Siko AP04 User manual

351/16
AP04
Absolute Position Indicator with
RS485/SIKONETZ5 interface
User manual

AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 2 of 38
Table of contents
1General Information .................................................................................................. 4
1.1 Documentation ........................................................................................................4
2Display and Control Keys............................................................................................ 4
2.1 General ...................................................................................................................4
2.2 LCD display..............................................................................................................5
2.2.1 Extended display range ..........................................................................................5
2.3 LED display..............................................................................................................5
2.4 Keys .......................................................................................................................5
3Functional Description ............................................................................................... 6
3.1 Operating modes ......................................................................................................6
3.2 Position monitoring..................................................................................................6
3.3 Loop positioning ......................................................................................................8
3.4 Parameterization of the position indicator ...................................................................9
3.4.1 Manual parameterization........................................................................................9
3.4.1.1 Starting parameterization ...................................................................................9
3.4.1.2 Value input.......................................................................................................9
3.4.1.3 Value selection..................................................................................................9
3.4.1.4 Menu selection................................................................................................10
3.4.1.5 Bus parameters ...............................................................................................11
3.4.1.6 Positioning.....................................................................................................11
3.4.1.7 Visualization...................................................................................................13
3.4.1.8 Options..........................................................................................................14
3.4.2 Parameterization via interface ..............................................................................14
4Parameter description.............................................................................................. 15
5Warnings / Errors..................................................................................................... 20
5.1 Warnings...............................................................................................................20
5.2 Errors....................................................................................................................20
6System commands ................................................................................................... 21
6.1 Calibration ............................................................................................................21
6.2 Restore factory settings...........................................................................................22
6.3 Alignment travel ....................................................................................................22
7Communication via Service Protocol.......................................................................... 23
7.1 General .................................................................................................................23
7.2 Error number encoding ............................................................................................23
7.3 System Status Word ................................................................................................23
7.4 Service protocol commands list.................................................................................24
8Communication via SIKONETZ5 ................................................................................. 28
8.1 Interface...............................................................................................................28
8.2 Data exchange .......................................................................................................28

AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 3 of 38
8.3 Telegram setup.......................................................................................................29
8.3.1 Command...........................................................................................................29
8.3.2 Node address......................................................................................................29
8.3.3 Parameter address...............................................................................................29
8.3.4 Control word ......................................................................................................30
8.3.5 Status word........................................................................................................30
8.3.6 Data..................................................................................................................31
8.3.7 Check sum..........................................................................................................31
8.4 Synchronization .....................................................................................................31
8.5 Error telegram........................................................................................................32
8.5.1 SIKONETZ5 error codes.........................................................................................32
8.6 Errors....................................................................................................................33
8.7 Communication monitoring ......................................................................................33
8.7.1 Bus Timeout.......................................................................................................33
8.7.2 Programming interlock.........................................................................................33
8.8 Parameterization via SIKONETZ5 ...............................................................................33
8.9 Examples of access .................................................................................................37
8.9.1 Example: Read parameter .....................................................................................37
8.9.2 Example: Write parameter.....................................................................................38

General Information
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 4 of 38
1General Information
1.1 Documentation
The following documents are associated with this document:
The data sheet describes the technical data, the dimensions, the pin assignment, the
accessories and the order key.
The installation instructions describe the mechanical and electrical installation with all
safety-relevant conditions and the associated technical specifications.
The User manual for position indicator commissioning and integration into a fieldbus
system.
You can also download these documents at http://www.siko-global.com/en-de/service-
downloads.
This manual is valid for software version V1.01 or newer!
2Display and Control Keys
2.1 General
The position indicator has a two-line display with special characters and three control keys.
The keys serve for position indicator parameterization and control. One LED (1) serves for
position monitoring.
Fig. 1: Control elements
LED1

