Lika SFA-5000-EC User manual

User's guide
SFA-5000-EC
SFA-10000-EC
in compliance with ETG 1000
•5000 mm & 10000 mm draw-wire encoder
•Integrated 27 bit absolute multiturn encoder
•Programmable resolution down to 24 µm
•M12 connectors
•Implements the CoE protocol and the EtherCAT State Machine
Suitable for the following models:
•SFA-5000-EC
•SFA-10000-EC
General Contents
1 - Safety summary 16
2 - Identification 18
3 - Mechanical installation 19
4 - Electrical connections 23
5 - Quick reference (TwinCAT) 27
6 - EtherCAT® interface 48
7 – Default parameters list 83
Lika Electronic • Tel [phone] • info@lika biz • www lika biz
Smart encoders & actuators

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comments, suggestions and criticisms.

General contents
User's guide............................................................................................................................................................................................1
General contents.............................................................................................................................................................................3
Subject Index.....................................................................................................................................................................................6
Typographic and iconographic conventions...................................................................................................................7
Preliminary information.............................................................................................................................................................8
Glossary of EtherCAT terms......................................................................................................................................................9
1 - Safety summary....................................................................................................................................................................16
1.1 Safety........................................................................................................................................................................................16
1.2 Electrical safety....................................................................................................................................................................16
1.3 Mechanical safety...............................................................................................................................................................17
2 - Identification..........................................................................................................................................................................18
3 - Mechanical installation....................................................................................................................................................19
3.1 Overall dimensions..............................................................................................................................................................19
3.2 Mounting instructions......................................................................................................................................................20
3.3 Useful information.............................................................................................................................................................21
3.4 Maintenance..........................................................................................................................................................................22
4 - Electrical connections.......................................................................................................................................................23
4.1 M12 connectors...................................................................................................................................................................23
4.2 Network configuration: topologies, cables, hubs, switches - Recommendations..................................24
4.3 Addressing..............................................................................................................................................................................24
4.4 Line Termination..................................................................................................................................................................25
4.5 Ground connection............................................................................................................................................................25
4.6 Diagnostic LEDs....................................................................................................................................................................26
5 - Quick reference (TwinCAT).............................................................................................................................................27
5.1 System configuration using TwinCAT software system from Beckhoff......................................................27
5.1.1 Setting the Network Card..................................................................................................................................27
5.1.2 Add new I/O modules (Boxes)...........................................................................................................................30
5.2 Setting the communication mode...............................................................................................................................34
5.2.1 Synchronous with SM3.......................................................................................................................................34
5.2.2 Synchronous with DC (SYNC0)........................................................................................................................35
5.3 Process Data Objects..........................................................................................................................................................36
5.4 COE Object Dictionary.......................................................................................................................................................37
5.5 Online Data............................................................................................................................................................................38
5.6 EEProm upgrade..................................................................................................................................................................39
5.7 Firmware upgrade...............................................................................................................................................................44
6 - EtherCAT® interface...........................................................................................................................................................48
6.1 Basic Information on the EtherCAT® Protocol.......................................................................................................48
6.1.1 Data transfer............................................................................................................................................................49
6.1.2 ISO/OSI Layer model.............................................................................................................................................50
6.1.3 Topology....................................................................................................................................................................50
6.1.4 Line Termination.....................................................................................................................................................51
6.1.5 Addressing.................................................................................................................................................................52
6.1.6 Communication mode.........................................................................................................................................53
FreeRun..............................................................................................................................................................................53
Synchronous with SM3...............................................................................................................................................54
Synchronous with DC SYNC0...................................................................................................................................54

