AFS60A/ 2 1 AFM60A Modbus - SICK USA | SICK

Resolution

AFS60: 16,384 spr AFM60: 14 x 2 Bit

Absolute encoder

Pin Assignment

PIN Signal Explanation

1 Common GND connection (RS485 interface signals)

2 Us Supply Voltage (+10 VDC … +30 VDC) 3 GND GND connection (supply voltage) 4 D0 RS485 interface signal (MODBUS A/A’) 5 D1 RS485 interface signal (MODBUS B/B’)

2

3

5

4

1

M12 5-pin male connector AFS1 and AFM1-MODBUS

M12 5-pin male and female connector AFS2 and AFM2-MODBUS

Order information

Model name Part no.

• AFS60A-S4ZC000S04 (2 connectors) 1067012

• AFM60A-S4ZC000S05 (1 connector) 1067013

• AFM60A-S4ZC000S06 (2 connectors) 1068009 • AFS60A-S4ZC000S03 (1 connector) 1068008

Dimensional Drawing

120°

Ø 48 ± 0.1

Ø 0.1

Ø 18

19

31

10

21.5 ± 0.5

18

40.5

0.03

Ø 0.05

0.1

49.5 ± 1

M4

(3x)

6-de

ep

Ø 60

60

44

48.6

14.5

Ø 36

f8(

)

-0.0

25-0

.064

Ø 10

f7(

)

-0.0

13-0

.028

A

B

A

C

A

C

B

1

axial shaft seal

connector M12 (male)a-coded

74.2

± 0

.5

membrane

3.5 ± 0.5

2.5Ø 18.5

14.5

A b s o l u t e e n c o d e r

AFS60A/ AFM60A Modbus

Properties

Interface: Modbus RTU Number of steps per

revolution: 16,384 Number of revolutions

Singleturn-Encoder AFS60: 1 Number of revolutions

Multiturn-Encoder AFM60: 4

TE

CH

NI

CA

L I

NF

OR

MA

TI

ON

Dimensional Drawing

120°

Ø 48 ± 0.1Ø 0.1

Ø 18

19

31

10

25 ± 0.5

3.6

18

Ø 10

h8 (-

0.02

2)

40.5

0.03

Ø 0.05

0.149.5 ± 1

M4

(3x)

6-de

ep

Ø 60

60

44

48.6

29

A

B

A

C

A

C

B

1

connector M12 (female)a-coded connector M12 (male)

a-coded

Ø 36

f8 (

)

-0.0

25

-0.0

64

Ø 10

f7 (

)

-0.0

13

-0.0

28

Technical Information

AFS60/AFM60 Modbus

E113964/2014-04-01 © SICK STEGMANN GmbH • Germany • All rigths reserved 3 Subject to change without notice

Technical Data

Performance

Number of steps per revolution 16,384

Number of revolutions AFS60 1

Number of revolutions AFM60 4

Error limits ± 0.03 °

Repeatability 0.002 °

Measuring step 0.022 °

Interfaces

Bus interface Modbus RTU

Transmission rate (Baud) 9600, 19200, 38400, 57600, 115200 (Default)

Initialization time 500 ms

Transmission medium Modbus RTU RS485

Mechanical data

Mechanical interface Solid shaft with flat, face mount flange

Shaft diameter 10 mm

Mass 0.266 kg

Start up torque 5.5 Ncm (20 °C)

Operating torque 5.5 Ncm (20 °C)

Permissible Load capacity of shaft 40 N (axial), 80 N (radial)

Maximum operating speed 500 /min

Moment of inertia of the rotor 6.2 gcm²

Bearing lifetime 3.0 x 109 revolutions

Electrical data

Power consumption 0.7 W (without load)

Operating voltage range 10 V DC ... 30 V DC The voltage supply has to be applied within 200 ms after power on.

MTTFd: mean time to dangerous failure 338.6 a This product is an standard product and does not constitute a safety component as defined in the Machinery Directive. Calculation based on nominal load of components, average ambient temperatrue 40 °C, frequency of use 8760 h/a. All electronic failures are considered hazardous. For more information, see document no. 8015532. Connection type Connector M12, 5-pin, radial (one or two connectors)

Code sequence CW/CCW, parameter adjustable

Reverse polarity protection YES

Ambient data

EMC (according to EN 61000-6-2 and EN 61000-6-3)

Shaft: IP65 (according to IEC 60529) Enclosure rating

Housing: IP65 (according to IEC 60529)

Permissible relative humidity 90 % (condensation of the optical scanning not permitted)

Working temperature range -20 °C ... 80 °C

Storage temperature range -20 °C ... 80 °C, without package

Resistance to shocks 60 g, 6 ms (according to EN 60068-2-27)

Resistance to vibration 20 g, 10 Hz ... 2,000 Hz (according to EN 60068-2-6)

Technical Data


AFS60/AFM60 Modbus

4 © SICK STEGMANN GmbH • Germany • All rigths reserved E113964/2014-04-01 Subject to change without notice

Installation Instructions

SICK encoders are measuring instruments produced in accordance with recognized industrial regulations. The installation of the encoder is to be carried out by trained personal with knowledge of electrical engineering and

precision engineering.