Display and Control Keys
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 5 of 38
2.2 LCD display
The The display range is limited to -19999 … 99999. Values outside this
range are displayed with "".
With supply voltage applied to the position indicator, the 1st line shows the actual position
and the 2nd line shows the set point with factory settings. The values displayed are
determined by the operating mode.
Direction indicators (arrows) support positioning.
The battery symbol is shown with a critical or insufficient battery status.
With incremental measurement function activated, the incremental measurement symbol
is shown.
2.2.1 Extended display range
If values below -99999 are to be displayed, this can be realized by means of the control word,
Bit3 in the operational mode with SIKONETZ5 protocol. If this bit is set and the value to be
displayed is in the range between -19999 … -99999, then the negative sign and the figure
with the highest value are blinking alternately. If the value range drops below -99999,
"" will be displayed.
2.3 LED display
In the basic state (factory setting), the LED has the following meaning:
Actual position
LED
State
In target
window1
green
on
red
off
Outside target
window1
red
on
green
off
Table 1: LED displays
2.4 Keys
Pressing the key enables or disables the incremental measurement function.
Pressing the key starts calibration (see chapter 6.1 Calibration) and acknowledges a
pending error (see chapter 5.2 Errors).
Pressing the key starts the parameterization mode (see chapter 3.4 Parameterization of
the position indicator).

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 6 of 38
3Functional Description
3.1 Operating modes
It is differentiated between the absolute position, differential value and Modulo operating
modes.
Operating mode
Absolute position
Differential value
Modulo
Line 1
Actual position
Actual position
Actual position
Line 2
Set point
Differential value
Set point
Table 2: Display with different operating modes
Absolute position:
Linear absolute position values are displayed.
Differential value display:
With factory setting: Differential value = actual position - set point
(for calculating the differential value see chapter 4Parameter description Parameter no.
32)
Modulo display:
Position values ranging from 0° to 360° are displayed.
Using the "Decimal places" parameter (see Parameter no. 15) the resolution and the
modulo point of the displayed values are set.
Decimal places
Display resolution
Value range
0
1°
0° … 360°
1
1/10°
0,0° … 360,0°
2
1/100°
0,00° … 360,00°
3.2 Position monitoring
(see chapter 3.3 Loop positioning)
Arrows: (see chapter 4Parameter description Parameter no. 18)
Arrows are displayed to support the user with positioning as long as the current actual
position value is outside (see chapter 4Parameter description Parameter no. 27) target
window1. The arrows represent the shaft's direction of rotation in order to arrive at the set
point. A left-hand arrow means that the shaft is to be rotated counter-clockwise. A right-hand
arrow requires clockwise rotation.
In the modulo display operating mode, the shortest traveling distance to the set point is
displayed.

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 7 of 38
Example:
Operating mode = Modulo display
Actual value = 5°
Set point = 355°
travel range shown: by (-)10°
LED display: (see e. g. chapter 4Parameter description Parameter no. 12)
With factory setting, the LED glows green as long as the actual position is within the
programmed window. When leaving target window1, the LED glows red.
An additional target window (target window2) and an associated visualization can also be
configured (see chapter 4Parameter description Parameter no. 27, 28 and 29).
System status word and SIKONETZ5 status word (see chapter 4Parameter description 
Parameter no. 33):
In the system status word, the dynamic and static target-window-reached bit is set upon
reaching target window1 the dynamic bit is deleted when leaving target window1. The user
must acknowledge the static bit.
Example Position monitoring:
Parameterization: Factory setting
Additionally: Target window2 = 15
Visualization target window2 = 1
Set point = 100
Fig. 2: Positioning monitoring
100
+
-
Target window 1
95
105
Target window 2
LED
Positioning monitoring
85
115

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 8 of 38
3.3 Loop positioning
The LED display refers always to the actual set point, not to the loop value.
Target window1 is also applied to the loop length.
If the position indicator is operated on a spindle or an additional gear, the spindle or external
gear backlash can be compensated by means of loop positioning. In this case, travelling to
the target value is always from the same direction. This direction of approach can be defined.
Example:
The direction from which every target position shall be driven to is positive.
Case 1 new position is greater than actual position:
Direct travel to the target position.
Case 2 new position is smaller than actual position:
The position indicator's arrows show that the set point is to be overrun by the loop length.
Afterwards, the set point is approached in positive direction.
Fig. 3: Positioning Loop +
Set point
+
-
Positioning in positive
direction
Positioning in negative
direction
Positioning: loop +
Loop length

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 9 of 38
3.4 Parameterization of the position indicator
The position indicator can be completely parameterized via the keys as well as via the bus
interface.
3.4.1 Manual parameterization
3.4.1.1 Starting parameterization
After applying supply voltage, the position indicator will be on the uppermost level of the
menu structure (default/delivery state).
By actuating the key, the set node address and baud rate is displayed. Parameterization
starts after expiry of the release time (see chapter 4Parameter description Parameter no.
9).
3.4.1.2 Value input
With value input via the keys, the display range is limited to -19999 …
99999. When entering values beyond this range via SIKONETZ5 or the
service protocol, "" will be displayed when you call up the parameter.
Enter values via the key and the key. Confirm values entered by pressing the key.
- decimal place selection key
- Value input key
3.4.1.3 Value selection
For some parameters you can select values from a list.
Direct value input is not possible there.
Pressing the key, the value can be selected from the list. By pressing the key, the
selection is confirmed.

