound operating modes...........................................................................10

3.1.1.1 Target window ................................................................................................11

3.1.1.2 Directional arrows............................................................................................11

3.1.1.3 LED display.....................................................................................................12

3.1.1.4 Loop positioning .............................................................................................12

3.1.2 Control word: Position-dependent operating modes .................................................13

3.1.3 Status word: Position-dependent operating modes...................................................14

3.1.4 Alpha-numeric display operating mode...................................................................14

3.1.5 Control word: Alpha-numeric display operating mode ...............................................15

3.1.6 Status word: Alpha-numeric display operating mode.................................................16

3.2 Battery buffering....................................................................................................17

3.3 Parameterization of the position indicator .................................................................17

3.3.1 Manual parameterization......................................................................................18

3.3.1.1 Starting parameterization .................................................................................18

3.3.1.2 Value input.....................................................................................................18

3.3.1.3 Value selection................................................................................................18

3.3.1.4 Overview of the operating menu ........................................................................19

3.3.1.5 "Changeable parameters" menu .........................................................................20

3.3.1.6 Quick Setup ....................................................................................................20

3.3.1.7 EtherCAT ........................................................................................................20

3.3.1.8 Positioning.....................................................................................................21

3.3.1.9 Visualization...................................................................................................21

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 3 of 82

3.3.1.10 LED function...................................................................................................22

3.3.1.11 Device options ................................................................................................22

3.3.2 Parameterization via interface ..............................................................................22

3.4 Sensor ..................................................................................................................23

3.5 Alignment travel ....................................................................................................23

3.6 Calibration ............................................................................................................23

3.7 Additional functions ...............................................................................................24

3.7.1 Device data........................................................................................................24

3.7.2 Diagnosis...........................................................................................................24

3.7.2.1 Reading the error memories ..............................................................................24

3.7.2.2 Presentation ...................................................................................................25

3.7.3 Restore factory settings .......................................................................................25

3.8 Warnings / Errors....................................................................................................25

3.8.1 Warnings ...........................................................................................................25

3.8.2 Errors ................................................................................................................26

4Parameters.............................................................................................................. 27

4.1 Parameter overview.................................................................................................27

4.2 Positioning............................................................................................................30

4.2.1 Resolution .........................................................................................................30

4.2.2 Decimal Places....................................................................................................30

4.2.3 Counting Direction ..............................................................................................31

4.2.4 Calibration Value.................................................................................................32

4.2.5 Offset Application ...............................................................................................32

4.2.6 Target Window....................................................................................................33

4.2.7 Target Window Extended ......................................................................................33

4.2.8 Loop Type ..........................................................................................................34

4.2.9 Loop Length.......................................................................................................35

4.2.10 Control Word ......................................................................................................35

4.2.11 Status Word .......................................................................................................36

4.2.12 Target Value.......................................................................................................36

4.2.13 Actual Value.......................................................................................................37

4.2.14 Speed Value .......................................................................................................37

4.3 Visualization..........................................................................................................38

4.3.1 Display Orientation .............................................................................................38

4.3.2 Direction Indicators ............................................................................................38

4.3.3 Displayed Value 2nd Line .....................................................................................39

4.3.4 Target Window Extended Visualization ...................................................................39

4.3.5 Active Backlight White.........................................................................................40

4.3.6 Active Backlight Red ...........................................................................................41

4.3.7 Active Backlight Flashing .....................................................................................41

4.4 LEDs .....................................................................................................................42

4.4.1 LED1 Green Mode ................................................................................................42

4.4.2 LED1 Red Mode ...................................................................................................42

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 4 of 82

4.4.3 LED2 Green Mode ................................................................................................43

4.4.4 LED2 Red Mode ...................................................................................................44

4.4.5 Active LED Flashing .............................................................................................44

4.5 Options.................................................................................................................45

4.5.1 Operating Mode ..................................................................................................45

4.5.2 Sensor Type........................................................................................................45

4.5.3 Display Data.......................................................................................................46

4.5.4 Display String Mode.............................................................................................47

4.5.5 Display String1 ...................................................................................................47

4.5.6 Display String2 ...................................................................................................48

4.5.7 Difference Value..................................................................................................48

4.5.8 Difference Value Mode .........................................................................................49

4.5.9 Display Factor.....................................................................................................49

4.5.10 Display Divisor....................................................................................................51

4.5.11 Display Divisor Mode ...........................................................................................51

4.5.12 Key Enable Time..................................................................................................52

4.5.13 Key Configuration ...............................................................................................53

4.5.14 Key Calibration ...................................................................................................53

4.5.15 Key Incremental..................................................................................................54

