Datalogic AMT58*-PN Series Instruction Manual Download Page 4

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Cyclic Data Exchange–Standard signals ....................................................................... 44

G1_XIST1 ......................................................................................................................... 45

G1_XIST2 ......................................................................................................................... 46

G1_XIST3 ......................................................................................................................... 47

STW2_ENC ....................................................................................................................... 47

Control by PLC .................................................................................................................. 47

ZSW2_ENC ....................................................................................................................... 48

Control requested .............................................................................................................. 48

G1_STW ........................................................................................................................... 49

Home position mode ......................................................................................................... 49

Request set/shift of home position .................................................................................... 49

Request absolute value cyclically ...................................................................................... 51

Activate parking sensor ..................................................................................................... 51

Acknowledging a sensor error ........................................................................................... 52

G1_ZSW ........................................................................................................................... 52

NIST_A ............................................................................................................................. 52

NIST_B ............................................................................................................................. 52

Acyclic Data Exchange .................................................................................................... 53

9.1 Index 0xAFF0: Identification & Maintenance (I&M) functions ...................................... 53

9.2 Index 0xB02E : supported PROFIdrive specific parameters ....................................... 54

P922 – Telegram Selection ........................................................................................... 54

P964 – Profidrive Parameter : Device identification ....................................................... 54

P965 – Encoder profile number ..................................................................................... 54

P971 – Transfer to non volatile memory ........................................................................ 54

P975 – Encoder object identification ............................................................................. 55

P979 – Sensor format .................................................................................................... 56

P980 – Number list of defined parameter ...................................................................... 56

P61001 – IP of station ................................................................................................... 56

9.3 Index 0xB02E : supported encoder specific parameters ............................................. 57

P65000 – Preset value ................................................................................................... 57

P65001 – Operating status ............................................................................................ 57

9.4 Index 0xBF00 : user parameter data ........................................................................... 59

Code sequence ............................................................................................................. 59

Class 4 functionality ....................................................................................................... 60

G1_XIST1 preset control ............................................................................................... 60

Scaling function control ................................................................................................. 61

Alarm channel control .................................................................................................... 61

Compatibility mode ........................................................................................................ 62

Scaling function parameters .......................................................................................... 62

Measuring units / Revolution ......................................................................................... 63

Total measuring range ................................................................................................... 63

Maximum Master Sign-Of-Life failures .......................................................................... 64

Velocity measuring units ................................................................................................ 65

9.5 "Red Zone" .................................................................................................................. 66

10.

Diagnostics and Alarms .................................................................................................. 68

10.1 Acyclic diagnosis parameter ...................................................................................... 69

10.2 Error messages via the Alarm Channel ..................................................................... 69

10.2.1 Use of the ChannelErrorType ............................................................................. 70

10.3 Error codes in ............................................................................................................ 70

10.4 LED indication ........................................................................................................... 70

Summary of Contents for AMT58*-PN Series

Page 1: ......

Page 2: ... retrieval system or transmitted in any form or by any means or for any purpose without the express written permission of Datalogic S p A and or its affiliates Datalogic and the Datalogic logo are registered trademarks of Datalogic S p A in many countries including the U S A and the E U All other trademarks and brands are property of their respective owners Datalogic reserves the right to make mod...

Page 3: ...f the GSDML file 11 5 3 2 Installing the GSDML file 12 5 3 3 Inserting the module in the Profinet IO system 15 5 3 4 Device name and IP address at delivery 17 5 3 5 Setting the device name 17 5 3 6 Checking the device name 26 5 3 7 Setting the IP address 27 5 4 Setting the parameters Parameter Access Point 30 5 5 Resetting the parameters to default factory values 32 6 Profinet interface 37 6 1 A b...

Page 4: ...er to non volatile memory 54 P975 Encoder object identification 55 P979 Sensor format 56 P980 Number list of defined parameter 56 P61001 IP of station 56 9 3 Index 0xB02E supported encoder specific parameters 57 P65000 Preset value 57 P65001 Operating status 57 9 4 Index 0xBF00 user parameter data 59 Code sequence 59 Class 4 functionality 60 G1_XIST1 preset control 60 Scaling function control 61 A...

Page 5: ...et Value 99 13 1 1 System Function Block 52 SFB52 99 13 1 2 System Function Block 53 SFB53 99 13 1 3 Data Block 1 DB1 100 13 1 4 Data Block 2 DB2 100 13 1 5 Data Block 3 DB3 101 13 1 6 Data Block 4 DB4 101 13 1 7 Organization Block 1 OB1 102 13 1 8 Function 1 FC1 102 13 1 9 Function 2 FC2 103 13 1 10 Acyclic request of Preset 104 13 2 Monitoring a variable 105 14 Encoder state machine 106 14 1 Nor...

Page 6: ...Maximum Master Sign Of Life failures 64 Measuring units Revolution 63 N NIST_A 52 NIST_B 52 P P61001 IP of station 56 P65000 Preset value 57 P65001 Operating status 57 P922 Telegram Selection 54 P964 Profidrive Parameter Device identification 54 P965 Encoder profile number 54 P971 Transfer to non volatile memory 54 P975 Encoder object identification 55 P979 Sensor format 56 P980 Number list of def...

Page 7: ... network 30 Figure 24 Entering the Parameter Access Point dialog box 30 Figure 25 Parameter Access Point properties 31 Figure 26 Downloading data to the PLC 31 Figure 27 Parameter Access Point help messages 32 Figure 28 Restoring default values 33 Figure 29 Reset to factory settings 34 Figure 30 Reset first confirmation message 34 Figure 31 Reset second confirmation message 35 Figure 32 Reset exec...

