SICK EtherCAT AFS60 User manual

OPERATING INSTRUCTIONS
AFS60 EtherCAT
AFM60 EtherCAT
Absolute Encoder

2OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
Described product
AFS60/AFM60 EtherCAT
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 only permissible within the limits of the legal
determination of Copyright Law. Any modification, expurgation or translation of this
document is prohibited without the express written permission of SICK STEGMANN
GmbH.
The trademarks stated in this document are the property of their respective owner.
© SICK STEGMANN GmbH. All rights reserved.
Original document
This document is an original document of SICK STEGMANN GmbH.

CONTENTS
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 3
Subject to change without notice
Contents
1 About this document ................................................................................ 5
1.1 Function of this document.......................................................................... 5
1.2 Target group................................................................................................ 5
1.3 Information depth....................................................................................... 5
1.4 Scope.......................................................................................................... 6
1.5 Abbreviations used ..................................................................................... 6
1.6 Symbols used.............................................................................................. 7
2 On safety..................................................................................................... 8
2.1 Authorized personnel.................................................................................. 8
2.2 Intended use............................................................................................... 8
2.3 General safety notes and protective measures .......................................... 9
2.4 Environmental protection ........................................................................... 9
3 Product description.................................................................................10
3.1 Special features........................................................................................ 10
3.2 Operating principle of the encoder ........................................................... 11
3.2.1 Scaleable resolution................................................................ 11
3.2.2 Preset function ........................................................................ 11
3.2.3 Round axis functionality .......................................................... 12
3.2.4 Electronic cam mechanism ..................................................... 14
3.3 Integration in EtherCAT............................................................................. 14
3.3.1 EtherCAT topology ................................................................... 14
3.3.2 EtherCAT telegram in the Ethernet frame................................ 16
3.3.3 CANopen over EtherCAT (CoE)................................................. 17
3.3.4 ESI file ..................................................................................... 18
3.4 Configurable functions.............................................................................. 19
3.4.1 Scaling parameters ................................................................. 19
3.4.2 Preset function ........................................................................ 21
3.4.3 Cyclic process data.................................................................. 23
3.4.4 Synchronization ....................................................................... 24
3.4.5 Speed measurement............................................................... 24
3.4.6 Round axis functionality .......................................................... 25
3.4.7 Electronic cam mechanism ..................................................... 26
3.5 Operating modes and synchronization ..................................................... 27
3.5.1 EtherCAT State Machine.......................................................... 27
3.5.2 Operating modes ..................................................................... 28
3.5.3 Synchronous operating modes................................................ 28
3.5.4 Cycle times .............................................................................. 29

CONTENTS
4OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
3.6 Object library............................................................................................. 31
3.6.1 Nomenclature.......................................................................... 31
3.6.2 Overview of the standard objects ............................................ 31
3.6.3 Detailed information on the standard objects......................... 32
3.6.4 PDO mapping objects .............................................................. 35
3.6.5 Overview of the encoder profile-specific objects ..................... 41
3.6.6 Detailed information on the encoder parameters ................... 42
3.6.7 Detailed information on the electronic cam mechanism
(CAM)....................................................................................... 45
3.6.8 Detailed information on the diagnostics.................................. 49
3.6.9 Overview of the manufacturer-specific objects........................ 54
3.6.10 Detailed information on objects for the encoder
configuration............................................................................ 55
3.6.11 Detailed information on objects that provide status
information.............................................................................. 59
3.7 Controls and status indicators.................................................................. 68
4 Commissioning........................................................................................69
4.1 Electrical installation................................................................................. 69
4.1.1 Connections of the AFS60/AFM60 EtherCAT.......................... 69
4.2 Settings on the hardware.......................................................................... 71
4.3 Configuration ............................................................................................ 72
4.3.1 Default delivery status............................................................. 72
4.3.2 System configuration............................................................... 72
4.4 Test notes ................................................................................................. 75
5 Fault diagnosis.........................................................................................76
5.1 In the event of faults or errors .................................................................. 76
5.2 SICK STEGMANN support ......................................................................... 76
5.3 Error and status indications on the LEDs.................................................. 76
5.3.1 Identification of the encoder ................................................... 76
5.3.2 NMOD, STAT and Encoder status LEDs ................................... 77
5.3.3 Ethernet Link LEDs L/A1 and L/A2 ......................................... 78
5.4 Diagnostics via EtherCAT .......................................................................... 79
5.4.1 Error types ............................................................................... 79
5.4.2 Encoder specific errors............................................................ 79
5.4.3 CoE specific errors................................................................... 80
5.4.4 EtherCAT specific errors .......................................................... 81
5.4.5 Error messages........................................................................ 85
6 Annex ........................................................................................................89
6.1 Conformity with EU directives ................................................................... 89
7 List of illustrations...................................................................................90
8 List of tables.............................................................................................92