4.5.16 Key Acknowledgment Mode...................................................................................54

4.5.17 PIN Change ........................................................................................................55

4.5.18 CODE Input ........................................................................................................56

4.5.19 Generic Mapping Parameter ..................................................................................56

4.5.20 System Configuration...........................................................................................57

4.5.21 Module Parameters ..............................................................................................58

4.5.22 System Command ................................................................................................58

4.6 Device information .................................................................................................59

4.6.1 Battery Voltage...................................................................................................59

4.6.2 Operation Voltage ...............................................................................................60

4.6.3 Temperature.......................................................................................................60

4.6.4 Actual Calibration Value.......................................................................................61

4.6.5 Software Version Application ................................................................................61

4.6.6 Software Version Ethernet Module .........................................................................62

4.6.7 Serial Number.....................................................................................................62

4.6.8 Production Date..................................................................................................63

4.6.9 MAC Address.......................................................................................................63

4.6.10 Device Identification...........................................................................................64

4.6.11 Generic Mapping Channel .....................................................................................64

4.7 Error Memory .........................................................................................................65

4.7.1 Error Count ........................................................................................................65

4.7.2 Error Number 1 ...................................................................................................65

4.7.3 Error Number 2 ...................................................................................................66

4.7.4 Error Number 3 ...................................................................................................66

4.7.5 Error Number 4 ...................................................................................................67

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4.7.6 Error Number 5 ...................................................................................................67

4.7.7 Error Number 6 ...................................................................................................68

4.7.8 Error Number 7 ...................................................................................................68

4.7.9 Error Number 8 ...................................................................................................69

4.7.10 Error Number 9 ...................................................................................................69

4.7.11 Error Number 10..................................................................................................70

4.7.12 Error Status........................................................................................................70

5EtherCAT® ............................................................................................................... 71

5.1 Description............................................................................................................71

5.1.1 Configuration .....................................................................................................71

5.1.2 Cyclic data exchange ...........................................................................................71

5.1.3 Acyclic data exchange .........................................................................................71

5.1.4 Operating modes and synchronization....................................................................72

5.1.5 Emergency Messages............................................................................................72

5.2 Directory of objects (CANopen over EtherCAT®)...........................................................72

5.2.1 Parameter description of standard objects ..............................................................72

5.2.1.1 1000h: Device Type..........................................................................................72

5.2.1.2 1001h: ErrorRegister ........................................................................................73

5.2.1.3 1003h: Pre-defined Error Field ...........................................................................73

5.2.1.4 1008h: Manufacturer Device Name .....................................................................73

5.2.1.5 1009h: Manufacturer Hardware Version ...............................................................73

5.2.1.6 100Ah: Manufacturer Software Version................................................................74

5.2.1.7 1011h: Restore Default Parameters.....................................................................74

5.2.1.8 1018h: Identity Object.....................................................................................74

5.2.1.9 1600h: Receive PDO Mapping ............................................................................75

5.2.1.10 1A00h: Transmit PDO Mapping...........................................................................76

5.2.1.11 1C00h: Sync Manager Communication Type..........................................................77

5.2.1.12 1C12h: Sync Manager Rx PDO Assign ..................................................................77

5.2.1.13 1C13h: Sync Manager Tx PDO Assign...................................................................78

5.2.1.14 1F32h: SM Output Parameter .............................................................................78

5.2.1.15 1F33h: SM Input Parameter...............................................................................80

5.2.2 Parameter description of manufacturer-specific objects ............................................81

5.3 Commissioning aids ................................................................................................81

6Block diagram ......................................................................................................... 81

General Information

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 6 of 82

1General Information

1.1 Documentation

The following documents are associated with this document:

The data sheet describes the technical data, the dimensions, the pin assignment, the

accessories and the order key.

The installation instructions describe the mechanical and electrical installation with all

safety-relevant conditions and the associated technical specifications.

The User manual for actuator commissioning and integration into a fieldbus system.

You can also download these documents at http://www.siko-global.com/p/ap20s.

Additional information and guidance regarding this device can also be found there.

1.2 Definitions

If not explicitly stated otherwise, decimal values are given as figures without an extension (e.

g. 1234), binary values are marked after the figure with a b (e. g. 1011b), hexadecimal values

with an h (e. g. 280h). Individual bits of larger logic units are named with their value after a

dot (e. g., CW.9; control word bit 9).

1.3 Intended use

For the further functional description, normal operation of the system with unchanged factory

setting is assumed unless otherwise described.

The present device is an absolute position indicator with integrated Industrial Ethernet

interface and a plug-in connection for MS500H magnetic sensor for direct linear distance

measurement (combined with MB500 magnetic tape) or a supported GS04 hollow shaft sensor

for direct shaft mounting. Indicators, control buttons and interface are only active with

external power supply. The sensor of measurement encoder works magnetically incrementally.