Page 8: ...12 Figure 73 Web server Index page 113 Figure 74 Encoder Information page 113 Figure 75 Firmware upgrade page 114 Figure 76 Status Alarms page 114 Figure 77 Encoder Parameters page 115 Figure 78 Encoder Specific Profile Parameters page 115 Figure 79 Encoder Specific Profile Parameters page 1 116 Figure 80 Encoder Specific Profile Parameters page 2 116 Figure 81 Identification Maintenance page 117 ...

Page 9: ...NING is meant to highlight the parts of the text where information of great significance for the user can be found user must pay the greatest attention to them Instructions must be followed strictly in order to guarantee the safety of the user and a correct use of the device Failure to heed a warning or comply with instructions could lead to personal injury and or damage to the unit or other equip...

Page 10: ...he mechanical installation and the electrical connection In the second section chapter 5 information on how to install and configure the encoder in the STEP 7 development environment as well as tips for setting up and running properly and efficiently the unit are provided In the third section from chapter 6 to chapter 12 both general and specific information is given on the Profinet interface In t...

Page 11: ...ported by an IO device The Profinet encoders can be configured as CLASS 3 and CLASS 4 PROFINET IO devices according to the encoder profile Refer to page 41 AR Application Relation The relationship between a PROFINET IO Controller and an IO device A PROFINET IO device can support more than one Application Relationship Bus A bus is a communication medium connecting several nodes Data can be transfer...

Page 12: ...s called by another code block Function blocks facilitate the programming of frequently repeated complex functions Frame ID The two byte field in the Ethernet frame which defines the type of PROFINET IO message GSD The properties of a PROFINET device are described in a GSD file General Station Description that contains all the information required for configuration In PROFINET IO the GSD file is i...

Page 13: ... blocks Profile Profiles define application specific functionality to ensure the openness of PROFIBUS and PROFINET is utilized consistently PI Profiles can cover simple devices such as encoders by defining how signals are used and how they are physically connected However profiles are increasingly covered more complex systems or requirements Profiles such as PROFIdrive and PROFIsafe deliver active...

Page 14: ...to carry data It is comparable to a highway as a system for transporting goods and passengers The data is actually transported by protocols This is comparable to cars and commercial vehicles transporting passengers and goods on the highway Tasks handled by the basic Transmission Control Protocol TCP and Internet Protocol IP abbreviated to TCP IP 1 The sender splits the data into a sequence of pack...

Page 15: ...it EO Encoder Object EU Encoder Unit FB Function block FC Function I M Identification Maintenance IRT Isochronous Real Time Ethernet IRT Flex IRT High Flexibility IRT Top IRT High Performance GSDML General Station Description Markup Language IO Input Output IP Internet Protocol LLDP Link Layer Discovery Protocol LS Sign Of Life MAC Media Access Control MAP Module Access Point MLS Master Sign Of Li...

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Page 17: ...ection Electrical connections in compliance with 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing the equipment discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized without noise install EMC filters on device power supply if needed always use shielded cables tw...

Page 18: ...ocks or shocks respect the environmental characteristics of the product unit with solid shaft in order to guarantee maximum reliability over time of mechanical parts we recommend a flexible coupling to be installed to connect the encoder and user s shaft make sure the misalignment tolerances of the flexible coupling are respected unit with hollow shaft the encoder can be mounted directly on a shaf...

Page 19: ...label applied to its body Information is listed in the delivery document too Please always quote the ordering code the serial number and the MAC address when reaching Datalogic Automation s r l for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue ...

Page 20: ...r to the technical catalogue 3 1 Solid shaft encoders Mount the flexible coupling 1 on the encoder shaft fix the encoder to the flange 2 or to the mounting bell by means of the screws 3 secure the flange 2 to the support or the mounting bell to the motor mount the flexible coupling 1 on the motor shaft make sure the alignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary inst...

Page 21: ...AMT58x PN ProfiNET 5 3 1 3 Installation using a flange code ST 58 FLNG ...

Page 22: ...ount the encoder on the motor shaft using the reducing sleeve 8 if supplied Avoid forcing the encoder shaft fasten the fixing plate 4 to the rear of the motor using two M3 cylindrical head screws 5 fix the collar 3 to the encoder shaft apply threadlocker to screw 3 ...

Page 23: ...ion of the shaft not to cause permanent damages For any information on the mechanical and electrical characteristics of the encoder please refer to the technical catalogue Figure 1 Connectors and diagnostic LEDs 4 1 PWR Power supply connector Fig 1 M12 4 pin male connector with A coding is used for power supply Description Pin 10VDC 30VDC 1 n c 2 0VDC 3 n c 4 ...

Page 24: ...rovided in the cap see Figure 1 use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers 4 4 MAC address and IP address The unit can be identified in the network through the MAC address and the IP address MAC address has to be intended as a permanent and globally unique identifier assigned to the unit for communication on the physical layer while the IP address is the name of the unit in...

Page 25: ...e disconnected ON ON No connection to another device Criteria no data exchange Bus disconnected Master not available or switched off ON Blinking at 1 Hz Parametrization fault no data exchange Criteria data exchange is correct but the encoder does not switch to the data exchange mode Slave not configured yet or wrong configuration A wrong address has been assigned to the unit Actual configuration o...

Page 26: ...s refer to the aforementioned development tools If you need to install the encoder using a different configuration tool please read and follow carefully the instructions given in the documentation provided by the manufacturer 5 2 Mac address The MAC address is an identifier unique wordlwide The MAC ID consists of two parts the first 3 bytes are the manufacturer ID and are provided by IEE standard ...

Page 27: ...e GSD file i e GSDML General Station Description Markup Language is based on international standards As the name suggests the GSD file is a language independent XML file Extensible Markup Language Profinet encoders from Datalogic Automation s r l are supplied with their own GSDML file AMT58 xxx 13x14 PN See the enclosed documentation or click www datalogic com to get the GSDML file WARNING Please ...

Page 28: ...AMT58x PN ProfiNET 12 5 3 2 Installing the GSDML file In the menu bar of the HW Config window press Options and then Install GSD File command Figure 2 Installing the GSDML file ...