The encoder must be used only for the purpose appropriate to its design.

a Safety notes

Observe the professional safety and accident prevention regulations applicable to your country.

Switch of the voltage to all the devices/machines and plant involved in the mounting.

Never electrically connect or disconnect the encoder with the voltage switched on, otherwise this may lead to damage to the encoder.

Avoid striking the shaft of the encoder.

For the satisfactory operation of the devices, care must be paid to good earthing and to a screen connection suitable for EMC (screen connected at both ends).

Generally applicable notes The more accurately the centering for the encoder is, the lower are the angular offset and shaft offset after the installation and the smaller is the stress applied to the bearing of the encoder. In order to ensure the signal quality and to protect against external interference signals, a shielded pair-twisted cable should be used. All signal lines/interface signals must be twisted in pairs with the respective complementary signal. Please consult the relevant table contained in this document for information about the PIN and wire allocation. From the point of view of EMC, it is absolutely necessary for the housing or cable screen to be connected to earth or ground. This can be done by connecting the screening braid of the cable. We recommend the use of SICK accessory cables, or cables of an equivalent quality. Information relating to SICK accessory cables can be found in the corresponding data sheets. The screening braid should be connected over a large area.



AFS60/AFM60 Modbus



Installation face mount flange via threaded holes on the flange side

�

�

�

1. Lock the drive shaft on the application side.

2. Mount the coupling (1) on the encoder, take care that it does not touch the encoder flange.

3. Push the encoder, with mounted coupling (1) onto the drive shaft and centering recess (2).

4. Fix the encoder with 3 M4 screws (3) and x the coupling (1) to the drive shaft. The coupling must not be subjected to any axial stresses. Please consider the max. permitted axial misalignment of the coupling you use (see data sheet of the coupling).

5. Make the electrical connections with the voltage switched off.

6. Switch on the voltage and check the functioning of the encoder.

Installation face mount flange via mounting spigot

�

�

�

a Since the mounting spigot is also the means of centering, the clamping device must be constructed in such a way that when it is clamped firmly, no impermissible angular or shaft offset results. 1. Lock the drive shaft on the application side.

2. Mount the coupling (1). Take care that it does not touch the encoder flange.

3. Fit the encoder, with mounted coupling (1), onto the drive shaft, and the mounting spigot into the clamping device (2).

4. Clamp the encoder rmly with the screw (3).

5. Fix the coupling (1) on the drive shaft. The coupling must not be subjected to any axial stresses. Please consider the max. permitted axial misalignment of the coupling you use (see data sheet of the coupling).

6. Make the electrical connections with the voltage switched off.

7. Switch on the voltage and check the functioning of the encoder

Section 1 Technical Information

AFS60/AFM60 Modbus


MODBUS Specifications

1 Modbus Accesspoint: Termination at encoder line ends

LT Balanced Pair

Slave 1 Slave n

Common

D0

D1

Pull Down

LT

Pull Up

5 V

Master

The bus termination is configured in the software by the using a register value. The Modbus must be terminated between D0 and D1 at both ends using 120 ohm bus termination resistors on the last device, once it has been looped through.


Technical Information Section 2

AFS60/AFM60 Modbus



2 Operating Modes: The MODBUS application protocol [1] defines a simple Protocol Data Unit (PDU) independent of the underlying communication layers:

The mapping of MODBUS protocol on a specific bus or network introduces some additional fields on the Protocol Data Unit.The client that indicates a MODBUS transaction builds the MODBUS PDU and then adds fields in order to build the appropriatecommunication PDU.

MODBUS PDU

MODBUS PDU

Address field Function code Data CRC (or LRC)

MODBUS SERIAL LINE PDE

Function code Data


AFS60/AFM60 Modbus



3 Modbus Message RTU Framing In RTU mode, messages start with a silent interval of at least 3.5 character times.

MODBUS message

Address Function Data CRC Check EndStart≥ 3.5 char 8 bits 8 bits N x 8 bits 16 bits ≥ 3.5 char

The most easy implemention of this is as a multiple of character times at the baudrate that is being used on the network.

The first field which is then transmitted is the device address in the range of 01…0xF7 (247) (248-255 reserved by Modbus). The allowable characters transmitted for all fields are hexadecimal 0-9, A-F.