Without an external power supply, encoder changes are recorded with battery support. The

status of the replaceable battery is monitored. A volatile target value can be displayed below

the actual value via the backlit two-line LC display. A direction display (indicator) is displayed

if there is a deviation between the actual value and the target window (target value including

Target Window parameter). The indicator direction indicates in which direction the sensor

must be moved to reach the target window. In addition, the position status of two two-color

LEDs (green and red) is displayed. Device malfunctions or inadmissible operating states are

recorded in an error memory. Since both linear magnet sensors and rotary encoders are used

with the AP20S, a clockwise direction of rotation must be equated with a positive travel path.

The buttons can be used to select various functions and to adapt the device parameters stored

in a non-volatile memory to the application. The actual value can be queried via the interface,

the target value can be changed and all device parameters can be adjusted.

Display and control keys

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 7 of 82

1.4 Switching on the operating voltage

The AP20S will be initialized after switching on the supply voltage. A system and display test

is executed during initialization, the LEDs are lighted consecutively and the parameters are

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

At first use, the default values are used during initialization. After the return of the external

power supply or software reset (warm start), the AP20S works with the last saved parameters.

Unless a fault has been detected, the AP20S starts normal operation.

2Display and control keys

2.1 General

Fig. 1: Display and control elements

2.2 LCD display

The display range is limited to -199999 … 999999. Values outside this

range are displayed with "FULL".

The actual value is displayed in the first line and "----" in the second line. The target value

can be declared valid by means of CW.9 = 1 and displayed in the second line. If necessary, a

direction indicator (arrow) is also displayed.

The battery status is indicated by the battery symbol . If battery voltage Target value

acknowledgment mode critical value, the battery symbol on the display will flash. If the value

falls below a minimum value or if the battery is missing, the symbol lights permanently.

LED1

LED2

Display

LED3 (RN)

LED4 (LA IN)

LED6 (ER)

LED5 (LA OUT)

Key Calibration

Key Incremental

measurement

Key Configuration

Display and control keys

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 8 of 82

With incremental measurement function activated, the incremental measurement symbol

is shown.

This is signaled in red letters in the event of a fault.

Fig. 2: Two-line 14 segment LCD display

2.2.1 Extended display range

Values up to -199999 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

-999999, "FULL" will be displayed.

2.3 LED display

2.3.1 Positioning status

A test sequence is executed on these LEDs during initialization.

When the target value is displayed, the LED1, LED2 inform about a deviation between the

actual value and the target window. The function of positioning status LEDs can be

configured.

2.3.1.1 Device status LED1, LED2

LED states valid at factory setting.

LED state

Description

off

No operating voltage or no valid target value.

green

Valid target value, actual value in the target window.

red

Valid target value, actual value outside target window.

In order for LED1 or LED2 to be controlled via the control word, this function of the LEDs must

be activated by means of parameters.

Incremetal

measurement

symbol

Display line 1

Battery symbol

Clockwise rotation

direction

Display line 2

Counterclockwise

rotation direction

Display and control keys

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 9 of 82

2.3.2 EtherCAT module status

A test sequence is executed on these LEDs during initialization.

LED3, LED4, LED5, and LED6 inform about the status of the Ethernet module. The functions of

the Ethernet module LEDs are permanently defined and cannot be changed.

2.3.2.1 RUN LED3

LED state

Description

off

EtherCAT® in the INIT state or no operating voltage

green

EtherCAT® in the OPERATIONAL state

green, flashing

EtherCAT® in the PRE-OPERATIONAL state

green, flashing 1x

EtherCAT® in the SAFE-OPERATIONAL state

green, flickers

EtherCAT® in the BOOT state

red

Fatal error

2.3.2.2 Link/Activity LED4, LED5

LED state

Description

off

no error or no operating voltage

green

connection detected, no activity

green, flickers

connection detected, activity

2.3.2.3 Module status LED6

LED state

Description

off

No error or no operating voltage

red, flashing

Invalid configuration

red, flashing 1x

Unrequested status change

red, flashing 2x

Sync Manager Watchdog Timeout

red

EtherCAT module in the EXCEPTION status

red, flickers

Boot error detected

2.4 Control keys

Pressing the Incremental button switches the increment function or a relative

measurement on or off.

Pressing the Calibration button starts the calibration and acknowledges an existing fault.

In the "Alphanumeric display" operating mode, the receipt of a set point is acknowledged by

this action.

Pressing the Configuration button starts the parameterization.

Functional Description

AP20S Date: 04.06.2019 Art. No. 89988 Mod. status 145/19 Page 10 of 82

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