Page 29: ...ect the file and press the Install button to install it Figure 3 Selecting the GSDML file As soon as the operation is carried out a confirmation dialog box will appear on the screen Figure 4 GSDML file installation Now scroll through the directory tree in the left pane of the HW Config window and select the path ENCODERS family can be found inside the folder The installation modules are contained ...

Page 30: ...AMT58x PN ProfiNET 14 Figure 5 Scrolling through Profinet families and categories ...

Page 31: ...configure the AMT58 model In the right pane open the Datalogic directory and then choose the MULTITURN directory Drag the required module AMT58 to the window on the left and drop it on the PROFINET IO system Figure 6 Inserting a module in the Profinet IO system The inserted module will appear as shown in the following screenshot Figure 7 Inserted module ...

Page 32: ...Telegram 82 Standard Telegram 83 and Standard Telegram 84 For detailed information on the Standard Telegrams refer to the section 7 1 Telegrams on page 44 For instance we need to install the Standard Telegram 83 To do this select the desired Telegram available for the HMx16 16384PT module it can be found under HMx16 16384PT MULTITURN 30 bit MODULE and drag and drop it onto the variables table in t...

Page 33: ...IP address 5 3 5 Setting the device name Before the PROFINET IO controller can address a PROFINET IO device a name has to be assigned to the PROFINET IO device PROFINET uses this method because names are easier to use and recall than complex IP addresses Devices on an Ethernet subnet must have unique names NOTE An IO Device does not have a device name when delivered By default the device name of D...

Page 34: ...AMT58x PN ProfiNET 18 Steps for system startup Controller Device Checking of device name Assignment of IP address Connection establishment Data exchange Startup response ...

Page 35: ...deselect it if you want it to be uploaded from the internal memory of the IO device Figure 9 Assigning the device name NOTE The device name default setting is the name from the GSD file With integral Profinet interfaces the device name is derived from the short description If several devices of the same type are arranged in the same Profinet IO system Step 7 automatically supplements the name from...

Page 36: ...T58x PN ProfiNET 20 Press the Ethernet button in the Node in PROFINET IO system group if you want to assign an IP address different from the one suggested by the system Figure 10 Assigning the IP address ...

Page 37: ...AMT58x PN ProfiNET 21 Download data to the PLC pressing the Download button in the Toolbar Figure 11 Downloading data to the PLC ...

Page 38: ...AMT58x PN ProfiNET 22 Now press PLC Ethernet and then Assign Device Name command in the menu bar of the HW Config window Figure 12 Assigning the device name ...

Page 39: ...AMT58x PN ProfiNET 23 Choose the device you need to change the name in the Device name drop box and then press the Assign name button Figure 13 Confirming the device name ...

Page 40: ...he MAC address of the encoder is written on the encoder label In the Assign device name group below in the dialog box enter the desired name in the Device name field Press the Assign Name button to confirm Figure 14 Edit Ethernet Node dialog box NOTE The device name default setting is the name from the GSD file With integral Profinet interfaces the device name is derived from the short description...

Page 41: ...ernet Node confirmation After completing the operation we can easily check the entered Device Name To do this press again the Browse button in the Edit Ethernet node page to find all the nodes connected to the network Check that the encoder is listed properly in the page Figure 16 Browsing the network ...

Page 42: ...ce Name to be checked To do this press PLC Ethernet and then Verify Device Name command in the menu bar of the HW Config window Figure 17 Verifying device name In the Verify Device Name dialog box check that the encoder is listed properly with correct Device name and status Figure 18 Verifying device name ...

Page 43: ...this case the IP address set in the IO device is used the IP address is uploaded from the internal memory By default before delivery the IP address of the encoder is set to 0 0 0 0 After having set the Device name you can set the IP Address To set the IP address first enter the Properties dialog box by double clicking the encoder icon in the HW Config window Check that the Assign IP address via IO...

Page 44: ...net node command in the menu bar of the HW Config window Press the Browse button to find all the nodes connected to the network Select the IO device you want to assign the IP address to The MAC address of the encoder is written on the encoder label Select the LIKA ROTACOD device type and then press the OK button to confirm Figure 20 Browsing the network ...

Page 45: ...configuration button to confirm Figure 21 Assigning IP configuration The following confirmation message will appear on the screen Figure 22 Edit Ethernet Node confirmation Now press the OK button to close the message and then press again the Browse button in the Edit Ethernet node page to find all the nodes connected to the network and check whether the encoder is listed properly in the page ...

Page 46: ... IP address has been assigned 5 4 Setting the parameters Parameter Access Point Double click the Parameter Access Point slot 1 1 of the module to open the dialog box where the encoder parameters are listed Figure 24 Entering the Parameter Access Point dialog box ...

Page 47: ...ansferred to the encoder using 0xBF00 data record at each system boot up To set the parameter data select the value in the drop down list next to each parameter in the column Value For detailed information on the implemented parameters please refer to the section 9 4 Index 0xBF00 user parameter data on page 64 Figure 25 Parameter Access Point properties After having changed any parameter values yo...

Page 48: ...rformance for most systems To suit the specific application requirements it may be advisable and even necessary to enter new parameters instead of the factory default settings There could be exceptional circumstances where it would be necessary for you to restore the default values of the settable parameters When this is the case you have to use the Reset command NOTE When you restore the default ...

Page 49: ...eed as follows Press PLC Ethernet and then Edit Ethernet node command in the menu bar of the HW Config window In the Edit Ethernet Node dialog box press the Browse button to find all the nodes connected to the network Select the LIKA ROTACOD device type you need to reset the parameters The MAC address of the encoder is written on the encoder label Press the OK button to confirm Figure 28 Restoring...

