1. Scope of Application

This document aims to describe the configuration method of the SICK-series cable encoder.

Second, Debugging Resources

Upper computer software USBCAN(CANalyst-II)

Three, inspect the wiring

Will pull the wire encoder and receive the CAN module above.

Attention:

IV. Configuration of Cable Encoder Parameters

Preface

Direction for installing the cable encoder:

Positive Direction: Typically, the cable encoder is mounted at the base of the load fork. The positive velocity refers to the direction in which the cable extends.

Opposite Direction: The cable encoder is installed on top of the cargo fork. The positive speed indicates the direction of cable shortening. If this is the installation direction, you need to configure 2.2.4 (reverse the counting direction of the cable encoder).

<2> Configure and activate the cable encoder based on the model file configuration:

(1) If only one cable encoder is used on the forklift, please refer to the configuration method for using a single cable encoder;

(2) If the vehicle has three forks and other vehicles use multiple cable encoders, the configuration method should follow the configuration method for 3. Using multiple cable encoders;

When configuring multiple cable encoders, it is necessary to refer to the configuration document of the relevant model file to match the action of the fork with the corresponding cable encoder.

<3> Cable encoder's initial state

Sick The initial baud rate of the Cable Encoder series is 125K, with an initial nodeID of 5.

4.1 Configuring a Single Cable Encoder

Steps to configure a cable encoder:
1. Open the CAN upper computer software USB-CAN.
2. Open the device with the software and set the baud rate to 125K.

4.1.1 Configuring the Baud Rate for the Cable Encoder

Confirm which CAN bus the cable encoder is connected to, determine the baud rate transmitted by this bus, and then decide whether to modify the encoder's baud rate. For instance, if the baud rate on the bus is 125k, proceed directly to the second step and skip the step of setting the baud rate.

Default Baud Rate: 125 kbit/s

Node ID: 5 (CAN ID 0x705)

The encoder will transmit a message upon powering on:

ID: 0x705 DataFrame Standard DLC: 1 Data: 0x00

Then the user can utilize the CANopen LSS protocol to configure the baud rate.

4.1.1.1 Enabling the Cable Encoder Mode

Enable the LSS mode:

The encoder will not respond to this message.

ID: 0x7E5 DataFrame Standard DLC: 8 Data: 0x04 0x01 0x00 0x00 0x00 0x00 0x00 0x00

4.1.1.2 Configuring the Baud Rate

Set the desired baud rate

Set the baud rate to 250kbit. Transmit a CAN frame using USB-CAN:

ID: 0x7E5 DataFrame Standard DLC: 8 Data: 0x13 0x00 0x03 0x00 0x00 0x00 0x00 0x00

The "byte[2]" refers to the baud rate that the user wishes to set.

0 to 1000 kbps

1,800 kbit

2.5 Mbps

3 250 kbps

4.125 kbit

5 100 kbit

6 50 kbit/s

7 20 kbps

8 10 kbit/s

[Please note that the cable encoder is set to 125k.]

The encoder will respond:

ID: 0x7E4 DataFrame Standard DLC: 8 Data: 0x13 0x00 0x00 0x00 0x00 0x00 0x00 0x00

4.1.1.3 Saving the Configuration

Save the configuration.

ID: 0x7E5 DataFrame Standard DLC: 8 Data: 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Response:

ID: 0x7E4 DataFrame Standard DLC: 8 Data: 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Then turn off the encoder's power. When you power it back on, the baud rate will already be set to 250kbit.

Once finished, turn on the cable encoder again.

4.1.2 Enabling the Cable Encoder

Once the baud rate has been set (if it is 250K, set it to 250k and activate the baud rate as specified in step 1)

Enable cable coding to ensure normal data transmission.

We assume that the encoder's baud rate has already been configured to 250k.

Assuming node ID: 0x05

After powering on the encoder, the LED will blink, indicating that the CANopen node is in pre-operational mode.

The configurations that need to be followed should be completed during the pre-operational mode.

It is preferable to send a pre-operational mode command to ensure that the mode is correct.

4.1.2.1 Configure the cable encoder for pre-operation mode

Identification Number: 00 00 00 00

DATA: 80 05

There is no data returned at this step.

4.1.2.2: Set the Transmission Mode to PDO using PDO Mode

ID: 00000605

DATA: 2F 00 18 02 FE 00 00 00

Note: The ID should be 0x600 + nodeID.

Verify that the data received is 0x585 60 00 18 02 00 00 00 00

4.1.2.3 Setting the Transmission Period to 10 Milliseconds

ID: 00000605

DATA: 2B 00 18 05 0A 00 00 00

The data range from index 4 to 7 represents the time period in milliseconds.

Data received in Step 0x585: 60 00 18 05 00 00 00 00

Note: If the cable encoder is installed in reverse mode, configure it accordingly in reverse mode as per 2.2.4.2.