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 10 of 38
3.4.1.4 Menu selection
Fig. 4: Menu selection
Visualization
parameter


Start
Hold down the
key

Ending
parameterization


Parameter
Bus


Positioning
parameter


see menu
Bus-Parameter

see menu
Positioning
parameter
Key enable
time expired?
End
yes
Parameter
Options


see menu
Visulaization
parameter
see menu
Options
no

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 11 of 38
3.4.1.5 Bus parameters
Menu


Parameter display
Parameter no.
acc. To chapter 4
Description

3
Node address
Value range: 0 - 31

4
Baud rate
Selection:
: 57600 baud
: 115200 baud
: 19200 baud

5
Protocol
Selection:
: SIKONETZ5
: Service protocol

6
Bus Timeout
Value range: 0 - 20

36
Response delay
Value range: 0 - 10
Table 3: Bus parameter menu
3.4.1.6 Positioning
Menu


Parameter display
Parameter no.
acc. To chapter 4
Description

24
Readout per revolution / spindle pitch
Value range: 0 - 59999

15
Decimal places
Selection:
: 0
: 0.1
: 0.02
: 0.003
: 0.0004

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 12 of 38
Parameter display
Parameter no.
acc. To chapter 4
Description

16
Display divisor
Selection:
: 1
: 10
: 100
: 1000

23
Sense of rotation
Selection:
: i sense of rotation (cw)
: e sense of rotation (ccw)

26
Calibration value
Value range: -9999 … 9999

Selection:
: no calibration
: Execute calibration now

25
Offset
Value range: -9999 … 9999

27
Target window 1
Value range: 0 - 9999

30
Pos Type
Selection:
: direct
: loop +
: loop -

31
Loop length
Value range: 0 - 9999

28
Target window 2
Value range: 0 - 9999
Table 4: Positioning menu

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 13 of 38
3.4.1.7 Visualization
Menu


Parameter display
Parameter no.
acc. To chapter 4
Description

19
Display orientation
Selection:
: 0°
: 180°

13
Green LED function
Selection:
: Indication of the operating status
: Off

12
Red LED function
Selection:
: Indication of the operating status
: Off

14
LED blinking function
Selection:
: LED blinking On
: Off

29
Visualization of target window 2
Selection:
: target window 2 reached: Green LED
: target window 2 reached: Red LED
: Function off

18
Direction indication function
Selection:
: On
: inverted
: Off 

20
Displayed value of 2nd display line
Selection:
: Set point
: Off
Table 5: Visualization menu

Functional Description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 14 of 38
3.4.1.8 Options
Menu


Parameter display
Parameter no.
acc. To chapter 4
Description

9
Key enable time
Value range: 1 … 60

11
Key function release for Reset (calibration)
Selection:
: Reset enabled via key
: Reset disabled via key

10
Key function enable for incremental
measurement
Selection:
: Incremental measurement enabled via key
: Incremental measurement disabled via key

32
Formula for calculating the differential value
Selection:
: Differential value = actual position -
set point
: Differential value = actual position -
actual position

8
Operating mode of the display
Selection:
: Display of absolute actual position and
set point
: Display of absolute actual position and
differential value
: Display of angle values (0 … 360°)

System commands
Selection:
: set all parameters to default (restore
factory settings)
: only standard parameters to default
: only bus parameters to default
: start equalization
Table 6: Options menu
3.4.2 Parameterization via interface
The position indicator can be completely parameterized in the SIKONETZ5 protocol via the
RS485 interface (see chapter 8.8 Parameterization via SIKONETZ5).