Page 50: ...of the chosen device Now press the Reset button in the Reset to factory settings box below in the dialog box Figure 29 Reset to factory settings You will be requested to confirm the operation Press the YES button in the message that appears on the screen Figure 30 Reset first confirmation message ...

Page 51: ...ion AR is currently established a second message will appear on the screen Again you will be requested to confirm the operation by pressing the YES button Figure 31 Reset second confirmation message Press the OK button to close the message Figure 32 Reset executed message ...

Page 52: ... by pressing the Browse button in the Edit Ethernet Node dialog box to find all the nodes connected to the network The LIKA ROTACOD device type will provide the value 0 0 0 0 under the IP address item and a blank string under the Name item Figure 33 Checking data after reset ...

Page 53: ...Real Time RT and Isochronous Real Time IRT communication all the way Real Time channel is used for time critical process data and allows to meet the real time requirements of the automation engineering cycle times 500 µs jitter 1 µs while IRT is suitable for sophisticated motion control and high performance applications in factory automation and permits cycle times lower than 250 µs with less than...

Page 54: ...s definition on page 41 PROFINET encoders supports the standard telegrams 81 82 83 and 84 Further information can be found in the section 7 1 Telegrams on page 44 The IO data is transferred to and from the Encoder Object EO see the section 6 4 Encoder Object model on page 42 via the Cyclic Data Exchange Service The EO comprises the following mandatory functionalities parameters measuring task i e ...

Page 55: ...he PROFIdrive profile 6 3 1 Application Class 3 Encoder with base mode parameter access and limited parametrization of the encoder functionality Isochronous mode is not supported 6 3 2 Application Class 4 Encoder with scaling preset isochronous mode and base mode parameter access A Class 4 configured encoder fully supports all functionalities according to the encoder profile V4 1 Datalogic Automat...

Page 56: ...actual values from the EO the Cyclic Data Exchange service is used Exception situations out of the Measuring Task and the General State Machine may be signaled by the Alarm Mechanism to the controlling device The EO shall comprise as minimum mandatory functionality Parameters Measuring Task IO Data control value actual value Support for Alarm Mechanism Optional functionality Clock Synchronous oper...

Page 57: ...datory Module Access Point MAP which is mapped to a dedicated EO representative Submodule This MAP Submodule contains at least the mandatory Parameter Access Point PAP which is mapped to a dedicated Record Data Object Via the EO representative Submodule MAP and the specified Record Data Object the access to the EO parameter manager is possible The EO parameter manager has access to the EO local Pa...

Page 58: ...gram 81 The Standard Telegram 81 is the default telegram It uses 4 bytes to output data from the IO controller to the encoder and 12 bytes to input data from the encoder to the IO controller Output data CONTROLLER DEVICE 2 bytes 2 bytes IO Data 1 2 Set point STW2_ENC G1_STW Input data DEVICE CONTROLLER 2 bytes 2 bytes 4 bytes 4 bytes IO Data 1 2 3 4 5 6 Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIS...

Page 59: ... G1_ZSW G1_XIST3 G1_XIST2 NIST_B 7 1 4 Standard Telegram 84 The Standard Telegram 84 uses 4 bytes to output data from the IO controller to the encoder and 20 bytes to input data from the encoder to the IO controller Output data CONTROLLER DEVICE 2 bytes 2 bytes IO Data 1 2 Set point STW2_ENC G1_STW Input data DEVICE CONTROLLER 2 bytes 2 bytes 8 bytes 4 bytes 4 bytes IO Data 1 2 3 4 5 6 7 8 9 10 Ac...

Page 60: ...gnificance Abbreviatio n Length bits Data type Sensor 1 position actual value 1 G1_XIST1 32 Unsigned Sensor 1 position actual value 2 G1_XIST2 32 Unsigned Sensor 1 position actual value 3 G1_XIST3 64 Unsigned Encoder Control word 2 STW2_ENC 16 Unsigned Encoder Status word 2 ZSW2_ENC 16 Unsigned Sensor 1 control word G1_STW 16 Unsigned Sensor 1 status word G1_ZSW 16 Unsigned Speed actual value A NI...

Page 61: ...d in binary notation the recommended default shift factor is zero right aligned value for both G1_XIST1 and G1_XIST2 the settings in the encoder parameter data affect the position value in both G1_XIST1 and G1_XIST2 Example Here follows a format example 25 bit absolute multiturn encoder 13 bit singleturn resolution 8192 counts per revolution 12 bit multiturn resolution 4096 revolutions M Multiturn...

Page 62: ... yet it has a different meaning if an error is active If no error is active this signal informs about the actual position value of the encoder provided that the bit Request absolute value cyclically bit 13 of control word G1_STW is set to 1 otherwise this value is 0 If an error is active this signal informs about the active error For the complete list of the error codes refer to the section 10 3 E...

Page 63: ...ntroller Sign Of Life mechanism from PROFIdrive STW2 mechanism from PROFIdrive STW2 Bit Meaning 0 6 Reserved 7 Not used 8 9 Reserved 10 Control by PC 11 Reserved 12 15 Controller Sign Of Life Control by PLC Bit 10 If the Compatibility mode is enabled see on page 90 then bit 10 Control by PLC is ignored In this case control word G1_STW and setpoint are always checked If the Compatibility mode is di...

Page 64: ...4 8 Reserved 9 Control requested 10 11 Reserved 12 15 Encoder Sign Of Life Control requested Bit 9 Bit Valu e Significance Comment 9 1 Control Requested The automation system is requested to assume control 0 No Control requested Control by the automation system is not possible only possible at the device or by another interface Encoder Sign Of Life Bits 12 15 For more information on the status wor...

Page 65: ...witched off Home position mode Bit 11 Request set shift of home position Bit 12 The preset function is controlled by bits 11 and 12 in this Sensor 1 control word G1_STW and acknowledged by the bit 12 Set shift of home position executed in the sensor status word G1_ZSW The preset value is 0 by default and may be set by an acyclic data exchange parameter defined in the parameters section see P65000 ...