6.1.7 EtherCAT State Machine (ESM)........................................................................................................................55
6.1.8 Slave configuration...............................................................................................................................................56
6.1.9 Timing and Synchronization.............................................................................................................................56
Sync Manager..................................................................................................................................................................57
Buffered Mode (3-Buffer Mode)........................................................................................................................57
Mailbox Mode (1-Buffer Mode)..........................................................................................................................57
6.2 CANopen Over EtherCAT (CoE)......................................................................................................................................59
6.2.1 XML file......................................................................................................................................................................59
6.2.2 Communication messages.................................................................................................................................60
6.2.3 Process Data Objects (PDO)...............................................................................................................................60
6.2.4 Service Data Objects (SDO)................................................................................................................................61
6.2.5 Object dictionary....................................................................................................................................................61
Communication Profile Area objects (DS 301)...................................................................................................63
1000-00 Device type.......................................................................................................................................................63
1008-00 Device Name....................................................................................................................................................63
1009-00 Hardware version.........................................................................................................................................63
100A-00 Software version...........................................................................................................................................63
1010-01 Store parameters..........................................................................................................................................63
1011-01 Restore default parameters...................................................................................................................63
1018 Identity........................................................................................................................................................................64
01 Vendor ID.......................................................................................................................................................................64
02 Product code................................................................................................................................................................64
03 Revision...........................................................................................................................................................................64
04 Serial number...............................................................................................................................................................65
1A00-01 TxPDO mapping.............................................................................................................................................65
01 Mapped Object 001...................................................................................................................................................65
1C00 Sync Manager Communication Type........................................................................................................65
01 SM MailBox Receive (SM0).....................................................................................................................................65
02 SM MailBox Send (SM1)..........................................................................................................................................66
03 SM PDO output (SM2)..............................................................................................................................................66
04 SM PDO input (SM3).................................................................................................................................................66
1C12-00 RxPDO assign..................................................................................................................................................66
1C13-01 TxPDO assign..................................................................................................................................................66
01 SubIndex 001................................................................................................................................................................66
1C33 SM input parameter...........................................................................................................................................66
01 Sync Type.......................................................................................................................................................................66
02 Cycle time......................................................................................................................................................................67
03 Shift time.......................................................................................................................................................................67
04 Sync modes supported.............................................................................................................................................67
05 Minimum cycle time.................................................................................................................................................67
06 Calc and Copy time....................................................................................................................................................67
Standardised Device Profile Area objects (DS 406).........................................................................................68
6000-00 Operating parameters...............................................................................................................................68
Code sequence...................................................................................................................................................................68
Scaling function................................................................................................................................................................68
6001-00 Units per revolution....................................................................................................................................69
6002-00 Total Measuring Range.............................................................................................................................71
6003-00 Preset value.....................................................................................................................................................74
6004-00 Position value.................................................................................................................................................75
6500-00 Operating status...........................................................................................................................................77

Code sequence...................................................................................................................................................................77
Scaling function................................................................................................................................................................77
6501-00 Hardware counts per revolution.........................................................................................................77
6502-00 Hardware number of turns.....................................................................................................................78
6503-00 Errors...................................................................................................................................................................78
6504-00 Supported errors...........................................................................................................................................78
6505-00 Warnings...........................................................................................................................................................78
6506-00 Supported warnings...................................................................................................................................78
Flash memory error.......................................................................................................................................................79
6509-00 Offset value.....................................................................................................................................................79
6.2.6 SDO Abort codes.....................................................................................................................................................80
6.2.7 Emergency Error Codes.......................................................................................................................................81
6.2.8 AL Status Error Codes...........................................................................................................................................81
6.3 File Over EtherCAT (FoE)...................................................................................................................................................82
7 – Default parameters list....................................................................................................................................................83

