SICO SGH10 User manual

153/20

SGH10 / SGH10L

Absolute wire-actuated encoder with CANopen

interface

User manual

General Information

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 2 of 57

Table of contents

1General Information .................................................................................................. 5

1.1 Documentation ........................................................................................... 5

1.2 Definitions ................................................................................................. 5

2Intended use............................................................................................................. 5

2.1 Switching on the supply voltage .................................................................... 5

3Functional description ............................................................................................... 6

3.1 Counting direction....................................................................................... 6

3.2 Calibration ................................................................................................. 6

3.3 Reset to factory settings............................................................................... 6

4Communication via CAN bus (CANopen) ...................................................................... 6

4.1 Frame structure........................................................................................... 6

4.2 Node control .............................................................................................. 8

4.2.1 Network management (NMT) services .......................................................................8

4.2.1.1 NMT communication states .................................................................................9

4.2.1.2 Toggling between the NMT communication statuses ...............................................9

4.2.2 Boot-Up.............................................................................................................10

4.2.3 SYNC object........................................................................................................10

4.3 Process data exchange ................................................................................10

4.3.1 Transmission of process data objects (PDO) ............................................................10

4.3.1.1 Transmit PDO (from the SGH10 / SGH10L to the master) .......................................10

4.4 Parameter data exchange.............................................................................11

4.4.1 Transmission of Service Data Objects (SDO).............................................................11

4.4.1.1 Expedited Request/Response .............................................................................12

4.4.1.2 Normal Request/Response.................................................................................13

4.4.1.3 Error Response in SDO exchange ........................................................................14

4.4.1.4 SDO examples .................................................................................................14

4.5 Node monitoring ........................................................................................16

4.5.1 Emergency Service (EMCY) ....................................................................................16

4.5.2 Node Guarding....................................................................................................17

4.5.3 Heartbeat ..........................................................................................................18

4.6 Layer Setting Service (LSS) ..........................................................................18

4.6.1 State change ......................................................................................................19

4.6.1.1 Switch states of all LSS devices (Switch state global) ...........................................19

4.6.1.2 Switch states of individual LSS devices (Switch state selective)..............................20

4.6.2 Configuration .....................................................................................................20

4.6.2.1 Setting the node ID (Configure Node-ID) ............................................................20

4.6.2.2 Configuration of the baud rate (Configure bit timing parameters)...........................21

4.6.2.3 Activate baud rate (Activate bit timing parameters) .............................................22

4.6.2.4 Store configuration..........................................................................................23

4.6.3 Requesting parameters.........................................................................................23

General Information

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 3 of 57

4.6.3.1 Request Vendor ID ...........................................................................................24

4.6.3.2 Request Product Code.......................................................................................24

4.6.3.3 Request revision number...................................................................................24

4.6.3.4 Request serial number ......................................................................................25

4.6.3.5 Request Node ID..............................................................................................25

4.7 Directory of objects ....................................................................................25

4.7.1 Overview of objects .............................................................................................25

4.7.2 Object description...............................................................................................27

4.7.2.1 1000h: Device Type..........................................................................................27

4.7.2.2 1001h: Error Register .......................................................................................28

4.7.2.3 1002h: Manufacturer Status Register ..................................................................28

4.7.2.4 1003h: Pre-defined Error Field...........................................................................28

4.7.2.5 1005h: COB-ID SYNC-message............................................................................29

4.7.2.6 1008h: Manufacturer Device Name .....................................................................30

4.7.2.7 1009h: Manufacturer Hardware Version ...............................................................30

4.7.2.8 100Ah: Manufacturer Software Version................................................................30

4.7.2.9 100Ch: Guard Time...........................................................................................31

4.7.2.10 100Dh: Life Time Factor....................................................................................31

4.7.2.11 1010h: Store Parameter....................................................................................31

4.7.2.12 1011h: Restore Parameter.................................................................................33

4.7.2.13 1014h: COB-ID Emergency message ....................................................................36

4.7.2.14 1017h: Producer Heartbeat Time........................................................................36

4.7.2.15 1018h: Identity Object.....................................................................................37

4.7.2.16 1200h: Server SDO Parameter ............................................................................38

4.7.2.17 1800h: 1st Transmit PDO Parameter.....................................................................39

4.7.2.18 1801h: 2nd Transmit PDO Parameter ....................................................................40

4.7.2.19 1A00h: 1st Transmit PDO Mapping Parameter........................................................42