Page 66: ... voltage breakdown and uploaded again at each power on 1 1 Preset mode relative offset The encoder uses the preset value P65000 Preset value as a relative offset value In this mode the current position value is shifted by the value deriving from the preset value EXAMPLE A preset value 1000 is intended to shift the current position value by 1000 steps in the positive counting direction So a real po...

Page 67: ...urrent absolute position in G1_XIST2 Activate parking sensor Bit 14 Bit Significance Comment 14 1 Activate parking sensor Request to stop monitoring the measuring system and the current value measurements in the drive This makes it possible to disconnect the encoder from the line without having to change the drive configuration or causing a fault In this case all current errors of the encoder are ...

Page 68: ...ransmit absolute value cyclically 14 Parking sensor active 15 Sensor error NOTE If bit13 Transmit absolute value cyclically or bit15 Sensor error are not set there is no valid value or error code transferred in G1_XIST2 NOTE Bit 13 Transmit absolute value cyclically and bit 15 Sensor error cannot beset at the same time as they are used to indicate either a valid position value transmission bit NIS...

Page 69: ... Acyclic Data Exchange In addition to the Cyclic Data Exchange see the section Cyclic Data Exchange Standard signals the Acyclic Data Exchange gives the possibility to read and write parameters over the non real time channel ...

Page 70: ...hich is currently in use Possible values 81 82 83 and 84 P964 Profidrive Parameter Device identification Array 0 5 unsigned16 RO Index Sub Meaning Value Access 964 0 Manufacturer ID Vendor ID assigned by PI 0x239 RO 964 1 DU Drive unit type Vendor specific 1 RO 964 2 Software version xxxx RO 964 3 Software year yyyy RO 964 4 Software day and month dd mm RO 964 5 Number of Drive Object DO 1 RO P965...

Page 71: ...Encoder object identification Array 0 7 unsigned16 RO Index Sub Meaning Value Access 975 0 Manufacturer ID Vendor ID assigned by PI 0x239 RO 975 1 DO type Vendor specific 0x01 RO 975 2 Software version xx xx RO 975 3 Software year yyyy RO 975 4 Software day and month dd mm RO 975 5 Profidrive DO type classification 0x05 encoder interface RO 975 6 Profidrive DO subclassification 1 0x8000 encoder Ap...

Page 72: ...ay 0 8 unsigned16 RO Index Sub Meaning Value Access 980 0 P922 Telegram Selection 922 RO 980 1 P964 Profidrive Parameter Device identification 964 RO 980 2 P965 Encoder profile number 965 RO 980 3 P971 Transfer to non volatile memory 971 RO 980 4 P975 Encoder object identification 975 RO 980 5 P979 Sensor format 979 RO 980 6 P61001 IP of station 61001 RO 980 7 P65000 Preset value 65000 RO 980 8 P6...

Page 73: ...ructure where information on the encoder operating status can be found It is a complement to the PROFIdrive parameter 979 described in the PROFIdrive profile Index Sub Meaning Value Access 65001 0 Header 0x000C0101 R0 65001 1 Operating status See Operating status table values R0 65001 2 Faults See Faults table R0 65001 3 Supported faults 0x0030 R0 65001 4 Warnings 0x0 R0 65001 5 Supported warnings...

Page 74: ...cturer 8 31 Reserved for future use Faults table Bit Meaning 0 3 Not used 4 Commissioning diagnostic 5 Memory error 6 31 Not used Supported faults table Bit Meaning 0 3 Not used 4 Commissioning diagnostics supported 5 Memory error supported 6 31 Not used Offset value is calculated in the preset function and is intended to shift the position value The offset value is saved on the internal memory Th...

Page 75: ...aximum Master Sign Of Life failures Unsigned8 1 Only supported in Compatibility mode Byte 17 Velocity measuring units Unsigned8 0 Steps rev Byte 18 Reserved 0x00 Set to 0 Bytes 19 30 NOTE Default values are highlighted in bold in the following tables Code sequence Code sequence sets whether the absolute position value output by the encoder increases when the encoder shaft rotates clockwise 0 CW or...

Page 76: ...IST1 preset control and Scaling function control disabled 0 Enable Code sequence G1_XIST1 preset control and Scaling function control enabled 1 G1_XIST1 preset control This parameter is available only if Class 4 functionality is enabled This parameter controls the effect of a preset on the G1_XIST1 actual value When it is enabled Preset will affect the position value in G1_XIST1 Attribute Meaning ...

Page 77: ... Class 4 functionality parameter is disabled Alarm channel control This parameter enables disables the encoder specific Alarm channel transferred as Channel Related Diagnosis This functionality is used to limit the amount of data sent in isochronous mode If the value is zero 0 default value only the communication related alarms are sent via the alarm channel If the value is one 1 also the encoder ...

Page 78: ...o control the life sign monitoring User parameter Alarm channel control Supported Not supported The application alarm channel is active and controlled by a PROFIdrive parameter P965 Encoder profile number 31 V3 1 41 V4 1 Scaling function parameters Using the scaling function parameters the encoder absolute position value is converted by software in order to change the resolution of the encoder The...

Page 79: ...ge the value next to this parameter then you are required to enter a new preset Total measuring range This parameter sets the number of distinguishable steps over the total measuring range Allowed values are equal to or lower than the total hardware resolution value physical multiturn resolution We recommend the Number of revolutions to be set to a power of 2 The set Number of revolutions results ...

Page 80: ...its Revolution will be between 20 and 216 216 65536 while the permissible value for the Total measuring range will be between 2 and 230 230 1073741824 NOTE When you change the value next to this parameter then you are required to enter a new preset Maximum Master Sign Of Life failures With this parameter the number of allowed failures of the master s sign of life is defined The default value is on...