ABOUT THIS DOCUMENT 1
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 5
Subject to change without notice
1About this document
Please read this chapter carefully before working with this documentation and the
AFS60/AFM60 EtherCAT Absolute Encoder.
1.1 Function of this document
These operating instructions are designed to 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
AFS60/AFM60 EtherCAT Absolute Encoder.
1.2 Target group
These operating instructions are addressed at the planners,developers and operators
of systems in which one or more AFS60/AFM60 EtherCAT Absolute Encoders are to be
integrated. They also address people who initialize the use of the
AFS60/AFM60 EtherCAT or who are in charge of servicing and maintaining the device.
These instructions are written for trained persons who are responsible for the
installation, mounting and operation of the AFS60/AFM60 EtherCAT in an industrial
environment.
1.3 Information depth
These operating instructions contain information on the AFS60/AFM60 EtherCAT
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 mounting of the
AFS60/AFM60 EtherCAT. You will find this information in the mounting instructions
included with the device.
They also do not contain any information on technical specifications, dimensional
drawings, ordering information or accessories. You will find this information in the data
sheet for the AFS60/AFM60 EtherCAT.
Planning and using measurement systems such as the AFS60/AFM60 EtherCAT also
requires specific technical skills beyond the information in the operating instructions
and mounting instructions. The information required to acquire these specific skills is
not contained in this document.
When operating the AFS60/AFM60 EtherCAT, the national, local and statutory rules
and regulations must be observed.
Additional information
•www.ethercat.org
•ETG.1000, 2 … 6: Layer protocol & service definitions
•ETG.1020, EtherCAT Guidelines and Protocol Enhancements
•ETG.1300, EtherCAT Indicator & Labeling specification (as per IEC 61784-2)
•ETG.2000, EtherCAT Slave Information
•ETG.2200, EtherCAT Slave Implementation Guide
•CiA DS-406, Profile Encoder for CANopen
•CiA DS-301, CANopen communication profile
•ET1810/1812, Slave Controller IP Core for Altera FPGA

1ABOUT THIS DOCUMENT
6OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
1.4 Scope
NOTE
These operating instructions apply to the AFS60/AFM60 EtherCAT Absolute Encoder
with the following type codes:
•Singleturn Encoder Advanced = AFS60A-xxEx262144
•Multiturn Encoder Advanced = AFM60A-xxEx018x10
1.5 Abbreviations used
Counts per Measuring Range
Customized Number of Revolutions, Divisor = divisor of the customized number of
revolutions
Customized Number of Revolutions, Nominator = nominator of the customized number
of revolutions
CANopen over EtherCAT
Counts Per Revolution
Distributed Clocks
Electrically Erasable Programmable Read-only Memory
Ethernet over EtherCAT
EtherCAT Slave Controller
EtherCAT Slave Information = electronic data sheet based on XML
EtherCAT State Machine = controls the status of the EtherCAT slave
EtherCAT Technology Group
EtherCAT®is registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany
Process Data Object
Programmable Logic Controller
Physical Measuring Range
Physical Resolution Span (per revolution)
Service Data Object
CMR
CNR_D
CNR_N
CoE
CPR
DC
EEPROM
EoE
ESC
ESI
ESM
ETG
EtherCAT®
PDO
PLC
PMR
PRS
SDO

ABOUT THIS DOCUMENT 1
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 7
Subject to change without notice
1.6 Symbols used
NOTE
Refer to notes for special features of the device.
LED symbols describe the state of a diagnostics LED. Examples:
ΝRed The red LED is illuminated constantly.
∏Yellow The yellow LED is flashing.
νGreen The green LED is off.
αTake action …
Instructions for taking action are shown by an arrow. Read carefully and follow the
instructions for action.
WARNING
Warning!
A warning notice indicates an actual or potential risk or health hazard. They are
designed to help you to prevent accidents.
Read carefully and follow the warning notices.