4.7.2.20 1A01h: 2nd Transmit PDO Mapping Parameter .......................................................42

4.7.2.21 5000h: Diagnosis CAN Bus error.........................................................................43

4.7.2.22 5F0Ah: Node-ID and baud rate of Bus CAN ..........................................................44

4.7.2.23 6000h: Operating Parameters ............................................................................45

4.7.2.24 6002h: Overall number of measurement steps ......................................................45

4.7.2.25 6003h: Preset value (calibration value)...............................................................45

4.7.2.26 6004h: Position value ......................................................................................46

4.7.2.27 6005h: Resolution ...........................................................................................46

4.7.2.28 6010h: Calibration value...................................................................................47

4.7.2.29 6020h: Position value ......................................................................................47

4.7.2.30 6030h: Velocity...............................................................................................48

4.7.2.31 6200h: Cycle timer...........................................................................................48

4.7.2.32 6400h: Operating range (Area state register).......................................................49

4.7.2.33 6401h: Work Area Low Limit..............................................................................50

4.7.2.34 6402h: Work Area High Limit ............................................................................50

4.7.2.35 6500h: Operating Status...................................................................................51

4.7.2.36 6501h: Single-turn resolution............................................................................52

General Information

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 4 of 57

4.7.2.37 6502h: Number of distinguishable revolutions .....................................................52

4.7.2.38 6503h: Alarms.................................................................................................52

4.7.2.39 6504h: Supported Alarms..................................................................................53

4.7.2.40 6505h: Warnings .............................................................................................53

4.7.2.41 6506h: Supported Warnings ..............................................................................53

4.7.2.42 6507h: Profile and Software Version...................................................................54

4.7.2.43 6508h: Operating Time.....................................................................................54

4.7.2.44 6509h: Offset value .........................................................................................54

4.7.2.45 650Ah: Module Identification............................................................................55

4.7.2.46 650Bh: Serial number.......................................................................................56

4.7.2.47 650Ch: Offset value for the multi-sensor device ...................................................56

General Information

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 5 of 57

1General Information

1.1 Documentation

The following documents are associated with this product:

Data sheet; it describes the technical data, the dimensions, the pin assignment, the

accessories and the order key.

Mounting instructions, they describe the mechanical and electrical installation with all

safety-relevant conditions and the associated technical specifications.

User manual; for commissioning the sensor and integrating it into a fieldbus system.

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

CANopen network by means of standard CANopen configurators.

You can also download these documents at http://www.siko-global.com/p/sgh10 and

http://www.siko-global.com/p/sgh10l.

1.2 Definitions

Decimal values are given as numbers without addition (e. g. 1234), except when indicated in

direct connection with binary or hexadecimal values in which case the extension d will be

used (e. g. 1234d). Binary values are identified by adding b (e. g. 1011b) to the figures

whereas hexadecimal values are extended by h (e. g. 280h).

2Intended use

The SGH10 / SGH10L captures the travel of a hydraulic cylinder as an absolute distance

information. By means of the CANopen protocol, the wire-actuated encoder can be configured

and read out via the CAN interface.

2.1 Switching on the supply voltage

The SGH10 / SGH10L initializes after being switched on. The configuration parameters are

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

The sensor will work with its default values as long as no changes have been made to it. With

parameters changed, the sensor will work with the changed data, which must be stored if they

are intended to be used after power off/on.

After completing the initialization procedure, a specific NMT command, the boot-up message

is sent, which informs the system about availability. The SGH10 / SGH10L is now in the pre-

operational mode. In this state, the encoder can be parameterized via SDO commands in

accordance with the requirements of the application. This applies to configuration parameters

of the sensor unit as well as to the way it makes available to the system its position values

(asynchronous or synchronous data transmission).

Functional description

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 6 of 57

3Functional description

3.1 Counting direction

The encoder provides ascending position values. This property can be changed via Object

6000h: Operating Parameters.