Page 81: ...locity measuring unit information in this case Standard telegrams 82 83 and 84 include velocity output and need a declaration of the velocity measuring unit Parameter Meaning Value Velocity measuring units Definition of the units for the encoder velocity output value See table below Velocity measuring units Value Steps s 0 Steps 100 ms 1 Steps 10 ms 2 RPM 3 Default 0 min 0 max 3 NOTE Please note t...

Page 82: ... the encoder crosses the limit of the last value in the overall physical resolution a counting error occurs i e a jump in the position count The problem is represented graphically in the following Figure EXAMPLE HM58 16 16384 PT multiturn encoder Physical resolution Singleturn physical resolution 65536 counts rev 16 bits 216 Multiturn physical resolution 16384 revolutions 14 bits 214 Overall physi...

Page 83: ...osition 189267968 i e at the end of the red zone a position error namely a jump in the position count would happen as the following position would be 0 See the Figure in the previous page NOTE Make attention using the values sent by the encoder while working within the limits of the Red Zone When the encoder changes from normal status to Red Zone status and vice versa a jump of position occurs ...

Page 84: ...n the encoder could lead to incorrect position values WARNING Warnings indicate that the tolerance for certain internal parameters of the encoder has been exceeded Unlike faults warnings do not imply incorrect position values NOTE Please note that warnings are not supported in this encoder There are several diagnosis mechanisms that are used to monitor encoder diagnostics Please refer to the table...

Page 85: ...diagnosis is reported to the controller via the Alarm channel as Channel Related Diagnosis Both warnings and faults are reported in the same manner but with different error types NOTE In compatibility mode see the parameter Compatibility mode on page 67 channel related diagnostics can be switched off by the Alarm channel control parameter please refer to its description on page 66 For a detailed d...

Page 86: ...rror 10 3 Error codes in Error codes are sent in G1_XIST2 if an error occurs For information about G1_XIST2 refer to page 48 G1_XIST2 Meaning Explanation 0x0F02 Master s sign of life fault The number of permissible failures of the master s sign of life was exceeded 0x0F04 Synchronization fault The number of permissible failures for the bus cycle was exceeded 0x1001 Memory error Error while writing...

Page 87: ...onous behavior the start of a bus cycle can deviate by a maximum of 1 µs jitter is less then 1 µs IRT is required in motion control applications positioning operations for example This communication is required for example for high accuracy closed loop control tasks 11 1 Real time classes in PROFINET IO To enable enhanced scaling of communication options and thus also of determinism in PROFINET IO...

Page 88: ...PN IO slot X2 to open the PN IO properties dialog box The Properties PN IO property sheet will appear Enter the Synchronization tabbed page and select the Not synchronized value in the drop down menu of the Synchronization role item Confirm pressing the OK button Figure 34 Setting the Not synchronized role of the IO controller ...

Page 89: ...e with PROFINET is defined in the Isochronous Real Time IRT concept IRT communication is always clock synchronized and only possible within an IRT domain Isochronous realtime communication differs from realtime communication mainly in its isochronous behavior the start of a bus cycle can deviate by a maximum of 1 µs jitter is less then 1 µs This communication is required for example for high accur...

Page 90: ...igure 36 double click the PN IO slot X2 to open the PN IO properties dialog box The Properties PN IO property sheet will appear Enter the Synchronization tabbed page and select the Sync master value in the drop down menu of the Synchronization role item select the High performance value in the drop down menu of the IRT option item Confirm pressing the OK button Figure 36 Setting the sync master ro...

Page 91: ...g box The Properties Interface property sheet will appear Enter the Synchronization tabbed page and select the Sync slave value in the drop down menu of the Synchronization role item select the High performance value in the drop down menu of the IRT option item Confirm pressing the OK button Figure 37 Setting the sync slave role of the IO device ...

Page 92: ...he CPU slot 2 in the CPU configuration table to open the CPU properties dialog box The Properties CPU 315 property sheet will appear Enter the Synchronous Cycle Interrupts tabbed page and press the Details button Figure 38 CPU property sheet ...

Page 93: ...l appear on the screen Set the value 1 next to the Process image partition s item Confirm pressing the OK button NOTE For more information on PIPs Process Image Partitions refer to the section 11 5 PIP Process Image Partition Figure 39 PIP of OB61 ...

Page 94: ...en the interface properties dialog box The Properties Interface property sheet will appear Enter the IO cycle tabbed page and select the OB61 value in the drop down menu of the Assign IO device in isochronous mode item For further information see also the section 11 4 OB61 Figure 40 OB61 assigning IO device in isochronous mode ...

Page 95: ...elow in the Properties Interface property sheet and enter the Isochronous Modules Submodules dialog box Check that an isochronous submodule has been installed Standard Telegram 83 in the example Confirm pressing the OK button Figure 41 Standard Telegram as isochronous submodule ...

Page 96: ...the Addresses tabbed page and set the process image of the isochronous submodule as PIP 1 Select the PIP1 value in the drop down menu of the Process image items in both Inputs and Outputs group boxes Confirm pressing the OK button NOTE For more information on PIPs Process Image Partitions refer to the section 11 5 PIP Process Image Partition Figure 42 Setting PIP for Standard Telegram IOs ...

Page 97: ... the IO controller and set its port 2 to be connected to the port 1 of the IO device Double click the X2 P2 R PORT 2 slot in the CPU configuration table and open the Port 2 properties dialog box The Properties PN IO Port 2 property sheet will appear Enter the Topology tabbed page and set the Port 1 X1 P1 value in the drop down menu in the Partner port item of the Partners group box Confirm pressin...

Page 98: ...nfiguration table and open the Port 1 properties dialog box The Properties Interface Port 1 property sheet will appear Enter the Topology tabbed page and set the Port 2 X2 P2 R value in the drop down menu in the Partner port item of the Partners group box Confirm pressing the OK button Refer also to section 11 7 Topology Editor Figure 44 Configuring the IO device topology ...

