Maintenance - SICK MAX Serie Kurzanleitung

5.7.8 SAE J1939 encoder data during operation
5.7.9 CANopen error messages
5.7.10 SAE J1939 error messages
6

Maintenance

6.1 Checking the functioning of the encoder
8021471/19KX/2021-03-08 | SICK
Subject to change without notice
Data format
The resolution of the position data is fixed at 100 μm, and the resolution of the speed
data is 1 mm/s. The currently set values can be read under index 6005 of the object
directory. All position data are stored as 32-bit integer values, and speed data as 16-bit
integer values.
PDO allocation when using the default settings
Identifier DLC D0
180h + node 6 Position magnet 1
ID
The position and speed are calculated as follows:
Position [μm] = position value [counts] * 100μm
Speed [mm/s] = speed value [counts] * 1 mm/s
Data is outputted by means of a Data Record Message.
Data Record Message
Identifier DLC D0
0 x 18 8 Position
PFPSSA
PF PDU format is fixed to 255 (0xFF)
PS PDU Specific can be 0-255 (0x00 - 0xFF)
SA MAX® CAN J1939 Standard Sensor Source Address
An emergency object is sent whenever there is a change to the internal error status
register (even if the error has since been rectified). The object comprises 8 data bytes
and is structured as follows:
Emergency object
Identifier DLC D0
0x80 + node 8 Error Code
ID
The following errors are reported in the emergency object:
Error codes
Error code
0000 h
5,000 h
6,300 h
SAE J1939 does not provide separate error objects. The device status is reported with
every PDU that is sent.
Encoder with analog interface
To verify the proper operation of the device, perform the following checks:
• Connections and pin assignments
• Supply voltage
• Check the device by disconnecting it and testing it using an external supply
• Check the device using a multimeter as described below
D1 D2 D3 D4
Speed magnet 1
D1 D2 D3 D4
Speed Status
D1 D2 D3
Error register Manufacturer-specific
Relevance
Device is operating without errors
Device hardware error
Data set error
QUICKSTART
D5
D5 D6 D7
Error Code Limit Sta‐ 0xFF
tus
D4 D5 D6 D7
Q U I C K S T A R T | MAX® 25