3.2 Calibration

Owing to the absolute system, calibration is required only once when the system is taken into

operation and can be performed at any position. This enables alignment of the encoder zero

point with the system’s mechanical zero point. With calibration, the calibration value is

adopted for calculation of the position value. The resulting offset value is output in Object

6509h: Offset value. The following equation is applied in case of calibration:

Position value = 0 + calibration value

3.3 Reset to factory settings

To return to the original condition of the device as delivered, there exist the following

options:

Access

Coding

Settings are restored

CANopen (see

Object 1011h:

Restore Parameter)

1011h

"load"

Subindex 1

All parameters

Subindex 2

Only bus parameters

Subindex 3

Only CiA DS-406 parameters

Subindex 4

Only manufacturer-specific parameters

Table 1: Access to factory settings

4Communication via CAN bus (CANopen)

The CiA DS-301 V4.2 CANopen communication profile, the Device profile for Encoders CiA DS-

406 V3.2, forms the basis of the SGH10 / SGH10L. The SGH10 / SGH10L supports device class

C2. The details required for a better understanding of operation are included in this

documentation. If more in-depth information is required, we recommend the applicable

technical literature on CAN or CANopen.

4.1 Frame structure

The data frame of a CAN message consists of the following fields:

SOF

Identifier (COB-ID)

Control field

Data field (max. 8 byte)

CRC

ACK/EOF

SOF:

(Start of Frame) start bit of the frame

Communication via CAN bus (CANopen)

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 7 of 57

Identifier (COB-ID):

By means of the identifier, all bus subscribers check whether the message is relevant for

them.

The identifier determines the priority of the message. The lower the value of the identifier,

the higher is the priority of the message This enables preferential transmission of

important messages via the bus.

The Identifier field contains the identifier as well as bits for the recognition of the length of

the identifiers (11 or 29 bits). The device address, channel selection as well as data direction

are determined via the identifier as well.

Thus, the 11bit identifier (COB identifier) consists of a 4bit functional code and a 7bit node

number.

Bit no.

Type

Functional code

Node number (Node ID)

Assignment

The following functional codes have been defined in the "Pre-defined Connection Set" (only

the functional codes used in the present device are shown):

Object

Functional code

Resulting COB-ID

Object

Page

Network management

(NMT)

0000b

SYNC message

0001b

128d (80h)

1005h

Emergency message

0001b

128d (80h) + Node-ID

1014h

TPD01

0011b

384d (180h) + Node-ID

1800h

TPD02

0101b

640d (280h) + Node-ID

1801h

SDO (tx)

1011b

1408d (580h) + Node-ID

1200h

SDO (rx)

1100b

1536d (600h) + Node-ID

1200h

Heartbeat message

1110b

1792d (700h) + Node-ID

Node Guard message

1110b

1792d (700h) + Node-ID

LSS (tx)

2021d (7E4h)

LSS (rx)

2020d (7E5h)

Table 2: Overview of COB identifiers

Changes to COB IDs are only possible in the PRE-OPERATIONAL NMT status. First, the COB ID

must be switched invalid via bit 31 = 1b before it can be changed and reactivated.

The COB ID of the Sync object is an exception, where bit 30 must be = 0b to enable the COB

ID to be changed. Since bit 30 cannot be set to 1b, the COB ID could be changed at any time.

The node number (Node ID) (see also object 5F0Ah: Node-ID and baud rate of Bus CAN) is

assigned once in every bus system with configuration of the master on SGH10 / SGH10L. The

node numbers range from 1 to 127. Node ID = 0 is reserved and must not be used.

The adoption of a node ID or baud rate which was reset occurs only after re-initialization (see

chapter 4.2.1: Network management (NMT) services).

Ex works, the SGH10 / SGH10L wire-actuated encoder is delivered with node number 1 (1h).

Communication via CAN bus (CANopen)

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 8 of 57

Control field:

contains bit-by-bit information concerning the number of user data and determines whether a

data frame or Remote Transmission Request (RTR) frame is concerned.

Data field:

contains up to 8 bytes of user data. The user data has a different meaning depending on the

channel selection.

CRC:

contains bits for error detection.

ACK/EOF:

The ACK/EOF field contains frame acknowledgment bits as well as bits for determining the end

of frame.

For a detailed description of the frame please refer to the applicable technical CAN literature.

For simplification, only identifier (COB ID) and data field will be dealt with in the subsequent

frame descriptions.

4.2 Node control

4.2.1 Network management (NMT) services

The master configures, manages and monitors network nodes via the NMT service. The device

is always in one of the four communication states "INITIALISATION", "PRE-OPERATIONAL",

"OPERATIONAL" or "STOPPED" (see Fig. 1).