Page 99: ...iNET 83 Finally check the Profinet IO isochronous mode Right click the 2 CPU slot in the CPU configuration table and press the PROFINET IO Isochronous mode command Figure 45 Checking the Profinet IO isochronous mode ...

Page 100: ...ll appear on the screen The installed Standard Telegram is the only submodule which provides IO data In this page you can check which IO devices modules submodules have been set in isochronous mode with the IO controller Figure 46 Isochronous Mode dialog box ...

Page 101: ...ocks OBs form the interface between the CPU operating system and the user program The order in which the user program is executed is defined in the organization blocks The synchronization with the user program is maintained through the clocked interrupt OB61 OB61 is a synchronous cycle interrupt in other words it is an isochronous event that is called with the start of every PROFINET cycle It is s...

Page 102: ...the process image is that the CPU has a consistent image of the process signals for the duration of one program cycle If a signal state on an input module changes while the program is being executed the signal state in the process image is retained until the process image is updated again in the next cycle The process of repeatedly scanning an input signal within a user program ensures that consis...

Page 103: ...cess signals Refer also to page 108 11 5 2 SFC126 SYNC_PI This special function is used to update a process image partition input table in a synchronous cycle Synchronous cycle interrupt OB61 calls the function SFC126 SYNC_PI to consistently and synchronously update the input data located in a process image partition 11 5 3 SFC127 SYNC_PO This special function update a process image partition outp...

Page 104: ...syn master and sync slave by configuring the PROFINET devices in STEP 7 as described below The role of a sync master can be assigned both to an IO controller as well as a switched configured on an IO device provided these support the sync master function The sync master and the sync slaves together form the sync domain A sync domain has exactly one active sync master for the runtime It is mandator...

Page 105: ...assign the IO device to a sync domain select and right click the Profinet IO system in the HW Config window Press the PROFINET IO Domain Management command in the shortcut menu Figure 49 Assigning the IO device to a sync domain ...

Page 106: ...te further sync domains The Send clock time ms is the period between two successive intervals for IRT or RT communication The send clock is the shortest possible transmit interval for exchanging data You have the option to establish the send clock for your sync domain in order to achieve an optimum coordination of the transmission bandwidth to the data volume Depending on the PROFINET devices of t...

Page 107: ...c data in the free transmission bandwidth RT communication Press the Details button in the Domain Management dialog box The Details Sync domain dialog box will appear on the screen In the Upper limit for IRT drop down list available in the Cyclic data group box select one of the default values in STEP 7 offers the following selections 0 10 100 Figure 51 Sync domain details dialog box The PROFINET ...

Page 108: ...g tasks obtaining topology information about all ports of the PROFINET devices in the project configuring the set topology on PROFINET by interconnecting the interfaces and ports by simply dragging and dropping and establishing properties Enter the Topology Editor dialog box to edit the topology of your Profinet IO System To do so select and right click the Profinet IO system in the HW Config wind...

Page 109: ... first of all interconnected to a topology within the project So in the Table view tabbed page you will see the configured PROFINET devices and ports currently connected in the system The Interconnection table in the left area of the page lists all the configured PROFINET devices with their ports The Selection range group box in the top right section lists all the PROFINET devices that are availab...

Page 110: ...the associated neighbor ports in the left box Configured topology offline The right box Detected topology online shows the online view of the PROFINET IO system with its interconnection for the runtime Press the START button above in the box to import the PROFINET devices of your project Figure 54 Topology Editor Offline Online comparison ...

Page 111: ...ection you can use the slider to select the section of the PROFINET IO system and its enlargement factor To change the section of the PROFINET IO system use the mouse to drag the frame across the desired area that you wish to see in detail Figure 55 Topology Editor Graphic view Save the settings and close the Topology Editor dialog page by pressing the OK button ...

Page 112: ...AMT58x PN ProfiNET 96 11 8 Message monitoring Below is an example of traffic between the IO controller and the IO device in IRT mode Figure 56 Message monitoring ...

Page 113: ...ce a device of the Profinet network The partner ports before and behind the replaced device save the relevant information so that no additional configuration is necessary The flag Support device replacement without exchangeable medium must be activated in the Controller To activate deactivate the function double click the PN IO slot X2 to open the PN IO properties dialog box The Properties PN IO p...

Page 114: ...AMT58x PN ProfiNET 98 13 Read write records in acyclic communication Figure 58 Base mode parameter request and response ...

Page 115: ...AMT58x PN ProfiNET 99 13 1 Example reading and writing a parameter Preset Value 13 1 1 System Function Block 52 SFB52 Figure 59 SFB52 13 1 2 System Function Block 53 SFB53 Figure 60 SFB53 ...

Page 116: ...AMT58x PN ProfiNET 100 13 1 3 Data Block 1 DB1 Figure 61 DB1 13 1 4 Data Block 2 DB2 Figure 62 DB2 ...

Page 117: ...AMT58x PN ProfiNET 101 13 1 5 Data Block 3 DB3 Figure 63 DB3 13 1 6 Data Block 4 DB4 Figure 64 DB4 ...

Page 118: ...AMT58x PN ProfiNET 102 13 1 7 Organization Block 1 OB1 Figure 65 OB1 13 1 8 Function 1 FC1 Figure 66 FC1 ...

Page 119: ...AMT58x PN ProfiNET 103 Figure 67 FC1 13 1 9 Function 2 FC2 Figure 68 FC2 ...

Page 120: ...clic request of Preset See P65000 Preset value on page 62 Figure 69 Acyclic request of Preset value NOTE Please always ascertain that MD 108 Diag Address of PAP is the same as the diagnostic address of Parameter Access Point in Slot 1 1 ...

