SICK AHS36 IO-Link User manual

O P E R A T I N G I N S T R U CT I O NS
AHS/AHM36 CANopen
AHS/AHM36 CANopen Inox
Absolute Encoder

2OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK
Subject to change without notice
Described product
AHS/AHM36 CANopen
AHS/AHM36 CANopenInox
Manufacturer
SICK STEGMANN GmbH
Dürrheimer Str. 36
78166 Donaueschingen
Germany
Legal information
This document is protected by the law of copyright. Whereby all rights established
therein remain with the company SICK STEGMANN GmbH.Reproduction of this
document or parts of this document is onlypermissiblewithin the limits of the legal
determination of Copyright Law. Any modification, expurgation or translation of this
document is prohibited without the express written permissionof SICK STEGMANN
GmbH.
The trademarks stated in this document are the propertyof their respective owner.
© SICK STEGMANN GmbH. All rights reserved.
Original document
This document is an original document of SICK STEGMANN GmbH.

CONTENTS
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Contents
1 About this document.........................................................................6
1.1 Function of this document..................................................................................6
1.2 Target group..........................................................................................................6
1.3 Information depth.................................................................................................6
1.4 Scope.....................................................................................................................7
1.5 Abbreviations used...............................................................................................7
1.6 Symbols used........................................................................................................8
2 On safety...........................................................................................9
2.1 Authorized personnel...........................................................................................9
2.2 Intended use .........................................................................................................9
2.3 General safety notes and protective measures ............................................10
2.4 Environmental protection.................................................................................10
3 Quick start instructions on the AHS36/AHM36 CANopen..............11
3.1 Node ID/Baud rate............................................................................................11
3.2 Parameterization...............................................................................................12
3.2.1 EDS file.............................................................................................12
3.2.2 Save or restore parameters..........................................................12
3.3 Process data objects (PDOs)............................................................................13
3.3.1 PDO communication......................................................................13
3.3.2 PDO mapping..................................................................................14
4 Product description.........................................................................15
4.1 Special features.................................................................................................15
4.2 Operating principle of the encoder..................................................................17
4.2.1 Scaleable resolution.......................................................................17
4.2.2 Preset function................................................................................17
4.2.3 Round axis functionality................................................................18
4.2.4 Electronic cam mechanism...........................................................20
4.3 Controls and status indicators.........................................................................20
5 Integration in CANopen...................................................................21
5.1 Communication profile......................................................................................21
5.1.1 CANopen in the OSI model............................................................21
5.1.2 Communication channels..............................................................21
5.1.3 Topology...........................................................................................22
5.2 Node IDs and COB-IDs......................................................................................23
5.3 Baud rate............................................................................................................24
5.4 Layer Setting Services (LSS)............................................................................24

CONTENTS
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5.5 Network management (NMT)...........................................................................28
5.5.1 CANopen state machine................................................................28
5.5.2 Network Management Services....................................................29
5.5.3 Boot-up message............................................................................30
5.5.4 Node Guarding and Heartbeat......................................................30
5.6 Service Data Objects (SDO)..............................................................................31
5.7 Process Data Objects (PDO).............................................................................33
5.7.1 PDO mapping..................................................................................33
5.7.2 PDO data transmission..................................................................34
5.7.3 Asynchronous or synchronous formation of the position..........36
5.8 Configurable functions......................................................................................37
5.8.1 EDS file.............................................................................................37
5.8.2 Scaling parameters........................................................................38
5.8.3 Preset function................................................................................40
5.8.4 Cyclic process data.........................................................................41
5.8.5 Speed measurement......................................................................42
5.8.6 Round axis functionality................................................................43
5.8.7 Electronic cam mechanism...........................................................45
6 Object library...................................................................................46
6.1 Nomenclature....................................................................................................46
6.2 Standard objects...............................................................................................47
6.2.1 Detailed information on the standard objects............................48
6.3 Process Data Objects........................................................................................54
6.3.1 Basic PDO structure.......................................................................54
6.3.2 Parameter of the Receive PDO.....................................................55
6.3.3 Parameter of the Transmit PDOs..................................................56
6.3.4 Transmission types.........................................................................58
6.3.5 Objects and their subindices that can be mapped....................60
6.4 Encoder profile specific objects.......................................................................61
6.4.1 Encoder parameters.......................................................................62
6.4.2 Objects for the electronic cam mechanism (CAM).....................65
6.4.3 Objects for diagnostics..................................................................69
6.5 Manufacturer-specific objects.........................................................................74
6.5.1 Objects for the encoder configuration.........................................75
6.5.2 Objects that provide status information......................................81
7 Commissioning ...............................................................................89
7.1 Electrical installation.........................................................................................89
7.1.1 Connection of the AHS36/AHM36 CANopen..............................89
7.2 Settings on the hardware.................................................................................90
7.3 Configuration......................................................................................................91
7.3.1 Default delivery status...................................................................91
7.3.2 System configuration.....................................................................91
7.4 Tests before the initial commissioning...........................................................95