Networked devices monitor the network bus continuously, including during the ‘silent’ intervals. After receiving the first field (the address field), the encoder decodes it to check wheter it is the device being addressed.

Following the last transmitted character, a similar interval of at least 3.5 character times marks the end of the message. A new message can start after this interval.

The entire message frame must be transmitted as a continuous stream. If a silent interval of more than 1.5 character times occurs before completion of the frame, the receiving device flushes the incomplete message and assumes that the next byte will be the address field of a new message.

Similarly, if a new message begins earlier than 3.5 character times following a previous message, the receiving device will consider it a continuation of the previous message. This will cause an error, as the value in the final CRC field will not be valid for the combined message.


AFS60/AFM60 Modbus



4 RTU Transmission Mode In RTU mode, messages start with a silent interval of at least 3.5 character times. The most easy way to implement this is as a multiple of character times at the baud rate that is being used on the network (shown as T1-T2-T3-T4 in the figure below). The first field that is transmitted is the device address.

The allowable characters transmitted for all fields are hexadecimal 0-9, A-F. Networked devices monitor the network bus continuously, including during the ‘silent’ intervals. After receiving the first field (the address field), the encoder decodes it to check whether it is the device being addressed.

Following the last transmitted character, a similar interval of at least 3,5 character times marks the end of the message. A new message can start after this interval. The entire message frame must be transmitted as a continuous stream. If a silent interval of more than 1.5 character times occurs before completion of the frame, the receiving device flushes the incomplete message and assumes that the next byte will be the address field of a new message. Similarly, if a new message begins earlier than 3.5 character times following a previous message, the receiving device will consider it a continuation of the previous message. This will cause an error, as the value in the final CRC field will not be valid for the combined messages. A typical message frame is shown below:

Start Address Function Data CRC Check End

T1-T2-T3-T4 8 Bits 8 Bits n x 8 Bits 16 Bits T1-T2-T3-T4


AFS60/AFM60 Modbus



5 Modbus Node Number Node number 0 is reserved and must not be used by any node.

The resulting node numbers range from 1 to f7h hexadecimal (1…247 decimal, 248-255 reserved).

Encoder for Elevation (Singleturn) Default: 0x0A

Encoder for Azimuth (Multiturn) Default: 0x14


AFS60/AFM60 Modbus



6 Data Model The data model of Modbus is based on a series of tables that have distinguishing characteristics. The four primary tables are:

Primary table Object type Type of Comments

Discretes Input Single bit Read-Only This type of data can be provided by an I/0 system.

Coils Single bit Read-Write This type of data can be alterable by an application program.

Input Registers 16-bit word Read-Only This type of data can be provided by an I/0 system.

Holding Registers* 16-bit word Read-Write This type of data can be alterable by an application program.

*The encoder only supports Holding Registers.

The distinctions between inputs and outputs, and between bit-addressable and word-addressable data items, do not imply any application behavior.


AFS60/AFM60 Modbus



7 Data Addresses in Modbus Messages All data addresses in Modbus messages are referenced to zero. The first occurrence of a data item is addressed as item number zero. For example:

Holding register 40001 is addressed as register 0000 in the data address field of the message. The function code field already specifies a ‘holding register’ operation. Therefore the ‘4XXXX’ reference is implicit.

Holding register 40004 is addressed as register 0003 hex (3 decimal).


AFS60/AFM60 Modbus



8 Read Holding Register Mapping Reads the binary contents of holding registers (4XXXX references) in the encoder slave.

Broadcast is not supported.

Register Data Name Order Attrib Value Register Mandatory

40002 Position MSB RO Position Value Bit 17-32 16-Bit Yes

40003 Position LSB RO Position Value Bit 1–16 16-Bit Yes

40004 Actual Reverse State MSB RO Actual State CW = 2, CCW = 1 16-Bit Yes

40005 Actual Termination State

MSB RO Termination on = 2, off = 1 16-Bit Yes

40006 Reserved Internal Use MSB RO 16-Bit optional




40010 Reserved Internal Use LSB RO 16-Bit optional



Note: All additional HoldingRegister have momentarily a general placeholder functionality. All green tagged registers are commands supported by default.


AFS60/AFM60 Modbus



9 Write Holding Register Mapping

Description

Write values into a sequence of holding registers (4XXXX references). When broadcast, the function presets the same register references in all attached encoder slaves.

Note

The function will override the Encoder memory protect state.

The programmed values will remain valid in the registers during the complete power-cycle and some functions will achieve immediately.

All orange tagged values need a power off/on cycle before they are valid and as of now the encoder works with the new register contents. The green tagged values will achieve immediately after a valid Update command (Preset, Count Direction)

The register values will remain and are stored in a nonvolatile memory, independent from being not programmed in the controllers logic.