Subject Index
1
1000-00 Device type......................................................63
1008-00 Device Name...................................................63
1009-00 Hardware version..........................................63
100A-00 Software version...........................................63
1010-01 Store parameters..........................................63
1011-01 Restore default parameters......................63
1018 Identity.....................................................................64
1A00-01 TxPDO mapping.............................................65
1C00 Sync Manager Communication Type...........65
1C12-00 RxPDO assign..................................................66
1C13-01 TxPDO assign...................................................66
1C33 SM input parameter............................................66
6
6000-00 Operating parameters.................................68
6001-00 Units per revolution.....................................69
6002-00 Total Measuring Range..............................71
6003-00 Preset value.....................................................74
6004-00 Position value.................................................75
6500-00 Operating status............................................77
6501-00 Hardware counts per revolution............77
6502-00 Hardware number of turns.......................78
6503-00 Errors..................................................................78
6504-00 Supported errors...........................................78
6505-00 Warnings..........................................................78
6506-00 Supported warnings....................................78
6509-00 Offset value.....................................................79
B
BOOTSTRAP.........................................................................55
C
Calc and Copy time.........................................................67
Code sequence...........................................................68, 77
Cycle time............................................................................67
D
Diagnostic data.................................................................81
F
Flash memory error.........................................................79
H
Hardware error..................................................................81
I
INIT.........................................................................................55
M
Mapped Object 001.........................................................65
Minimum cycle time.......................................................67
O
OPERATIONAL....................................................................55
P
PRE-OPERATIONAL..........................................................55
Product code......................................................................64
R
Revision................................................................................64
S
SAFE-OPERATIONAL........................................................55
Scaling function........................................................68, 77
Serial number....................................................................65
Shift time.............................................................................67
SM MailBox Receive (SM0)..........................................65
SM MailBox Send (SM1)................................................66
SM PDO input (SM3).......................................................66
SM PDO output (SM2)...................................................66
SubIndex 001.....................................................................66
Sync modes supported..................................................67
Sync Type.............................................................................66
V
Vendor ID.............................................................................64

Typographic and iconographic conventions
In this guide, to make it easier to understand and read the text the following typographic and
iconographic conventions are used:
•parameters and objects both of the device and the interface are coloured in GREEN;
•alarms are coloured in RED;
•states are coloured in FUCSIA.
When scrolling through the text some icons can be found on the side of the page: they are expressly
designed to highlight the parts of the text which are of great interest and significance for the user.
Sometimes they are used to warn against dangers or potential sources of danger arising from the use of
the device. You are advised to follow strictly the instructions given in this guide in order to guarantee
the safety of the user and ensure the performance of the device. In this guide the following symbols are
used:
This icon, followed by the word WARNING, is meant to highlight the parts of the
text where information of great significance for the user can be found: user must
pay the greatest attention to them! Instructions must be followed strictly in order
to guarantee the safety of the user and a correct use of the device. Failure to heed
a warning or comply with instructions could lead to personal injury and/or damage
to the unit or other equipment.
This icon, followed by the word NOTE, is meant to highlight the parts of the text
where important notes needful for a correct and reliable use of the device can be
found. User must pay attention to them! Failure to comply with instructions could
cause the equipment to be set wrongly: hence a faulty and improper working of
the device could be the consequence.
This icon is meant to highlight the parts of the text where suggestions useful for
making it easier to set the device and optimize performance and reliability can be
found. Sometimes this symbol is followed by the word EXAMPLE when instructions
for setting parameters are accompanied by examples to clarify the explanation.

Preliminary information
This guide is designed to provide the most complete and exhaustive information the operator needs to
correctly and safely install and operate the SFA-5000 and SFA-10000 absolute draw-wire encoders
with EtherCAT interface.
The cable pulling mechanism integrates a 13 x 14 bit absolute multiturn encoder (13 bits = singleturn
resolution = 8,192 cpr; 14 bits = 16,384 revolutions).
SFA-5000 / SFA-10000 cable-pulling encoder is aimed at speed and position measurements and controls
in a variety of industrial applications through the movement of a 5,000 mm (196 85”) or 10,000 mm
(393 7”) stainless steel wire. The typical back and forth travel of the moving equipment causes the wire
to reel and unreel and thus the linear movement to be converted into a rotary motion detected by the
encoder which is coupled to the drum.
The stroke per turn is always 200 mm (7.874”), the maximum number of turns is 25 for SFA-5000 and 50
for SFA-10000.
To make it easier to read and understand the text, this guide is divided into two main sections.
In the first section some general information concerning the safety, the mechanical installation and the
electrical connection as well as tips for setting up and running properly and efficiently the SFA-5000 /
SFA-10000 cable-actuated encoder are provided.
In the second section, entitled EtherCAT Interface, you can find detailed information on the EtherCAT
interface. In this section the interface features and the objects implemented in the unit are fully
described.