CONTENTS
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8 Fault diagnosis................................................................................96
8.1 In the event of faults or errors.........................................................................96
8.2 SICK STEGMANN support.................................................................................96
8.3 Error and status indications on the LED.........................................................96
8.3.1 Meaning of the LED displays.........................................................97
8.4 Diagnostics via CANopen..................................................................................97
8.4.1 Emergency Messages....................................................................97
8.4.2 Alarms, warnings and status.........................................................98
8.4.3 Error during the SDO transfer.......................................................99
9 Annex ........................................................................................... 100
9.1 Conformity with EU directives ....................................................................... 100
10 List of illustrations........................................................................ 101
11 List of tables................................................................................. 103

1ABOUT THIS DOCUMENT
6OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK
Subject to change without notice
1About this document
Please read this chapter carefully before workingwith this documentationand the
AHS/AHM36 CANopenand AHS/AHM36 CANopen Inox Absolute Encoder.
1.1 Function of this document
These operatinginstructions are designedto address the technical personnel of the
machine manufacturer or the machine operator in regards to correct configuration,
electrical installation, commissioning, operation and maintenance of the
AHS/AHM36 CANopenand AHS/AHM36 CANopen Inox Absolute Encoder.
1.2 Target group
The operatinginstructions are addressed at the planners, developers and operators of
systems in which one or more AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox
Absolute Encoders are to be integrated. Theyalso address peoplewho initialize the use
of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox or who are in charge of
servicing and maintaining the device.
These instructions are written for trained persons whoare responsible for the
installation, mounting and operation of the AHS/AHM36CANopen and AHS/AHM36
CANopen Inox in an industrial environment.
1.3 Information depth
These operating instructions contain information on the AHS/AHM36 CANopen and
AHS/AHM36 CANopenInox Absolute Encoder on the following subjects:
product features
electrical installation
commissioning and configuration
fault diagnosis and troubleshooting
conformity
These operating instructions do not contain any information on the mountingof the
AHS/AHM36 CANopenand AHS/AHM36 CANopen Inox. You will find this informationin
the mounting instructions included with the device.
They also do not contain anyinformation on technical specifications, dimensional
drawings,orderinginformation or accessories.You will find this information in the
product informationfor the AHS/AHM36 CANopen and AHS/AHM36CANopen Inox.
Planningand using measurement systems such as the AHS/AHM36CANopen and
AHS/AHM36 CANopenInox also requires specific technical skills beyond the
information in the operatinginstructions and mounting instructions. The information
required to acquire these specific skills is not containedin this document.
When operating the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox, the
national, local and statutoryrules and regulations must be observed.
Additional information
You will find additional informationat www.can-cia.org.