2ON SAFETY
8OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
2On safety
This chapter deals with your own safety and the safety of the equipment operators.
αPlease read this chapter carefully before working with the
AFS60/AFM60 EtherCAT or with the machine or system in which the
AFS60/AFM60 EtherCAT is used.
2.1 Authorized personnel
The AFS60/AFM60 EtherCAT Absolute Encoder must only be installed, commissioned
and serviced by authorized personnel.
NOTE
Repairs to the AFS60/AFM60 EtherCAT are only allowed to be undertaken by trained
and authorized service personnel from SICK 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 EtherCAT∇
•Knowledge of automation software
Table 1: Authorized personnel
2.2 Intended use
The AFS60/AFM60 EtherCAT Absolute Encoder is a measuring device that is
manufactured in accordance with recognized industrial regulations and meets the
quality requirements as per ISO 9001:2008 as well as those of an environment
management system as per ISO 14001:2009.
An encoder is a device for mounting that 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 statutory regulations.
Due to its design, the AFS60/AFM60 EtherCAT can only be operated within an
EtherCAT network. It is necessary to comply with the EtherCAT specifications and
guidelines for setting up a EtherCAT network.
In case of any other usage or modifications to the AFS60/AFM60 EtherCAT, e.g.
opening the housing during mounting and electrical installation, or in case of
modifications to the SICK software, any claims against SICK STEGMANN GmbH under
warranty will be rendered void.

ON SAFETY 2
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 9
Subject to change without notice
2.3 General safety notes and protective measures
WARNING
Please observe the following procedures in order to ensure the correct and safe use
of the AFS60/AFM60 EtherCAT!
The encoder is to be installed and maintained by trained and qualified personnel with
knowledge of electronics, precision mechanics and control system programming. It is
necessary to comply with the related standards covering the technical safety
stipulations.
The safety regulations are to be met by all persons who are tasked with the installation,
the operation or the maintenance of the device:
•The operating instructions must always be available and must always be followed.
•Unqualified personnel are not allowed to be present in the vicinity of the system
during installation and maintenance.
•The system is to be installed in accordance with the applicable safety stipulations
and the mounting instructions.
•All work safety regulations of the applicable countries are to be followed during
installation.
•Failure to follow all applicable health and work safety regulations may result in
injury or damage to the system.
•The current and voltage sources in the encoder are designed in accordance with
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 Scrap metal
Housing Aluminium die cast Scrap metal
Electronic assemblies Various Electronic waste
Table 2: Disposal of the assemblies

3PRODUCT DESCRIPTION
10 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
3Product description
This chapter provides information on the special features and properties of the
Absolute Encoder AFS60/AFM60 EtherCAT. It describes the construction and the
operating principle of the device.
αPlease read this chapter before mounting, installing and commissioning the
device.
3.1 Special features
Properties
Singleturn Encoder
Advanced
Multiturn Encoder
Advanced
Absolute Encoder in 60 mm design ΒΒ
Robust nickel coded disk for harsh environments Β Β
High accuracy and availability ΒΒ
Large ball bearing spacing of 30 mm Β Β
High level of freedom from vibration Β Β
Optimal rotational accuracy Β Β
Compact design Β Β
Face mount flange, servo flange, blind hollow shaft
and through hollow shaft
Β Β
18 bit singleturn resolution
(1 to 262,144 steps)
Β Β
30 bit total resolution – Β
12 bit multiturn resolution
(1 to 4,096 revolutions)
–Β
Round axis functionality –Β
EtherCAT interface (as per IEC 61784-1) Β Β
Supports the encoder profile CiA DS-406 Β Β
Table 3: Special features of the encoder variants

PRODUCT DESCRIPTION 3
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 11
Subject to change without notice
3.2 Operating principle of the encoder
The sensing system in the AFS60/AFM60 EtherCAT Absolute Encoder is based on
absolute acquisition of revolutions without an external power supply or battery. As a
consequence the encoder can immediately output its absolute position again after
switching off and switching back on.
The AFS60/AFM60 EtherCAT acquires the position of rotating axes and outputs the
position in the form of a unique digital numeric value. Optical acquisition of the rotary
position value is from an internal coded disk.
The AFS60 EtherCAT is a singleturn encoder
Singleturn encoders are used if absolute acquisition of the rotation of a shaft is
required.
The AFM60 EtherCAT is a multiturn encoder
Multiturn encoders are used if more than one shaft revolution must be acquired
absolutely.
3.2.1 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 from 1 … 262,144 as an integer. The total
resolution of the AFM60 EtherCAT must be 2ⁿtimes the resolution per revolution. This
restriction is not relevant if the round axis functionality is activated.
3.2.2 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 position can be adjusted to the machine’s zero point.
On switching off the encoder, the offset, the delta 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 value and 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 1: Saving the offset
0= on switching off
1= on switching back on
10
Offset
Position value
Preset val
ue
Delta after switching
back on
Offset