Glossary of EtherCAT terms
EtherCAT, like many other networking systems, has a set of unique terminology. Table below contains a
few of the technical terms used in this guide to describe the EtherCAT interface. They are listed in
alphabetical order.
Acknowledge telegram
(AT)
Telegram, in which each Slave inserts its data.
Actual value Value of a variable at a given instant.
Algorithm Completely determined finite sequence of operations by which
the values of the output data can be calculated from the
values of the input data.
Application Function or data structure for which data is consumed or
produced.
Software functional element specific to the solution of a
problem in industrial-process measurement and control.
Application class Configuration of a Drive Object with a set of functional
objects and supported by standard telegrams.
Application mode Type of application that can be requested from a PDS.
Application objects Multiple object classes that manage and provide a run time
exchange of messages across the network and within the
network device.
Application process Part of a distributed application on a network, which is located
on one device and unambiguously addressed.
Application relationship Cooperative association between two or more application-
entity-invocations for the purpose of exchange of information
and coordination of their joint operation. This relationship is
activated either by the exchange of application-protocol-
data-units or as a result of preconfiguration activities.
Attribute Description of an externally visible characteristic or feature of
an object, property or characteristic of an entity. The attributes
of an object contain information about variable portions of an
object. Typically, they provide status information or govern the
operation of an object. Attributes may also affect the
behaviour of an object. Attributes are divided into class
attributes and instance attributes.
Axis Logical element inside an automation system (e.g. a motion
control system) that represents some form of movement.
Basic Slave Slave device that supports only physical addressing of data.
Behaviour Indication of how an object responds to particular events.
Bit Unit of information consisting of a 1 or a O. This is the
smallest data unit that can be transmitted.

CANopen Application layer protocol as defined in EN 50325-4.
Channel Representation of a single physical or logical management
object of a Slave to control conveyance of data.
CIP™ Common Industrial Protocol (see IEC 61158 Type 2, IEC 61784-
1 and IEC 61784-2 CPF2).
Class Description of a set of objects that share the same attributes,
operations, methods, relationships, and semantics.
Client Object which uses the services of another (Server) object to
perform a task.
Initiator of a message to which a Server reacts.
Clock synchronization Representation of a sequence of interactions to synchronize
the clocks of all time receivers by a time Master.
Commands Set of commands from the application control program to the
PDS to control the behaviour of the PDS or functional
elements of the PDS.
Communication cycle Accumulation of all telegrams between two Master
synchronization telegrams.
Communication object Component that manages and provides a run time exchange
of messages across the network.
Connection Logical binding between two application objects within the
same or different devices.
Consume Act of receiving data from a provider.
Consumer Node or sink receiving data from a provider.
Control Purposeful action on or in a process to meet specified
objectives.
Control device Physical unit that contains – in a module/subassembly or
device – an application program to control the PDS.
Control unit Control device.
Control word Two adjacent bytes inside the Master data telegram
containing commands for the addressed drive.
Controller Controlling device which is associated with one or more drives
(axes) a host for the overall automation.
Conveyance path Unidirectional flow of APDUs across an application
relationship.
Cycle time Time span between two consecutive cyclically recurring
events.
Cyclic Events which repeat in a regular and repetitive manner.
Cyclic data Part of the telegram which does not change its meaning
during cyclic operation of the interface.
High priority real-time data that is transferred by a CIP Motion
connection on a periodic basis.
Data Generic term used to refer to any information carried over a