4.1.3 Configuring the Counting Direction of the Cable Encoder

4.1.3.1 Configuring the Counting Mode of the Cable Encoder to the Positive Direction

ID: 00000605

DATA: 2B 60 00 00 00 00 00 00 (or 2B 60 00 01 00 00 00 00 00 00 00 00)

4.1.3.2 Configuring the Counting Mode of the Cable Encoder to the Reverse Direction

ID: 00000605

DATA: 2b 60 00 01 00 00 00 00)

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DATA: 2b 60 00 01 00 00 00 00)

4.1.3.3 Saving the Configuration

ID: 00000605

DATA: 23 10 10 01 73 61 76 65

(Revise:

Data: 23 10 10 01 73 61 76 65

The value of 's' is 0x73.

The value of 'a' is 0x61.

The value of 'v' is 0x76.

The hexadecimal value of 'e' is 0x65.

The data received is 0x585 60 10 10 01 00 00 00 00.

4.1.3.4 Activating the Cable Encoder

The node responsible for operating the cable encoder is a functional node.

Identification Number: 00 00 00 00

DATA: 01 May

Please note that the value should be changed to [01 00] when using the Triowin absolute encoder.

Verify the received information:

Please note that the 0x185 data is continuously updated. When connected to the controller's CAN2, it will detect the cable height.

Confirm dropping fork to the bottom and marking the zero cable encoder.

4.2 Configuring Multiple Cable Encoders

4.2.1 Modifying the Node-ID and Communication Baud Rate of the Cable Encoder

4.2.1.1 Entering the Configuration Mode

ID: 000007E5

DATA: 04 01 00 00 00 00 00 00

Returned data:

ID: 000007E4

DATA: 04 00 00 00 00 00 00 00

4.2.1.2 Setting a Node ID

(Set nodeID to 5. If nodeID is 6, set it to 6.)

ID: 000007E5

DATA: 11 May 2000

Returned data:

ID: 000007E4

DATA: 11 May 2000

To modify the nodeID of the pull encoder to 6:

Transmit Data:

ID: 000007E5

DATA: 11 06 00 00 00 00 00 00

Returned data:

ID: 000007E4

DATA: 11 06 00 00 00 00 00 00

4.2.1.3 Configuring the Baud Rate

(Set the baud rate to 125k. For other rates, please refer to the above figure.)

ID: 000007E5

DATA: 13 00 04 00 00 00 00 00

Retrieve Data

ID: 000007E4

DATA: 13 00 00 00 00 00 00 00

4.2.1.4 Saving the Settings

ID: 000007E5

DATA: 17 00 00 00 00 00 00 00

Retrieve Data

ID: 000007E4

DATA: 17 00 00 00 00 00 00 00

4.2.1.5 Power On or Reset Communication

4.2.2 Activating the Cable Encoder

Once the baud rate has been set (if it is 250K, set it to 250k and activate the baud rate as specified in step 1)

Enable cable coding to ensure normal data transmission.

4.2.2.1 Setting the Cable Encoder to Pre-operation Mode

Identification Number: 00 00 00 00

DATA: 80 05

For this scenario, modify the nodeID to match the nodeID configured in 3.1

If the node ID is 6, the sent data is: DATA 80 06.

You have the ability to modify all of the nodeids listed below from 05 to 06.

There is no data returned at this step.

3.2.2 Configuring the Transmission Mode to PDO using PDO Mode

ID: 00000605

DATA: 2F 00 18 02 FE 00 00 00

Note: The ID should be 0x600 + nodeID.

ID: 0x580 + nodeID received

Verify that the data received is 0x585 60 00 18 02 00 00 00 00

3.2.3 Setting the Transmission Period to 10ms

ID: 00000605

DATA: 2B 00 18 05 0A 00 00 00

The data range from index 4 to 7 represents the time period in milliseconds.

Data received in Step 0x585: 60 00 18 05 00 00 00 00

3.2.4 Configuring the Counting Direction for the Cable Encoder

3.2.4.1 Configuring the Count Mode of the Cable Encoder to Positive

ID: 00000605

DATA: 2B 60 00 00 00 00 00 00 (or 2B 60 00 01 00 00 00 00 00 00 00 00)

3.2.4.2 Configuring the Count Mode of the Cable Encoder to the Opposite Direction

ID: 00000605

DATA: 2b 60 00 01 00 00 00 00)

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DATA: 2b 60 00 01 00 00 00 00)

3.2.5 Saving the Configuration

改为：

3.2.5 Saving Configuration

ID: 00000605

DATA: 23 10 10 01 73 61 76 65

(Revise:

Data: 23 10 10 01 73 61 76 65

The value of 's' is 0x73.

The value of 'a' is 0x61.

The value of 'v' is 0x76.

The hexadecimal value of 'e' is 0x65.

The data received is 0x585 60 10 10 01 00 00 00 00.

3.2.6 Activating the Cable Encoder

How to operate a cable encoder:node It is possible to operate the node.

Identification Number: 00 00 00 00

DATA: 01 May

Please note that the value should be changed to [01 00] when using the Triowin absolute encoder.

Verify the received information:

Focus on 0x180+ nodeID. The data is constantly updated. This time, it will be sent to the controller can2, which will detect the cable height.

If you change the nodeID to 06, you will receive 0x186.

Confirm dropping fork to the bottom and marking the zero cable encoder.

VI. Testing

Seven Frequently Asked Questions