ABOUT THIS DOCUMENT 1
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1.4 Scope
NOTE
These operating instructions apply to the AHS/AHM36CANopen and AHS/AHM36
CANopen Inox Absolute Encoder with the following type codes:
Singleturn Encoder Basic = AHS36B-xxCx004096
Multiturn Encoder Basic = AHM36B-xxCx012x12
Singleturn Encoder Advanced = AHS36A-xxCx016384
Multiturn Encoder Advanced = AHM36A-xxCx014x12
Singleturn Encoder Inox = AHS36I-xxCx016384
Multiturn Encoder Inox = AHM36I-xxC-x014x12
1.5 Abbreviations used
Controller Area Network
CANopen is a registered trademark of CAN in Automation e.V.
Counts per MeasuringRange
Customized Number of Revolutions, Divisor = divisor of the customized number of
revolutions
Customized Number of Revolutions, Nominator = nominator of the customized number
of revolutions
Communication Object Identifier = address of the communication object
Change of State
Counts Per Revolution = resolution per revolution
Electronic Data Sheet
Electrically Erasable Programmable Read-only Memory
Emergency Message
Layer SettingServices = services for the configuration of Node IDand baud rate
Network Management
Node Identifier = node address
Process Data Object
Programmable Logic Controller
Physical Measuring Range
Physical Resolution Span (per revolution)
Remote Transmission Request= request telegramfor PDOs
Service Data Object
CAN
CANopen®
CMR
CNR_D
CNR_N
COB-ID
CoS
CPR
EDS
EEPROM
EMGY
LSS
NMT
Node ID
PDO
PLC
PMR
PRS
RTR
SDO

1ABOUT THIS DOCUMENT
8OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK
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1.6 Symbols used
NOTE
Refer to notes for special features of the device.
LED symbols describe the state of a diagnostics LED. Examples:
The LED is illuminated constantly.
 The LED flashes evenly.
 The LED flashes with a short dutycycle.
The LED is off.
Take action …
Instructions for taking action are shown by an arrow. Read carefully and follow the
instructions for action.
WARNING
Warning!
A warningnotice indicates an actual or potential risk or health hazard. They are
designed to help you to prevent accidents.
Read carefully and follow the warningnotices.

ON SAFETY 2
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2On safety
This chapter deals with your own safety and the safety of the equipment operators.
Please read this chapter carefully before working with the AHS/AHM36 CANopen
and AHS/AHM36 CANopen Inox or with the machine or system in which the
AHS/AHM36 CANopenand AHS/AHM36 CANopen Inox is used.
2.1 Authorized personnel
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox AbsoluteEncoder must
only be installed, commissioned and serviced byauthorized personnel.
NOTE
Repairs to the AHS/AHM36 CANopen and AHS/AHM36CANopen Inox are only allowed
to be undertaken by trained and authorized servicepersonnel fromSICK STEGMANN
GmbH.
The following qualifications are necessary for the various tasks:
Activity
Qualification
Mounting
Basic technical training
Knowledge of the current safety regulations in the
workplace
Electrical installation and
replacement
Practical electrical training
Knowledge of current electrical safety regulations
Knowledge on the use and operation of devices in the
related application (e.g. industrial robots, storage and
conveyor technology)
Commissioning, operation
and configuration
Knowledge on the current safety regulations and the use
and operation of devices in the related application
Knowledge of automation systems
Knowledge of CANopen®
Knowledge of automation software
Table 1: Authorized personnel
2.2 Intended use
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox AbsoluteEncoder is a
measuringdevice that is manufactured in accordance with recognized industrial
regulations and meets the qualityrequirements as per ISO 9001:2008 as well as those
of an environment management systemas per ISO 14001:2009.
An encoder is a device for mountingthat cannot be used independent of its foreseen
function. For this reason an encoder is not equipped with immediate safe devices.
Measures for the safety of persons and systems must be provided by the constructor of
the system as per statutoryregulations.
Due to its design, the AHS/AHM36 CANopen and AHS/AHM36CANopen Inox can only
be operated within an CANopennetwork. It is necessaryto comply with the CANopen
specifications and guidelines for settingup a CANopennetwork.
In case of any other usage or modifications to the AHS/AHM36 CANopen and
AHS/AHM36 CANopenInox, e.g. opening the housing duringmounting and electrical
installation, or in case of modificationsto the SICK software, any claims against SICK
STEGMANN GmbH under warranty will be rendered void.