3PRODUCT DESCRIPTION
12 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
3.2.3 Round axis functionality
The encoder supports the function for round axes. During this process, the steps per
revolution are set as a fraction. As a result, the total resolution does not have to be
configured to 2ⁿtimes 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 filling stations, 1,000 steps are
required.
Figure 2: Example position measurement on a rotating table with transmission ratio
The number of revolutions is pre-defined by 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 2ⁿtimes 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 complete revolution of the rotating table) the
encoder reaches the total resolution of 9,000.
125
10
Rotating table
with nine filling
stations
Encoder

PRODUCT DESCRIPTION 3
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 13
Subject to change without notice
Example without transmission ratio
Figure 3: 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 rotating table 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 moving to 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

3PRODUCT DESCRIPTION
14 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
3.2.4 Electronic cam mechanism
An electronic cam mechanism can be configured using the encoder. Two so-called CAM
channels with up to eight cam switching positions are supported 0. This is a limit
switch for the position.
Figure 4: Example electronic cam mechanism
Among other parameters, each cam has parameters for the lower switching point 1
and the upper switching point 2, which can be configured via EtherCAT see
section 3.4.7 on page 26).
3.3 Integration in EtherCAT
3.3.1 EtherCAT topology
EtherCAT∇supports a large variety of topologies such as line, tree, ring, star and their
combinations.
Figure 5: EtherCAT topology
Encoder
PLC
E.g. I/O

PRODUCT DESCRIPTION 3
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 15
Subject to change without notice
For this reason the AFS60/AFM60 EtherCAT has two Ethernet interfaces for integration
in an EtherCAT topology.
Figure 6: Two Ethernet interfaces on the encoder
An EtherCAT connection comprises to a large extent standardized Ethernet
components. The slaves (e.g. the AFS60/AFM60 EtherCAT) have an EtherCAT Slave
Controller for the communication with the master.
The EtherCAT Slave Controller in the AFS60/AFM60 EtherCAT reads the output data for
the encoder and writes the input data for the PLC while the telegram is passing
through. The process is implemented in hardware in the EtherCAT Slave Controller and
is therefore independent of the software cycle times of the protocol stack or the
processor’s performance.
Figure 7: Passage of the EtherCAT telegram
The last EtherCAT slave in the segment sends back the already completely processed
telegram so that it is sent to the controller — as a quasi reply telegram.
Figure 8: Returning the EtherCAT telegram
EtherCAT Slave
Controller
Port 1
IN
Port 2
OUT
Encoder 1
En
coder 2
Output data
Input data
Telegram
Slave 1
Master
Slave 2
Slave 3
Slave n

3PRODUCT DESCRIPTION
16 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
3.3.2 EtherCAT telegram in the Ethernet frame
EtherCAT is based on the standard Ethernet frame. This contains the Ethernet header,
the Ethernet data and the Ethernet trailer. The EtherCAT telegram is transported
directly in the Ethernet data using a specially standardized EtherCAT frame.
Figure 9: EtherCAT frame in the Ethernet frame
Data in the form of process data are exchanged between the master and slaves in the
Ethernet frame. Each telegram has an address that refers to a specific slave or several
slaves. The combination of data and address form an EtherCAT telegram.
•An Ethernet frame can contain several EtherCAT telegrams.
•Several Ethernet frames may be necessary for all the EtherCAT telegrams for a
control cycle.
Each bus user has an addressable memory area of 64 kbyte in the telegram; data can
be read, written or read and written simultaneously.
Ethernet
header
EtherCAT
header
Process data
Working
counter
Ethernet data
Ethernet
trailer
EtherCAT frame
Ethernet frame