fieldbus.
Data consistency Means for coherent transmission and access of the input-or
output-data object between and within Client and Server.
Data exchange Demand dependent; non cyclic transmission (service channel).
Data type Relation between values and encoding for data of that type
according to the definitions of IEC 61131-3.
Set of values together with a set of permitted operations.
Data type object Entry in the object dictionary indicating a data type.
Default gateway Device with at least two interfaces in two different IP subnets
acting as router for a subnet.
Device Field device.
Networked independent physical entity of an industrial
automation system capable of performing specified functions
in a particular context and delimited by its interfaces.
Entity that performs control, actuating and/or sensing
functions and interfaces to other such entities within an
automation system.
Physical entity connected to the fieldbus composed of at least
one communication element (the network element) and which
may have a control element and/or a final element
(transducer, actuator, etc.).
Device profile Collection of device dependent information and functionality
providing consistency between similar devices of the same
device type.
Representation of a device in terms of its parameters and
behaviour according to a device model that describes the
device’s data and behaviour as viewed through a network,
independent from any network technology.
Diagnosis information All data available at the Server for maintenance purposes.
Distributed clocks Method to synchronize Slaves and maintain a global time
base.
DL Data-link-layer.
DLPDU Data-link-protocol-data-unit.
Drive Object Functional element of a Drive Unit.
Drive Unit Logical device which comprises all functional elements related
to one central processing unit.
Error Discrepancy between a computed, observed or measured value
or condition and the specified or theoretically correct value or
condition.
Error class General grouping for related error definitions and
corresponding error codes.
Error code Identification of a specific type of error within an error class.
EtherCAt State Machine EtherCAT Slave is a state machine; communication and
operating characteristics depend on the current state of the

device.
Event Instance of a change of conditions.
Event data Medium priority real-time data that is transferred by a CIP
Motion connection only after a specified event occurs.
Feed forward Command value used to compensate the lag in the control
loop.
Feedback variable Variable which represents a controlled variable and which is
returned to a comparing element.
Fieldbus memory
management unit
Function that establishes one or several correspondences
between logical addresses and physical memory.
Fieldbus memory
management unit entity
Single element of the fieldbus memory management unit: one
correspondence between a coherent logical address space and
a coherent physical memory location.
Frame Denigrated synonym for DLPDU.
FreeRun Asynchronous communication mode.
Full Slave Slave device that supports both physical and logical
addressing of data.
Functional element Entity of software or software combined with hardware,
capable of accomplishing a specified function of a device.
HMI Human Machine Interface.
Host Device that covers the automation functionality of an
automation device.
I/O data Input data and output data that would typically need to be
updated on a regular basis (e.g. periodic change of state), such
as commands, set-points, status and actual values.
Identification number
(IDN)
Designation of operating data under which a data block is
preserved with its attribute, name, unit, minimum and
maximum input values, and the data.
Index Address of an object within an application process.
Input data Data transferred from an external source into a device,
resource or functional element.
Interface Shared boundary between two entities defined by functional
characteristics, signal characteristics, or other characteristics
as appropriate.
Little endian Data representation of multi-octet fields where the least
significant octet is transmitted first.
Logical power drive
system
Model which includes PDS and communication network
accessible through the generic PDS interface.
Mapping Correspondence between two objects in that way that one
object is part of the other object.
Mapping parameters Set of values defining the correspondence between
application objects and process data objects.

Master Device that controls the data transfer on the network and
initiates the media access of the Slaves by sending messages
and that constitutes the interface to the control system.
Node, which assigns the other nodes the right to transmit.
Master data telegram
(MDT)
Telegram, in which the Master inserts its data.
Medium Cable, optical fibre or other means by which communication
signals are transmitted between two or more points.
Message Ordered series of octets intended to convey information.
Normally used to convey information between peers at the
application layer.
Model Mathematical or physical representation of a system or a
process, based with sufficient precision upon known laws,
identification or specified suppositions.
Motion Any aspect of the dynamics of an axis.
Motion Axis Object Object that defines the attributes, services, and behaviour of a
motion device based axis (or PDS) according to the CIP Motion
specification, including Communications, Device Control, and
Basic Drive FE elements as defined in IEC 61800-7.
Network Set of nodes connected by some type of communication
medium, including any intervening repeaters, bridges, routers
and lower-layer gateways.
Node Single DL-entity as it appears on one local link.
End-point of a link in a network or a point at which two or
more links meet [derived from IEC 61158-2].
Object Abstract representation of a particular component within a
device.
An object can be:
1. an abstract representation of the capabilities of a
device. Objects can be composed of any or all of the
following components:
◦data (information which changes with time);
◦configuration (parameters for behaviour);
◦methods (things that can be done using data and
configuration);
2. a collection of related data (in the form of variables)
and methods (procedures) for operating on that data
that have clearly defined interface and behaviour.
Object dictionary Data structure addressed by Index and Sub-index that
contains description of data type objects, communication
objects and application objects.
List of objects with unique 16-bit index and 8-bit sub-index as
defined in EN 50325-4.
Operating cycle Period of the control loop within the drive or the control unit.
Operating mode Characterization of the way and the extent to which the
human operator intervenes in the control equipment.