2ON SAFETY
10 OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK
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2.3 General safety notes and protective measures
WARNING
Please observe the following procedures in order to ensurethe correct and safe use
of the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox!
The encoder is to be installed and maintained by trained and qualified personnel with
knowledge of electronics, precision mechanics and control systemprogramming. It is
necessaryto comply with the related standards coveringthe technical safety
stipulations.
All safetyregulations are to be met byall persons who are installing, operating or
maintaining the device:
The operatinginstructions must always be available and must always be followed.
Unqualified personnel are not allowed to be present in the vicinityof the system
during installation and maintenance.
The system is to be installed in accordance with the applicablesafety stipulations
and the mounting instructions.
All work safety regulations of the applicable countries are to be followed during
installation.
Failure to follow all applicablehealth and worksafety regulations mayresult in
injury or damage to the system.
The current and voltage sources in the encoder are designed in accordancewith
all applicable technical regulations.
2.4 Environmental protection
Please note the following information on disposal.
Assembly
Material
Disposal
Packaging
Cardboard
Waste paper
Shaft
Stainless steel
Scrap metal
Flange
Aluminium / Stainless steel
Scrap metal
Housing
Aluminium die cast with Zinc
nickel coating / stainless
steel
Scrap metal
Electronic assemblies
Various
Electronic waste
Table 2: Disposal of the assemblies

QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN
INOX 3
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3Quick start instructions on the AHS/AHM36 CANopen and
AHS/AHM36 CANopen Inox
3.1 Node ID/Baud rate
The following prerequisites must be met for the communicationwith the master:
A correct node ID must be set on the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox. Correct is:
○a node ID that is not in use in the CANopen network
○a node ID that the master expects
The same baud rate must be set on the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox as on the master.
The following parameters are set on the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox in the factory:
Node ID: 5
Baud rate: 125 kbit/s
Figure 1: Encoder in the CANopen network
The following communication parameters can be assigned to the
AHS/AHM36 CANopenand AHS/AHM36 CANopen Inox:
Node ID: 1 to 127 (as a rule 0 is assigned to the master)
Baud rate: 10 kbit/s, 20 kbit/s, 50 kbit/s, 100 kbit/s, 125 kbit/s, 250 kbit/s,
500 kbit/s, 800 kbit/s, 1,000 kbit/s
Set the node ID and the baud rate as follows:
using the manufacturer-specific object 2009h
using Layer Setting Services (see section 5.4 on page 24)
Changing node ID and/or baud rate using the object 2009h
To change the node ID and/or the baud rate usingthe object 2009h, proceed as
follows:
Enteringthe access code in object 2009.1h: 98127634h
Change node ID and/or baud rate in the objects 2009.2h and 2009.3h
Save parameters with the aid of object 1010.1h: 65766173h (corresponds to
“save”in ASCII)
LSS, NMT
SDO, PDO, EMGY
Master
Node ID = 0
Slave
Node ID = 1 …127

3QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN
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NOTE
The changes will only be active after restarting the encoder (switchoff and on again the
supplyvoltage).
Integration of several encoders
Integrate encoder 1 in the network and change the node ID(e.g. node ID 4).
Then integrate encoder 2 in the network and change the node IDif necessary.
NOTE
It is imperative you ensure there are not several encoders or other bus users with an
identical node IDin the same network.
3.2 Parameterization
3.2.1 EDS file
An EDS file is available for the straightforward interfacingof the AHS/AHM36 CANopen
and AHS/AHM36 CANopen Inox to a CANopen master. This file contains, amongst
others, the default parameters of the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox and the default configuration of the process data.
You can download the EDSfile from www.sick.com:
Enter the seven-digit part number of your encoder directly in the Find field on the
homepage.
Click the related search result.
A page with all the information and files for your device will open.
Download the EDSfile.
Integrate the EDS file in the engineeringtool for your control.
3.2.2 Save or restore parameters
Saving modified parameters in the EEPROM –Save command
All parameters configured in the encoder’s EEPROMare saved using object 1010h.
For this purpose enter the command 65766173h (corresponds to “save”in ASCII)
in object 1010.1h.
NOTE
If the Save command is not run, the previous parameters will be loaded fromthe
EEPROM the next time the encoder is started.
Resetting encoders to default factorysettings –Load command
The parameters are reset to the default factorysettings usingthe object 1011h.
For this purpose enter the command 64616F6Ch (corresponds to “load”in ASCII)
in the object 1011.1h.

QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN
INOX 3
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NOTE
The node ID and baud rate set are not in general reset to the default factorysettings.
The Save command must be run after the Load command. If the Save command is not
run, the previous parameters will be loaded fromthe EEPROM the next timethe
encoder is started.
3.3 Process data objects (PDOs)
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox supports four Transmit
PDOs and one Receive PDO.
Transmit PDOs
Data are sent by the encoder to the PLC using the four Transmit PDOs.
The four Transmit PDOs are defined by the following objects:
The objects 1800h …1803hcontain the communication parameters.
The objects 1A00h … 1A03h contain the mapping of the objects.
The mapping is variable and can be modified.
Receive PDO
Data are received from the PLC by the encoder usingthe Receive PDO.The mapping for
this Receive PDO is fixed and cannot be modified.
3.3.1 PDO communication
In the factorythe transmission type for the Transmit PDOs is set to 255 in the objects
1800h … 1803h. This corresponds to the device-specific triggering.
NOTE
As an event timer is not configured, the Transmit PDOs are only transferred once on
changingto the Operational status!
Changing factory setting for transmission type
For the cyclic or acyclic output of the Transmit PDOs by the encoder, there are the
following options:
Change the event timer in the objects 1800h …1803h(see Table 63 ff. from
page 56).
Configure a trigger event using the CoS event handlingconfiguration (see
Table 119 on page 80).
Change the transmissiontype in the objects 1800h …1803h (seeTable 63 ff.
from page 56).
Pay attention to the inhibition time
The inhibition time for the PDOs (configured in the objects 1800.3h … 1803.3h) in
principle limits the communication of a device on the CANopen bus. It always has a
higher priority than the event timer,the CoS events and the sync triggering.
If, e.g., the event timer is set to 100 ms and the inhibition time is set to 1 s, the
corresponding PDO is only sent everysecond.

3QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN
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3.3.2 PDO mapping
You will find which objects are mapped by default in the related transmit PDOs in
section 6.3.3 on page 56.

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4Product description
This chapter provides information on the special features and properties of the
Absolute Encoder AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. It describes
the construction and the operatingprinciple of the device.
Please read this chapter before mounting, installing and commissioning the
device.
4.1 Special features
Figure 2: Connection types
With male connector
With cable outlet

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Properties
Singleturn Encoder
Basic
Multiturn Encoder
Basic
Singleturn Encoder
Advanced
Multiturn Encoder
Advanced
Singleturn Encoder
Inox
Multiturn Encoder
Inox
CANopen interface






Supports the encoder profile CiA DS-406






Diagnostic functions via CANopen
–
–




12 bit singleturn resolution
(1 to 4,096 steps)