Power on oder Software Reset

Initialisation

CAN-Kommunikation

BootUp Message

Re-Initialisierung

CAN-Karte

Init

Fig. 1: NMT Status diagram

Communication via CAN bus (CANopen)

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 9 of 57

4.2.1.1 NMT communication states

NMT Status 'INITIALISATION'

The device is not involved in the bus actions in this state. All hardware and software

components are initialized. This state is attained after switching on the device or after receipt

of the command code 81h ("Reset node") of the own or global addresses. Following receipt of

the command code 82h ("Reset Communication"), the display will enter the initialization

stage as well. But only hardware and software associated with CAN communication will be

reinitialized. The device signals automatically the completion of initialization by sending a

boot-up message. As soon as the boot-up message was sent successfully, the device will enter

the "PRE-OPERATIONAL" status.

NMT Status PRE-OPERATIONAL

Parameterization data (SDO) can be exchanged in the pre-operational mode. However, no

process data (PDO's) is transmitted.

NMT Status OPERATIONAL

The exchange of process data is enabled as well. However, COB-ID and Transmit PDO Mapping

parameters can no longer be changed in this state.

NMT Status STOPPED

Communication is stopped except for heartbeat and node guarding. Only NMT communication

is enabled.

4.2.1.2 Toggling between the NMT communication statuses

For toggling between the communication statuses, frames with the following structures are

used:

Change of state

Transition

in Fig. 1

COB-

Com-

mand

Node

from

PRE-OPERATIONAL /

STOPPED

OPERATIONAL

01h

OPERATIONAL/ PRE-

OPERATIONAL

STOPPED

02h

OPERATIONAL / STOPPED

PRE-OPERATIONAL

80h

OPERATIONAL / PRE-

OPERATIONAL / STOPPED

INITIALISATION

(Reset Node)

81h

OPERATIONAL / PRE-

OPERATIONAL / STOPPED

INITIALISATION

(Reset

Communication)

82h

Table 3: Toggling between communication states

If x = 0h is transmitted as node ID, then the message is intended for all bus subscribers.

Communication via CAN bus (CANopen)

SGH10 / SGH10L Date: 09.07.2020 Art. No. 89013 Mod. status 153/20 Page 10 of 57

4.2.2 Boot-Up

The COB ID of the boot-up message is made up of 700h and the node ID. The "Initialization"

NMT status is output as data content.

COB-ID

Byte 0

700h + Node-ID

00h

Table 4: Boot-Up message

4.2.3 SYNC object

CANopen enables the simultaneous query of all inputs and the simultaneous setting of all

outputs. The synchronization message (SYNC), a CAN message with high priority serves this

purpose. The identifier of the Sync object can be set via object 1005h (see 1005h: COB-ID

SYNC-message).

4.3 Process data exchange

4.3.1 Transmission of process data objects (PDO)

Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of

user data can be transmitted in a PDO. The SGH10 / SGH10L supports the Transmit PDO

services TPDO1 and TPDO2 according to CiA DS-301 and CiA DS-406.

4.3.1.1 Transmit PDO (from the SGH10 / SGH10L to the master)

PDO transmission from the display to the bus master (TPDO) can be initiated as a result of

various events:

asynchronous, controlled by an internal device timer

synchronous as a response to a SYNC message

as a response to an RTR message

TPDO1 and TPDO2 are generated from the position value and the speed value. The

transmission behavior of TPDO1 is determined via the objects 1800h, 1A00h and 6200h and is

assigned to asynchronous transmission. TPDO2 is defined via the objects 1801h and 1A01h

and serves synchronous transmission. Assignment is static and cannot be changed.

Other manuals for SGH10

This manual suits for next models

Table of contents

Popular Recording Equipment manuals by other brands

KV2 Audio

KV2 Audio 500 Series user guide

Robotics Technologies

Robotics Technologies microBus-Cam II installation manual

Seca

Seca 460 quick start guide

Cognex

Cognex MVS-8000 Series Hardware manual

Mect

Mect MPNC006 Series user manual

Bad Caf

Bad Caf THE LEASH operating manual

Strymon

Strymon NIGHTSKY user manual

Mitsubishi Electric

Mitsubishi Electric 16CH DIGITAL RECORDER DX-TL5000U user manual

Tews Technologies

Tews Technologies TPMC465 user manual

Honeywell

Honeywell Excel 50 user guide

SeaLevel

SeaLevel COMM+8.LPCI user manual

Arturia

Arturia AUDIOFUSE STUDIO user manual

Rukra

Rukra RK-1240 quick start guide

Samson

Samson SCOM owner's manual

Dynacord

Dynacord DPS260 owner's manual

Nice

Nice Core user manual

Pyle Pro

Pyle Pro PSS8 manual

RF-System

RF-System TinyGate Assembly and user's manual