Holding Register for Multiturn Encoder (Azimuth)

Register Data Name Order Attrib Value Defaults

40257 Baudrate MSB W Baudrate 1=9600, 2=19200, 3=38400, 4=57600, 5=115200

05

Number Data MSB W Number of Data 2=8 Bit 02

Parity MSB W Parity 1=No, 2=Even, 3=Odd 01

Stopbits MSB W Stopbits 1=1 Stop, 3=2 Stop 03

40261 Comm Update MSB W Communication Update 1=execute 0

40262 Node Address MSB W Node-ID 1…247 (1..0xF7) 0x14 (Azimuth)

40263 Node Update MSB W Node-ID Update 1=execute 0

40264 Presetvalue MSB W Preset High Word MSB 0x0000

Presetvalue LSB W Preset Low Word LSB 0x000 ..0xFFFF

40266 Preset Update MSB W Preset Update 1=execute 0

40267 Count Direct MSB W Count Direction CCW = 1, CW = 2 2

40268 Count Update MSB W Count Direction Update 1 = execute 0

40269 Termination MSB W Termination Modbus off=1, on=2 2

40270 Term Update MSB W Termination Update 1 = execute 0

40271 Reserved MSB W Reserved for internal use 16-Bit

40272 Reserved LSB W 16-Bit

40273 Reserved MSB W 16-Bit





Note: All additional HoldingRegister have momentarily a general placeholder functionality


AFS60/AFM60 Modbus



Holding Register for Singleturn Encoder (Elevation)



05



Stopbits MSB W Stopbits 1=1 Stop, 3=2 Stop 03


40262 Node Address MSB W Node-ID 1…247 (1..0xF7) 0x0A (Elevation)



Presetvalue LSB W Preset Low Word LSB 0x0000 ..0x3FFF



40268 Count Update MSB W Count Direction Update 1 = execute 0



40271 Reserved MSB W Reserved for internal use 16-Bit

40272 Reserved LSB W 16-Bit






Note: All additional HoldingRegister have momentarily a general placeholder functionality


AFS60/AFM60 Modbus



10 Supported Modbus Function Codecs in Project

Function 03 Read Holding Registers General Description

Query

The query message specifies the starting register and quantity of registers to be read. Registers are addressed starting at zero: registers 1 – 16 are addressed as 0 – 15. This is an example of a request to read registers 40108 – 40110 from slave device:

Query

Field Name

Example

(Hex)

Slave Address 11

Function 03

Starting Address Hi 00

Starting Address Lo 6B

No. of Points Hi 00

No. of Points Lo 03

Error Check (LRC or CRC) ---

Response

The register data in the response message are packed as two bytes per register, with the binary contents being aligned to the right within each byte. For each register, the first byte contains the high order bits and the second contains the low order bits. The response is returned when the data is completely assembled.

This is an example of a response to the query on the opposite page:

Response

Field Name

Example

(Hex)

Slave Address 11

Function 03

Byte Count 06

Data Hi (Register 40108) 02

Data Lo (Register 40108) 2B

Date Hi (Register 40109) 00

Data Lo (Register 40109) 00

Data Hi (Register 40110) 00

Data Lo (Register 40110) 64



AFS60/AFM60 Modbus



Function 16 (10Hex) Preset Multiple Registers

Query

The query message specifies the register references to be preset. Registers are addressed starting at zero: register 1 is addressed as 0.

This is an example of a request to preset two registers starting at 40002 to 00 0A and 01 02 hex, in slave device 17 (0x11):

Query

Field Name

Example

(Hex)

Slave Address 11

Function 10


Starting Address Lo 01

No. of Registers Hi 00

No. of Registers Lo 02

Byte Count 04

Data Hi 00

Data Lo 0A

Data Hi 01

Data Lo 02


Response

The normal response returns the slave address, function code, starting address, and quantity of registers preset.

This is an example of a response to the query shown above.

Response

Field Name

Example

(Hex)

Slave Address 11

Function 10


Starting Address Lo 01

No. of Registers Hi 00

No. of Registers Lo 02



AFS60/AFM60 Modbus



11 Function 03 Read Holding Registers Description

Reads the binary contents of holding registers (4X references) from the slave.

Broadcasts is not supported.