Output data Data originating in a device, resource or functional element
and transferred from them to external systems.
P-Device Field device and the host for the Drive Objects.
Parameter Data element that represents device information that can be
read from or written to a device, for example through the
network or a local HMI.
PDO Process Data Object.
PDS Power Drive System.
Process data Collection of application objects designated to be transferred
cyclically or acyclically for the purpose of measurement and
control.
Process Data Object
(PDO)
Communication object with real-time capability.
Structure described by mapping parameters containing one or
several process data entities.
Producer Node or source sending data to one or many consumers.
Profile Representation of a PDS interface in terms of its parameters,
parameter assemblies and behaviour according to a
communication profile and a device profile.
Protocol Convention about the data formats, time sequences, and error
correction in the data exchange of communication systems.
Reference variable Input variable to a comparing element in a controlling system
which sets the desired value of the controlled variable and is
deducted from the command variable.
Resource Processing or information capability.
Segment Collection of one real Master with one or more Slaves.
Server Object which provides services to another (Client) object.
Service Operation or function than an object and/or object class
performs upon request from another object and/or object
class.
Service data Lower priority real-time data associated with a service
message from the controller that is transferred by a CIP
Motion connection on a periodic basis.
Set-point Value or variable used as output data of the application
control program to control the PDS.
Slave DL-entity accessing the medium only after being initiated by
the preceding Slave or the Master.
Node, which is assigned the right to transmit by the Master.
Standard telegram Set of input data and output data for an application mode.
Status Set of information from the PDS to the application control
program reflecting the state or mode of the PDS or a
functional element of the PDS.
Status word Two adjacent bytes inside the drive telegram containing status
information.

Subindex Sub-address of an object within the object dictionary.
Supervisor Engineering device which manages provisions of configuration
data (parameter sets) and collections of diagnosis data from
P-Devices and/or controllers.
Switch MAC bridge as defined in IEEE 802.1D.
Sync Manager Sync Manager has the task of synchronizing data transfer
between Master and Slave and prevents the same memory
area from being written by different events.
Collection of control elements to coordinate access to
concurrently used objects.
Sync manager channel Single control elements to coordinate access to concurrently
used objects.
Synchronised Condition where the local clock value on the drive is locked
onto the Master clock of the distributed System Time.
Synchronous with DC
SYNC0
In this operating mode data is sampled and then copied into
Sync Manager buffer simultaneously at SYNC0 event
generated by the ESC capture/compare unit.
Synchronous with SM3 In this mode data is sampled and then copied into Sync
Manager buffer as soon as previous data was read from the
Master (SM event); in this way new sampled data is
synchronous with Master readings.
System Time Absolute time value as defined in the CIP Sync specification in
the context of a distributed time system where all devices
have a local clock that is synchronised with a common Master
clock.
Telegram Message.
Time stamp System Time stamp value associated with the CIP Motion
connection data that conveys the absolute time when the
associated data was captured, or that can also be used to
determine when the associated data shall be applied.
Topology Physical network architecture with respect to the connection
between the stations of the communication system.
Type Hardware or software element which specifies the common
attributes shared by all instances of the type.
Use case Class specification of a sequence of actions, including variants,
that a system (or other entity) can perform, interacting with
actors of the system.
Variable Software entity that may take different values, one at a time.