Parameter description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 15 of 38
4Parameter description
Column
Explanation
S
"S" = Parameter transferred is saved in the device non-volatilely
"-" = Parameter transferred is saved in the device volatilely
C
Parameter class
1 = Standard parameter
2 = Bus parameter
P
Write access to the parameter can be locked via the "Configuation programming
mode" parameter no 21.
No.
Name
Selection /
value
Default
Description
S
C
P
1
Actual
position
Read
only
-
Absolute actual position
-
-
-
2
Set point
-999999
…
999999
0
Absolute target position
Can be displayed by the indicator:
-19999 … 99999
-
-
P
3
Node address
0 … 31
1
SIKONETZ5:
Setting the SIKONETZ5 node
address
Parameter changes become active
only after cold start or software
reset.
Service protocol:
no function
S
2
P
4
Baud rate
RS485
0 … 2
1
Baud rate of the RS485 interface:
0 = 19200
1 = 57600
2 = 115200
Parameter changes become active
only after cold start or software
reset.
S
2
P
5
Protocol
0 … 1
0
Protocol of the RS485 interface:
0 = SIKONETZ5
1 = Service protocol
Parameter changes become active
only after cold start or software
reset.
S
2
P
6
Bus Timeout
0 … 20
0
SIKONETZ5:
Bus Timeout values in x100 ms
0 = Function disabled
(see chapter 8.7.1 Bus Timeout)
Service protocol:
no function
S
2
P

Parameter description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 16 of 38
No.
Name
Selection /
value
Default
Description
S
C
P
7
Write reply
parameter to
set point
0 … 2
0
SIKONETZ5:
This parameter defines the reply to
the Write set point command
0 = Set point
1 = Actual value
2 = Differential value
Service protocol:
no function
S
2
P
8
Operating
mode
0 … 2
0
Type of position value display
0 = absolute position display
1 = differential value
2 = Modulo
(see chapter 3.1 Operating modes)
S
1
P
9
Key enable
time
1 … 60
15
Display / key control:
Time in seconds how long the
key must be held down until
configuration starts
S
1
P
10
Key function
enable
Incremental
measurement
0 … 1
1
Display / key control:
0 = incremental measurement
function disabled
1 = incremental measurement
function enabled
S
1
P
11
Key function
enable reset
0 … 1
1
Display / key control:
0 = Calibration (reset) function via
key disabled
1 = Calibration (reset) function via
key enabled
S
1
P
12
LED 1 red
0 … 1
1
Red LED 1 function:
0 = Off
1 = position-dependent display
(On)
If the position-dependent display
for both LEDs is switched off the
LEDs can be enabled by the control
word (see chapter 8.3.4 Control
word).
S
1
P
13
LED 1 green
0 … 1
1
Green LED 1 function:
0 = Off
1 = position-dependent display
(On)
If the position-dependent display
for both LEDs is switched off the
LEDs can be enabled by the control
word (see chapter 8.3.4 Control
word).
S
1
P
14
LED blinking
0 … 1
0
LED blinking function:
0 = LED display glows constantly
(when On)
1 = LED display glows (when On)
S
1
P

Parameter description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 17 of 38
No.
Name
Selection /
value
Default
Description
S
C
P
15
Decimal
places
0 … 4
0
Display:
Input of decimal places
0 = 0
1 = 0.0
2 = 0.00
3 = 0.000
4 = 0.0000
S
1
P
16
Display
divisor
0 … 3
0
Display:
Divisor by which the display
accuracy is reduced compared with
the measurement resolution.
0 = 1
1 = 10
2 = 100
3 = 1000
S
1
P
17
Display
divisor
application
0 … 1
0
Display / transmission accuracy:
0= The display divisor is applied to
the set point and actual position
of interface and display unit.
1= The display divisor is only
applied to the display unit. The
values are transferred via the
interface with undivided
resolution.
S
1
P
18
Direction
indication
function
0 … 2
0
Display:
The direction indicators show the
direction of shaft adjustment
required to arrive at the set target
window 1.
0 = On
1 = inverted
2 = Off
S
1
P
19
Display
orientation
0 … 1
0
Display:
Display orientation
0 = 0°
1 = rotated by 180°
S
1
P
20
Displayed
value
2nd display
line
0 … 1
0
Display:
Parameter to be displayed in the
2nd line of the display.
0 = set point
1 = OFF
S
1
P
21
Programming
mode
configuration
0 … 1
0
SIKONETZ5:
0 = programming not locked
1 = locking of programming
depends on the programming mode
Service protocol:
no function
S
1
P