Register Data Name Order Attrib Value Register Mandatory

40002 Position MSB RO Position Value Bit 17-32 32-Bit Yes

40003 Position LSB RO Position Value Bit 1 – 16 16-Bit Yes

40004 Actual Reverse State MSB RO Actual State CW = 2, CCW = 1 16-Bit Yes

40005 Actual Termination State

MSB RO Termination on = 2, off = 1 16-Bit Yes

Position Value Query Register 40002 (32-Bit access) Two Bytes

each points

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of P

oint

s H

i

No.

of P

oint

s Lo

CR

C S

chec

k 1

6 b

its

End

Elevation (singleturn) Feedback position (HEX)

Query T1-T2 T3-T4

0A 03 00 01 00 02 CRC T1-T2 T3-T4

Azimuth (multiturn) Feedback position (HEX)

Query T1-T2 T3-T4

14 03 00 01 00 02 CRC T1-T2 T3-T4

Position Value Query Register 40003 (16-Bit access) *new Two Bytes

each points

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of P

oint

s H

i

No.

of P

oint

s Lo

CR

C S

chec

k 1

6 b

its

End


Query T1-T2 T3-T4

0A 03 00 02 00 01 CRC T1-T2 T3-T4


Query T1-T2 T3-T4

14 03 00 02 00 01 CRC T1-T2 T3-T4

Response from Encoder (MT or ST) (32-Bit access) One Register

of Two bytes One Register of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Byt

e C

ount

N

o. o

f Poi

nts

x 2

Dat

a H

i

Dat

a Lo

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Elevation (singleturn) Feedback position (HEX) (from Control Box side):

Response T1-T2 T3-T4

0A 03 04 GG HH II JJ CRC T1-T2 T3-T4

GG HH II JJ: 00 00 00 00 Zero Position of encoder 00 00 3F FF Last Position of encoder

Azimuth (multiturn) Feedback position (HEX) (from Control Box side):


14 03 04 GG HH II JJ CRC T1-T2 T3-T4

GG HH II JJ: 00 00 00 00 Zero Position of encoder 00 00 FF FF Last Position of encoder


AFS60/AFM60 Modbus



Response from Encoder (MT or ST) (16-Bit access) *new One Register

of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Byt

e C

ount

N

o. o

f Poi

nts

x 2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End



0A 03 02 II JJ CRC T1-T2 T3-T4

II JJ: 00 00 Zero Position of encoder 3F FF Last Position of encoder



14 03 02 II JJ CRC T1-T2 T3-T4

II JJ: 00 00 Zero Position of encoder FF FF Last Position of encoder

Expected Value Range

Position values depending on the adjusted scaling factor:

0..0x3FFF (0..16384) CW Elevation Singleturn resolution 14 Bit:

0x3FFF…0 CCW

0..0xFFFF (0..65536) CW Azimuth Multiturn resolution 14+2 Bit:

0xFFFF…0 CCW

Actual Reverse State Query: Two Bytes

each points

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of P

oint

s H

i

No.

of P

oint

s Lo

CR

C S

chec

k 1

6 b

its

End

Reverse Mode State (Elevation)

Query T1-T2 T3-T4

0A 03 00 03 00 01 CRC T1-T2 T3-T4

Actual Reverse state

Reverse Mode State (Azimuth)

Query T1-T2 T3-T4

14 03 00 03 00 01 CRC T1-T2 T3-T4

Actual Reverse state

One Register

of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Byt

e C

ount

N

o. o

f Poi

nts

x 2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Reverse Mode State (Elevation)


0A 03 02 YY ZZ CRC T1-T2 T3-T4

Counterclockwise: YY ZZ 00 01 Clockwise: YY ZZ 00 02 (Default Value)

Reverse Mode State (Azimuth)


14 03 02 YY ZZ CRC T1-T2 T3-T4


Expected Value in project:

Allowed Count direction values:

Counterclockwise CCW = 1

Clockwise CW = 2

Default: Clockwise CW = 2

Estimated response delay for Reverse state: 10μs + process time for response frame

Minimum cycle time for Actual reverse update: 2ms


AFS60/AFM60 Modbus



Actual Bus Termination State Query: Two Bytes

each points

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of P

oint

s H

i

No.

of P

oint

s Lo

CR

C S

chec

k 1

6 b

its

End

Bus termination state (Elevation)

Query T1-T2 T3-T4

0A 03 00 04 00 01 CRC T1-T2 T3-T4

Actual Bus termination state

Bus termination state (Azimuth)

Query T1-T2 T3-T4

14 03 00 04 00 01 CRC T1-T2 T3-T4

Actual Bus termination state

One Register

of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Byt

e C

ount

N

o. o

f Poi

nts

x 2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Bus termination state (Elevation)


0A 03 02 YY ZZ CRC T1-T2 T3-T4

Termination: YY ZZ 00 01 Off (Default Value) Termination: YY ZZ 00 02 On

Bus termination state (Azimuth)


14 03 02 YY ZZ CRC T1-T2 T3-T4

Termination: YY ZZ 00 01 Off Termination: YY ZZ 00 02 On (Default Value)

Expected Value in project:

Allowed Bus Termination values:

Bus termination off = 1

Bus termination on = 2

Encoder Azimuth Default: Bus Termination on CW = 2

Encoder Elevation Default: Bus Termination off CW = 1

Estimated response delay for termination state: 10μs + process time for response frame

Minimum cycle time for Actual Termination update: 2ms


AFS60/AFM60 Modbus



12 Function 16 (10 HEX) write multiple registers Multiturn Encoder for azimuth



05



Stopbits MSB W Stopbits 1= 1 Stop, 3= 2 Stop 03


40262 Node Address MSB W Node-ID 1…247 (1..0xF7) 0x14 (Azimuth)



Presetvalue LSB W Preset Low Word LSB 0x0000…0xFFFF



40268 Count Update MSB W Count Direction Update 1=execute 0



Singleturn Encoder for elevation



05



Stopbits MSB W Stopbits 1= 1 Stop, 3= 2 Stop 03


40262 Node Address MSB W Node-ID 1…247 (1..0xF7) 0x0A (Elevation)



Presetvalue LSB W Preset Low Word LSB 0x0000…0x3FFF



40268 Count Update MSB W Count Direction Update 1=execute 0




AFS60/AFM60 Modbus



Write communication parameters (Register 40257) Two

Bytes each register

One Register of Two bytes




Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a H

i

Dat

a H

i

Dat

a Lo

Dat

a Lo

Dat

a Lo

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Communication Parameters (Elevation):

Query T1-T2 T3-T4

0A 10 01 00 00 04 08 KK LL MM NN OO PP QQ RR CRC T1-T2 T3-T4

KK LL: 1= 9600, 2=19200, 3=38400, 4=57600, 5=115200 MM NN: 2=8 data bits OO PP: 1=No Parity, 2=Even, 3=Odd QQ RR: 1=1, 3=2 (Default Value: 00 05 00 02 00 01 00 03

Communication Parameters (Azimuth):

Query T1-T2 T3-T4

14 10 01 00 00 04 08 KK LL MM NN OO PP QQ RR CRC T1-T2 T3-T4

KK LL: 1= 9600, 2=19200, 3=38400, 4= 57600, 5=115200 MM NN: 2=8 data bits OO PP: 1=No Parity, 2=Even, 3=Odd QQ RR: 1=1, 3=2 (Default Value: 00 05 00 02 00 01 00 03

All input values for communication will be checked on plausibility.

Other values as defined are not allowed and will be cause an error message

Response Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Communication Parameters (Elevation)


0A 10 01 00 00 04 CRC T1-T2 T3-T4

Response Configuration ok

Communication Parameters (Azimuth)


14 10 01 00 00 04 CRC T1-T2 T3-T4

Response Configuration ok

Default communication values for project:

Note:

After a Communication update all Communication parameters will not be valid until a complete power off/on cycle. The new value will be stored but executed only after a new power-on cycle.

Elevation Singleturn Node-ID: 115200 Baud, 8Data, No parity, 2Stop³

Azimuth Muliturn Node-ID: 115200 Baud, 8Data, No parity, 2Stop³

³Remark: the use of no parity requires 2 stop bits

Response delay after

Execute Comm Update Command: max. 15 ms needed for storage operation


AFS60/AFM60 Modbus



Execute Communication presets (Register 40261) Two Bytes

each register One Register

of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

w

CR

C S

chec

k 1

6 b

its

End

Communication update (Elevation)

Query T1-T2 T3-T4

0A 10 01 04 00 01 02 00 01 CRC T1-T2 T3-T4

Communication update with upper parameters

Communication update (Azimuth)

Query T1-T2 T3-T4

14 10 01 04 00 01 02 00 01 CRC T1-T2 T3-T4

Communication update with upper parameters

Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Communication update (Elevation)


0A 10 01 04 00 01 CRC T1-T2 T3-T4

Communication update with upper parameters ok

Communication update (Azimuth)


14 10 01 04 00 01 CRC T1-T2 T3-T4

Communication update with upper parameters ok

Write Node ID (Register 40262) Two Bytes


of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Communication slave Parameter (Elevation)

Query T1-T2 T3-T4

0A 10 01 05 00 01 02 SS TT CRC T1-T2 T3-T4

SS TT: Id Address (00 01 … 00 F7) (Default Value: 00 0A)

Communication slave Parameter (Azimuth)

Query T1-T2 T3-T4

14 10 01 05 00 01 02 SS TT CRC T1-T2 T3-T4

SS TT: Id Address (00 01 … 00 F7) (Default Value: 00 14)

Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Communication slave Parameter (Elevation)


0A 10 01 05 00 01 CRC T1-T2 T3-T4

Response Communication ok

Communication slave Parameter (Azimuth)


14 10 01 05 00 01 CRC T1-T2 T3-T4

Response Communication ok


AFS60/AFM60 Modbus



Default Node-ID values for project:

Valid Node ID’s are in the range 0x01 … 0xF7 (0x00 is reserved for plc, 248 … 255 reserved)

Note:

After a Node-ID update the new Node-ID will not be valid until a complete power off/on cycle. The new Node-ID will be stored but executed only after a new power-on cycle.