Page 121: ...T58x PN ProfiNET 105 13 2 Monitoring a variable Below is an example of variable monitor in case of Telegram 83 and IRT communication NOTE Controller Sign Of Life is active Figure 70 Monitoring a variable ...

Page 122: ...AMT58x PN ProfiNET 106 14 Encoder state machine PARKING see on page 109 NORMAL OPERATION see on page 108 PRESET see on page 109 ALARM see on page 111 Figure 71 Encoder state machine ...

Page 123: ...AMT58x PN ProfiNET 107 14 1 Normal operation diagram ...

Page 124: ...AMT58x PN ProfiNET 108 14 2 Preset diagram ...

Page 125: ...AMT58x PN ProfiNET 109 14 3 Parking sensor diagram ...

Page 126: ...AMT58x PN ProfiNET 110 14 4 Error diagram 14 4 1 Acknowledgment of acknowledgeable sensor error ...

Page 127: ...AMT58x PN ProfiNET 111 14 4 2 Acknowledgment of not acknowledgeable sensor error ...

Page 128: ... web browser and the web server running on the device it is perfectly fitted also for remote access scenarios Before opening the Profinet encoder web server please ascertain that the following requirements are fully satisfied the encoder is connected to the network the encoder has valid device name and IP address the PC is connected to the network a web browser Internet Explorer Firefox Chrome Saf...

Page 129: ...e will appear on the screen Figure 73 Web server Index page In the Index page some commands are available they allow to enter specific pages where information and diagnostics on the connected encoder can be achieved They are shown in the following snapshots Figure 74 Encoder Information page ...

Page 130: ...AMT58x PN ProfiNET 114 Figure 75 Firmware upgrade page For detailed information on the firmware upgrade please refer to the section 15 1 Firmware upgrade on page 126 Figure 76 Status Alarms page ...

Page 131: ...nitialization for further information refer to the section 9 4 Index 0xBF00 user parameter data on page 64 Figure 78 Encoder Specific Profile Parameters page For further information on the parameters shown in this page refer to the sections 9 2 Index 0xB02E supported PROFIdrive specific parameters and 9 3 Index 0xB02E supported encoder specific parameters ...

Page 132: ...cond line and the software version in the fourth line 102 1 0 2 see on page 160 For further information on the parameters shown in this page refer to the sections 9 2 Index 0xB02E supported PROFIdrive specific parameters and 9 3 Index 0xB02E supported encoder specific parameters Figure 80 Encoder Specific Profile Parameters page 2 ...

Page 133: ...tions 9 2 Index 0xB02E supported PROFIdrive specific parameters on page 59 and 9 3 Index 0xB02E supported encoder specific parameters Figure 81 Identification Maintenance page Please note in this page the Vendor ID the Order ID the Serial number the Hardware version and the Software version are listed ...

Page 134: ...AMT58x PN ProfiNET 118 Figure 82 Change the preset value page For detailed information on setting the preset value please refer to the section 15 2 Setting the preset value Figure 83 Reserved area page ...

Page 135: ...mproved firmware programs available during the lifetime of the product Typical reasons for the release of new firmware programs are the necessity to make corrections improve and even add new functionalities to the device The firmware upgrading program consists of a single file having BIN extension It is released by Datalogic Automation s r l Technical Assistance If the latest firmware version is a...

Page 136: ... encoder you want to connect to in the address bar of your web browser and confirm Figure 84 Opening the web server press the Firmware upgrade command in the left navigation bar of the Index page to enter the Firmware upgrade page Figure 85 Web server Index page 1 before entering the page you are requested to confirm the operation press OK to continue ...

Page 137: ...assword text box type the password Datalogic and then press the Submit button Figure 87 Firmware upgrade page 5 a message will appear on the screen while the background color of the page will be changed to red now the web server is stopped and the encoder is ready to accept the firmware program ...

Page 138: ...nical documentation 7 in the page that appears press the SELECT FILE button once you press the button the Open dialogue box appears on the screen open the folder where the firmware upgrading BIN file released by Datalogic Automation is located select the file and confirm Figure 89 Firmware upgrade executable file ...

Page 139: ...button Figure 90 Starting the firmware upgrade operation WARNING Before installation always ascertain that the firmware program is compatible with the hardware and software of the device Never turn off power during flash upgrade In case of flash upgrade error the program is lost irreversibly there is not a bootloader and the device must be sent back to Datalogic Automation for restoring ...

Page 140: ...s on the screen 13 turn encoder power off and then on to complete the operation NOTE While downloading the firmware upgrading program unexpected conditions may arise which could lead to a failure of the installation process When such a matter occurs download process cannot be carried out successfully and thus the operation is aborted S2 Status 2 LED starts blinking red at 1 Hz while S1 Status 1 LE...

Page 141: ...on page 62 to G1_XIST1 preset control on page 48 and to the section 14 2 Preset diagram on page 114 In a customary way you should always use the asynchronous transmission to set the preset value Using this page the preset value is stored automatically on the non volatile memory you do not need to use the parameter P971 Transfer to non volatile memory To enter a preset value please proceed as follo...

Page 142: ...set value command in the Index page to enter the Change the preset value page Figure 93 Web server Index page 3 before entering the page you are requested to confirm the operation press OK to continue Figure 94 Confirming the access to the Preset page ...

Page 143: ...xample the value 0x1000 hex 4096 dec has been entered The preset value is stored automatically on the non volatile memory you do not need to use the parameter P971 Transfer to non volatile memory Figure 95 Changing the Preset value 5 after completing the operation the following page will appear the preset value has been stored properly on the non volatile memory Figure 96 Preset value stored prope...

Page 144: ...Class 4 functionality 1 G1_XIST1 preset control 0 Scaling function control 0 Alarm channel control 0 Compatibility mode 1 Measuring units Revolution Hardware singleturn resolution Total measuring range Hardware multiturn resolution Maximum Master Sign Of Life failures 1 Velocity measuring units 0 ...

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