Parameter description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 18 of 38
No.
Name
Selection /
value
Default
Description
S
C
P
22
Programming
mode
0 … 1
0
SIKONETZ5:
0 = Programming mode Off
1 = Programming mode On
Service protocol:
no function
-
1
-
23
Sense of
rotation
i, e
i
Counting direction of the
measuring system:
With shaft rotating clockwise (view
on the LCD)
i sense of rotation (cw): 
positive counting direction
e sense of rotation (ccw): 
negative counting direction
S
1
P
24
APU /
Spindle pitch
0 …59999
720
Readout per revolution / spindle
pitch:
Position value is output in x
increments per revolution.
S
1
P
25
Offset
-9999
…
9999
0
Offset value:
Changes to the offset value are
considered in the calculation of
the position value immediately
after value entry / transmission.
The following equation is applied
in case of calibration:
Position value = 0 + calibration
value + offset value
S
1
P
26
Calibration
value
-9999
…
9999
0
Calibration value:
Changes to the calibration value
are adopted for calculation of the
position value (via key or S
command) only after calibration).
Then one has:
Position value = 0 + calibration
value + offset value
S
1
P
27
Target
window1
0 … 9999
5
Positioning window1:
The target position has been
reached when the indicator's actual
position is within the programmed
set point ± this window.
With factory settings, this is
represented as follows:
LCD: no arrows
LED display LED1 = green
System status word or status word:
Setting the corresponding bits.
S
1
P

Parameter description
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 19 of 38
No.
Name
Selection /
value
Default
Description
S
C
P
28
Target
window 2
0 … 9999
0
Positioning window2:
Additional target window for
detecting an approach to target
window1 (see also Parameter no.
29 and chapter 3.2 Position
monitoring seq.).
S
1
P
29
Visualization
of target
window2
0 … 2
0
Visualization of the "target
window2 reached" state
Selection:
0 = Off
1 = LED1 glows green
2 = LED1 glows red
If the actual position is inside
target window2, but outside target
window1, the LED display glows as
set here. Additionally, blinking of
the LED is inverted to Parameter
no. 14: LED blinking switched on.
S
1
P
30
Positioning
mode
0 … 2
direct
Type of positioning:
0 = direct: direct travelling from
actual position to set point
possible.
S
1
P
1 = loop +: travelling to the set
point must always be in positive
direction to compensate for
spindle play.
2 = loop -: travelling to the set
point must always be in negative
direction to compensate for
spindle play.
31
Loop length
0 … 9999
0
Loop length:
see chapter 3.3 Loop positioning
S
1
P
32
Differential
value
calculation
0 … 1
0
Calculation of the differential
value:
0 Differential value = actual
position - set point
S
1
P
1: Differential value = actual
position - actual position
33
System
Status Word
Read
only
-
System Status Word
see chapters 7.3 System Status
Word and 8.3.5 Status word
-
-
-
34
Voltage of
battery
Read
only
-
Battery voltage:
Values in 1/100 V
-
-
-
35
Software
version
Read
only
-
Software version
S
-
-

Warnings / Errors
AP04-RS485/SIKONETZ5 Date: 24.11.2016 Art. No. 86218 Mod. status 351/16 Page 20 of 38
No.
Name
Selection /
value
Default
Description
S
C
P
36
Response
delay
0 … 10
0
Response delay:
0: no delay
1 … 10: number of internal
program cycles waited until an
SN5-bus telegram is replied to.
Thus, the response to a telegram
can be delayed until the master is
ready to receive. The value 10
corresponds to a delay of approx.
5 ms.
S
2
P
Table 7: Parameter description
5Warnings / Errors
5.1 Warnings
Warnings do not influence the acquisition of the absolute position value.
Warnings are deleted after removing the cause.
Possible warnings:
Battery voltage for absolute position detection is below limit immediately exchange
battery.
This warning is displayed with a blinking battery symbol and in the system status
word or status word (see chapter 7.3 System Status Word and accoordingly chapter 8.3.5
Status word).
5.2 Errors
Error states are signalled via display and interface.
Pending errors can be read via the interface. For returning to normal operation, the errors
must be acknowledged or deleted via the key or bus interface.
(For signaling and acknowledging in the service protocol see chapter 7.3 System Status Word
and accoordingly SIKONETZ5 chapter 8.3.4 and 8.3.5 Status word.)
Display
Error code
SIKONETZ5
Bit assignment in
the system status
word or status word
Error

0x0000
-
No error
0x0006
11+7
Low battery voltage

0x0019
2+7
Speed exceeded

0x0080
7
Check sum SIKONETZ5

0x0081
7
Timeout SIKONETZ5

0x0082
7
Value range exceeded / inappropriate

0x0182
7
Value exceeds lower limit