Elevation Singleturn Node-ID: 0x0A

Azimuth Multiturn Node-ID: 0x14


Execute Node-ID Update Command: max. 15 ms needed for storage operation

Write Node-ID Update (Register 40263) Two Bytes


of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Communication slave Parameter update (Elevation)

Query T1-T2 T3-T4

0A 10 01 06 00 01 02 00 01 CRC T1-T2 T3-T4

Id address update with upper parameters

Communication slave Parameter update (Azimuth)

Query T1-T2 T3-T4

14 10 01 06 00 01 02 00 01 CRC T1-T2 T3-T4

Id address update with upper parameters

Response Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Communication slave Parameter update (Elevation)


0A 10 01 06 00 01 CRC T1-T2 T3-T4

Id address update with upper parameters ok

Communication slave Parameter update (Azimuth)


14 10 01 06 00 01 CRC T1-T2 T3-T4

Id address update with upper parameters ok

Write Position Preset value (Register 40264) Two Bytes


of Two bytes One Register of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

Dat

a H

i

Dat

e Lo

CR

C S

chec

k 1

6 b

its

End

Position Preset (Elevation)

Query T1-T2 T3-T4

0A 10 01 07 00 02 04 UU VV WW XX CRC T1-T2 T3-T4

Position: UU VV WW XX 00 00 00 00 … 00 00 3F FF

Position Preset (Azimuth)

Query T1-T2 T3-T4

14 10 01 07 00 02 04 UU VV WW XX CRC T1-T2 T3-T4

Position: UU VV WW XX 00 00 00 00 … 00 00 FF FF


AFS60/AFM60 Modbus



Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Position Preset (Elevation)


0A 10 01 07 00 02 CRC T1-T2 T3-T4

Response Position Preset ok

Position Preset (Azimuth)


14 10 01 07 00 02 CRC T1-T2 T3-T4

Response Position Preset ok

Preset values for project:

The actual position value of the encoder will be set immediately to the programmed preset value after a valid update command. This allows, for example, for the encoder’s zero position to be compared with the application zero position. After transmission of preset values a range check ist initiated.

Elevation Singleturn preset 0x0000

Azimuth Multiturn preset 0x0000

Preset Range Singleturn (elevation) 0 … 0x3FFF (14 Bit)

Preset Range Multiturn (azimuth) 0 … 0xFFFF (16 Bit)

Preset Delay time: 100μs

Verification of Position after preset: yes (internal)


Execute Preset Update Command: max. 15 ms needed for storage operation

Write Position Preset Update (Register 40266) Two Bytes


of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Position Preset update (Elevation)

Query T1-T2 T3-T4

0A 10 01 09 00 01 02 00 01 CRC T1-T2 T3-T4

Position Preset update

Position Preset update (Azimuth)

Query T1-T2 T3-T4

14 10 01 09 00 01 02 00 01 CRC T1-T2 T3-T4

Position Preset update

Response Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Position Preset update (Elevation)


0A 10 01 09 00 01 CRC T1-T2 T3-T4

Position Preset update ok

Position Preset update (Azimuth)


14 10 01 09 00 01 CRC T1-T2 T3-T4

Position Preset update ok


AFS60/AFM60 Modbus



Write Count Direction value (Register 40267) Two Bytes


of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Reverse Mode (Elevation)

Query T1-T2 T3-T4

0A 10 01 0A 00 01 02 YY ZZ CRC T1-T2 T3-T4


Reverse Mode (Azimuth)

Query T1-T2 T3-T4

14 10 01 0A 00 01 02 YY ZZ CRC T1-T2 T3-T4


Default value for project:

Allowed Count direction values:

Counterclockwise CCW = 1

Clockwise CW = 2

Default: Clockwise CW = 2


Execute Revers Update Command: max. 15 ms needed for storage operation

Response Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Reverse Mode (Elevation)


0A 10 01 0A 00 01 CRC T1-T2 T3-T4

Response Reverse mode ok

Reverse Mode (Azimuth)


14 10 01 0A 00 01 CRC T1-T2 T3-T4

Response Reverse mode ok


AFS60/AFM60 Modbus



Write Count Direction Update (Register 40268) Two Bytes


of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Reverse Mode update (Elevation)

Query T1-T2 T3-T4

0A 10 01 0B 00 01 02 00 01 CRC T1-T2 T3-T4

Reverse mode update

Reverse Mode update (Azimuth)