PRODUCT DESCRIPTION 3
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 17
Subject to change without notice
3.3.3 CANopen over EtherCAT (CoE)
EtherCAT∇only defines a new protocol for the transport layer. It does not define its own
user or device protocol. EtherCAT∇is able to transmit various already existing, tried and
tested user protocols and device protocols via the EtherCAT protocol (tunneling).
For drive technology, e.g. CANopen over EtherCat (CoE) is relevant. This protocol is
supported by the AFS60/AFM60 EtherCAT. The CoE protocol makes it possible to use
all CANopen profiles — and as a consequence also to utilize the encoder profile
DS-406. You can see which objects of the encoder profile are implemented in the
AFS60/AFM60 EtherCAT in section 3.6.5 “Overview of the encoder profile-specific
objects” on page 41.
Figure 10: CANopen over EtherCAT
The EtherCAT protocol provides two different transfer rates for the transmission. These
two transfer rates are the mailbox telegram protocol for acyclic data and the process
data protocol for the transmission of cyclic data.
•Mailbox telegram protocol
This transfer type is used to transmit the service data objects (SDO) defined under
CANopen. The objects are transmitted in EtherCAT∇in SDO frames.
The service data objects form the communication channel for the transmission of
device parameters (e.g. programming the encoder resolution). These parameters
are transmitted acyclically (e.g. only once on starting the network).
•Process data telegram protocol
This type of transfer is used to transmit the process data objects (PDO) defined
under CANopen that are used to exchange cyclic data. The objects are transmitted
in EtherCAT∇in PDO frames.
The process data objects are used for the quick and efficient exchange of real
time data (e.g. I/O data, set or actual values).
Process data telegram protocol
CA
Nopen application
AFS60/AFM60 EtherCAT
Process data
Mapping of the process data objects
Object library
Service data objects
Mailbox telegram protocol
EtherCAT Slave Controller
Ethernet

3PRODUCT DESCRIPTION
18 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
3.3.4 ESI file
To be able to simply interface EtherCAT slave devices to an EtherCAT master, an ESI file
must be available for each EtherCAT slave device. This file is in XML format and
contains information on the following features of the AFS60/AFM60 EtherCAT.
•information on the manufacturer of the device
•name, type and version number of the device
•type and version number of the protocol used for this device
•default parameters of the AFS60/AFM60 EtherCAT and default configuration of
the process data
Figure 11: Integration via ESI file
αCopy the ESI file SICK-AFx_vX-xxx in the TwinCAT®folder to the folder
TwinCAT\IO\EtherCat.
αRestart the TwinCAT®system manager.
αAdd the encoder in the device tree as a box.
αThen place the TwinCAT®system manager in the configuration mode.
NOTE
A detailed description of the configuration can be found in section 4.3.2 “System
configuration” on page 72.
PLC
EEPROM
AFS60/AFM60
EtherCAT

PRODUCT DESCRIPTION 3
8015235/YPV5/2016-02-17 | SICK STEGMANN OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 19
Subject to change without notice
3.4 Configurable functions
The AFS60/AFM60 EtherCAT is configured in the configuration tool TwinCAT®using
various objects. The most important objects for the configuration of the functions are
listed in the following. A complete list of the objects can be found in section 3.6 “Object
library” on page 31.
WARNING
During the configuration of the encoder, make sure there are no persons in a
system’s hazardous area!
All parameter changes have a direct effect on the operation of the encoder. For this
reason the position value may change during configuration, e.g. due to the implemen-
tation of a preset or change of scale. This change could cause an unexpected move-
ment that may result in a hazard for persons or damage to the system or other items.
NOTE
All functions described in the following for which parameters can be set can also be
configured in the encoder’s start-up configuration.
3.4.1 Scaling parameters
The scaling parameters are configured by the objects 6000h, 6001h and 6002h.
Figure 12: Objects 6000h, 6001h and 6002h in TwinCAT®
6000h – Operating Parameter
Using the object 6000h (see Table 31 on page 42) the parameters Support additional
error code,Scaling and Code sequence are configured. The object is configured using
a bit sequence 16 bits wide.
Example:
Bit 0 = code sequence ccw = 1
Bit 2 = scaling on = 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Value 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1
Table 4: Example for binary code

3PRODUCT DESCRIPTION
20 OPERATING INSTRUCTIONS | AFS60/AFM60 ETHERCAT 8015235/YPV5/2016-02-17 | SICK STEGMANN
Subject to change without notice
The binary value must be converted into a hexadecimal value and entered in the
configuration dialog box.
101b = 5h
Figure 13: Example for the parameterization of object 6000h
Scaling
Scaling makes it possible to scale the resolution per revolution and the total resolution.
NOTE
Only if the parameter Scaling is configured to 1are the values entered for the
resolution and total resolution applied.
Code sequence
The code sequence defines the direction of rotation, viewed on the shaft, in which the
position value increases.
•clockwise (cw) = increasing position value on clockwise revolution of the shaft
•counterclockwise (ccw) = increasing position value on counter clockwise
revolution of the shaft
6001h – Counts Per Revolution (CPR)
The resolution per revolution is configured using the object 6001h (see Table 33 on
page 42).
NOTE
The parameter is not used if the round axis functionality is activated.
Figure 14: Example for the parameterization of object 6001h
The resolution of the AFS60/AFM60 EtherCAT Advanced is max. 262,144 steps per
revolution. The resolution can be scaled from 1 … 262,144 as an integer.