–
–
–
–
14 bit singleturn resolution
(1 to 16,384 steps)
–
–




12 bit multiturn resolution
(1 to 4,096 revolutions)
–

–

–

24 bit total resolution
–

–
–
–
–
26 bit total resolution
–
–
–

–

Round axis functionality
–
–
–

–

Absolute Encoder in 36 mm design






Electro-sensitive, magnetic scanning






Flexible cable outlet/M12 male connector






Large number of mechanical adaptation options






Compact design






Face mount flange, servo flange, blind hollow
shaft






Stainless steel variant
–
–
–
–


Enclosure rating IP69K
–
–
–
–


Table 3: Special features of the encoder variants

PRODUCT DESCRIPTION 4
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4.2 Operating principle of the encoder
The sensing system in the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox
Absolute Encoder is based on absolute acquisition of revolutions without an external
voltage supply or battery. As a consequencethe encoder can immediately output its
absolute position again after switching off and switching back on.
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox acquires the position of
rotating axes and outputs the position in the form of a unique digital numeric value.
The highest reliability is achieved by means of electro-sensitive, magnetic scanning.
The AHS36 CANopen and AHS36 CANopen Inox is a singleturn encoder.
Singleturn encoders are used if absolute acquisition of the rotation of a shaft is
required.
The AHM36 CANopen and AHM36 CANopen Inox is a multiturn encoder.
Multiturn encoders are used if more than one shaft revolution must be acquired
absolutely.
4.2.1 Scaleable resolution
The resolution per revolution and the total resolution can be scaled and adapted to the
related application.
The resolution per revolution can be scaled in integers from 1 … 4,096 (Basic) or from
1 … 16,384 (Advanced / Inox).
The total resolution of the AHM36 CANopen and AHM36CANopen Inox must be 2ⁿ
times the resolution per revolution. This restriction is not relevant if the round axis
functionality is activated.
4.2.2 Preset function
The position value for an encoder can be set with the aid of a preset value. I.e. the
encoder can be set to any position within the measuring range. In this way,e.g., the
encoder’s zero positioncan be adjusted to the machine’s zero point.
On switching off the encoder,the offset, the difference between the real position value
and the value defined by the preset, is saved. On switching back on the new preset
value is formed from the new real position valueand the offset. Even if the position of
encoder changes while it is switched off, this procedure ensures the correct position
value is still output.
Figure 3: Saving the offset
= on switching off
= on switching back on


Offset
Encoder housing
Preset value
Difference
after switch-
ing back on
Offset
Encoder shaft

4PRODUCT DESCRIPTION
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4.2.3 Round axis functionality
The encoder supports the function for round axes. The steps per revolution are set as a
fraction. As a result, the total resolution does not have to be configured to 2ⁿ times the
resolution per revolution and can also be a decimal number (e.g. 12.5).
NOTE
The output position value is adjusted with the zero point correction, the counting
direction set and the gearbox parameters entered.
Example with transmission ratio
A rotating table for a filling system is to be controlled. The resolution per revolution is
pre-defined by the number of filling stations. There are nine filling stations. For the
precise measurement of the distance between two fillingstations, 1,000steps are
required.
Figure 4: Example position measurement on a rotating table with transmission ratio
The number of revolutions is pre-definedby the transmission ratio = 12.5 of the
rotating table gearing.
The total resolution is then 9 × 1,000 = 9,000 steps, to be realized in 12.5 revolutions
of the encoder.This ratio cannot be realized via the resolution per revolution and the
total resolution, as the total resolution is not 2ⁿ times the resolution per revolution.
The application problem can be solved using the round axis functionality. Here the
resolution per revolution is ignored. The total resolution as well as the nominator and
divisor for the number of revolutions are configured.
9,000 steps are configured as the total resolution.
For the nominator for the number of revolutions 125 is configured, 10 as the divisor
(125/10 = 12.5).
After 12.5 revolutions (that is after one completerevolution of the rotating table) the
encoder reaches the total resolution of 9,000.
125
10
Rotating table with
nine filling
stations
Encoder

PRODUCT DESCRIPTION 4
8016869/12TG/2019-04-08 | SICK OPERATING INSTUCTIONS |AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 19
Subject to change without notice
Example without transmission ratio
Figure 5: Example position measurement on a rotating table without transmission ratio
The encoder is mounted directly on the rotating table. The transmission ratio is 1:1.
The rotatingtable has 9 filling stations. The encoder must be configured such that it
starts to count with 0 at one filling station and counts to 999 on movingto the next
filling station position.
1,000 steps are configured as the total resolution.
For the nominator for the number of revolutions 1 is configured, 9 as the divisor (1/9
revolutions = 1,000).
After 1/9revolutions of the encoder shaft there are 1,000 steps, then the encoder
starts to count at 0 again.
1,000 steps
Rotating table with nine filling stations
Encoder

4PRODUCT DESCRIPTION
20 OPERATING INSTRUCTIONS | AHS/AHM36 CANOPEN, AHS/AHM36 CANOPEN INOX 8016869/12TG/2019-04-08 | SICK
Subject to change without notice
4.2.4 Electronic cam mechanism
An electronic cam mechanismcan be configured using the encoder. Two so-called CAM
channels with up to eight cam switching positions are supported . This is a limit
switch for the position.
Figure 6: Example electronic cam mechanism
Among other parameters, each cam has parameters for the lower switching point 
and the upper switching point , which can be configured via CANopen (see section
6.4.2 on page 65).
4.3 Controls and status indicators
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox AbsoluteEncoder has one
status LED.
Figure 7: Position of the LED
The LED is multi-colored. Table 138on page 97 shows the meaning of the signals.
LED