Query T1-T2 T3-T4

14 10 01 0B 00 01 02 00 01 CRC T1-T2 T3-T4

Reverse mode update

Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Reverse Mode update (Elevation)


0A 10 01 0B 00 01 CRC T1-T2 T3-T4

Reverse mode update ok

Reverse Mode update (Azimuth)


14 10 01 0B 00 01 CRC T1-T2 T3-T4

Reverse mode update ok

Write Termination Modbus (Register 40269) Two Bytes


of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Bus Termination (Elevation)

Query T1-T2 T3-T4

0A 10 01 0C 00 01 02 YY ZZ CRC T1-T2 T3-T4

Termination YY ZZ 00 01 off (Default Value) Termination YY ZZ 00 02 on

Bus Termination (Azimuth)

Query T1-T2 T3-T4

14 10 01 0C 00 01 02 YY ZZ CRC T1-T2 T3-T4

Termination YY ZZ 00 01 off Termination YY ZZ 00 02 on (Default Value)

Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Bus Termination (Elevation)


0A 10 01 0C 00 01 CRC T1-T2 T3-T4

Bus Termination Response ok

Bus Termination (Azimuth)


14 10 01 0C 00 01 CRC T1-T2 T3-T4

Bus Termination Response ok

Default value for project:

The bus termination is software configured by means of the register 40269 value. Once the Modbus has been looped through, it must be terminated between D0 and D1 at the last encoder end. Allowed values: Termination off = 1, Termination on = 2

Default Multiturn (azimuth) Termination on = 2 (on)

Default Singleturn (elevation) Termination on = 1 (off)


Execute Termination Update Command: max. 15 ms needed for storage operation

Note: After a bus termination update the new bus termination will not be valid before a complete power off/on cycle.


AFS60/AFM60 Modbus



Write Termination Modbus Update (Register 40270) Two Bytes


of Two bytes

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

Byt

e C

ount

N

o. o

f reg

iste

rs x

2

Dat

a H

i

Dat

a Lo

CR

C S

chec

k 1

6 b

its

End

Bus Termination update (Elevation)

Query T1-T2 T3-T4

0A 10 01 0D 00 01 02 00 01 CRC T1-T2 T3-T4

Bus Termination update

Bus Termination update (Azimuth)

Query T1-T2 T3-T4

14 10 01 0D 00 01 02 00 01 CRC T1-T2 T3-T4

Bus Termination update

Response Two Bytes

each register

Sta

rt

Sla

ve A

ddre

ss

(1 B

yte)

Func

tion

(1 B

yte)

Sta

rtin

g ad

dres

s H

i

Sta

rtin

g ad

dres

s Lo

No.

of r

egis

ters

Hi

No.

of r

egis

ters

Lo

CR

C S

chec

k 1

6 b

its

End

Bus Termination update (Elevation)


0A 10 01 0D 00 01 CRC T1-T2 T3-T4

Bus Termination update ok

Bus Termination update (Azimuth)


14 10 01 0D 00 01 CRC T1-T2 T3-T4

Bus Termination update ok


AFS60/AFM60 Modbus



13 Unsupported Modbus Function Codes

The following function codes are not part of the implementation:

01 Read Coil Status

02 Read Input Status

04 Read Input Registers

05 Force Single Coil

06 Preset Single Register

07 Read Exception Status

11 (0B Hex) Fetch Comm Event Ctr

12 (0C Hex) Fetch Comm Event Log

15 (0F Hex) Force Multiple Coils

17 (11 Hex) Report Slave ID (use for diagnostic only)

20 (14 Hex) Read General Reference

21 (15 Hex) Write General Reference

22 (16 Hex) Mask Write 4X Register

23 (17 Hex) Read/Write 4X Register

24 (18 Hex) Read FIFO Queue


AFS60/AFM60 Modbus



14 Modbus Exception Codes Code Name Meaning

01 ILLEGAL FUNCTION

The function code received in the query is not an allowed action for the slave. If a Poll Program Complete command was issued, this code indicates that no program function preceded it.

02 ILLEGAL DATA ADDRESS

The data address received in the query is not an allowed value for the slave.

03 ILLEGAL DATA VALUE

A value contained in the query data field ist not an allowed value for the slave.

04 SLAVE DEVICE FAILURE

An unrecoverable error occurred while the slave was attempting to perform the requested action.

05 ACKNOWLEDGE

Not supported.

06 SLAVE DEVICE BUSY

Not supported.

SICK AG | Waldkirch | Germany | www.sick.com

8017414/2014

-04-01

∙ cv

(2014-04

) ∙ A

4 4c

int4

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Documents

AFS60A/ 2 1 AFM60A Modbus - SICK USA | SICK