SFA-5000 • SFA-10000 EtherCAT
1 - Safety summary
1 1 Safety
•Always adhere to the professional safety and accident prevention
regulations applicable to your country during device installation and
operation;
•installation and maintenance operations have to be carried out by
qualified personnel only, with power supply disconnected and stationary
mechanical parts;
•device must be used only for the purpose appropriate to its design: use for
purposes other than those for which it has been designed could result in
serious personal and/or the environment damage;
•high current, voltage and moving mechanical parts can cause serious or
fatal injury;
•warning ! Do not use in explosive or flammable areas;
•failure to comply with these precautions or with specific warnings
elsewhere in this manual violates safety standards of design, manufacture,
and intended use of the equipment;
•Lika Electronic assumes no liability for the customer's failure to comply
with these requirements.
1 2 Electrical safety
•Turn OFF the power supply before connecting the device;
•connect according to explanation in the ”4 - Electrical connections”
section on page 23;
•in compliance with 2014/30/EU norm on electromagnetic
compatibility, following precautions must be taken:
-before handling and installing the equipment, discharge
electrical charge from your body and tools which may come in touch
with the device;
- power supply must be stabilized without noise; install EMC filters on
device power supply if needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as far as possible from any capacitive or inductive
noise source; shield the device from noise source if needed;
- to guarantee a correct working of the device, avoid using strong magnets
on or near by the unit;
- minimize noise by connecting the shield and/or the connector housing
and/or the frame to ground. Make sure that ground is not affected by
noise. The connection point to ground can be situated both on the device
side and on user’s side. The best solution to minimize the interference
must be carried out by the user. Provide the ground connection as close
as possible to the encoder. We suggest using the ground point provided
MAN SFA_5000_10000_EC E 1.0.odt 1 - Safety summary 16 of 84

SFA-5000 • SFA-10000 EtherCAT
in the cap, use one TCEI M3 x 6 cylindrical head screw with two tooth
lock washers.
1 3 Mechanical safety
•Install the device following strictly the information in the “3 - Mechanical
installation” section on page 19;
•mechanical installation has to be carried out with stationary mechanical
parts;
•do not disassemble the unit;
•do not tool the unit;
•delicate electronic equipment: handle with care; do not subject the device
to knocks or shocks;
•respect the environmental characteristics of the product;
•we suggest installing the unit providing protection means against waste,
especially swarf as turnings, chips, or filings; should this not be possible,
please make sure that adequate cleaning measures are in place in order to
prevent the wire from jamming;
•to avoid failures, never exceed the maximum measuring length and
prevent the wire from tangling up;
•never release the wire freely, always help the wire wind properly: risk of
personal injury and/or equipment damage;
•always keep the wire aligned not to damage the equipment;
•the stroke per turn of the draw-wire unit is 200 mm (7.874”).
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SFA-5000 • SFA-10000 EtherCAT
2 - Identification
Device can be identified through the order code and the serial number printed
on the label applied to its body. Information is listed in the delivery document
too. Please always quote the order code and the serial number when reaching
Lika Electronic. For any information on the technical characteristics of the
product refer to the technical catalogue.
Warning: encoders having order code ending with "/Sxxx" may have
mechanical and electrical characteristics different from standard and
be supplied with additional documentation for special connections
(Technical Info).
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SFA-5000 • SFA-10000 EtherCAT
3 - Mechanical installation
WARNING
Installation, electrical connection and maintenance operations must be carried
out by qualified personnel only, with power supply disconnected. Mechanical
components must be in stop.
3 1 Overall dimensions
Values are expressed in mm
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SFA-5000 • SFA-10000 EtherCAT
3 2 Mounting instructions
•Fasten the draw-wire unit onto a fixed support using three M4 screws 1;
•remove the transport safety wire that pins the end of the measuring
wire;
•fix the end of the measuring wire to the moving unit using the provided
M6 nuts 2.
WARNING
We suggest installing the unit providing protection means against waste,
especially swarf as turnings, chips, or filings; should this not be possible, please
make sure that adequate cleaning measures are in place in order to prevent the
wire from jamming.
To avoid irreparable failures, never exceed the maximum measuring length and
prevent the wire from tangling up.
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