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Appendix | EtherCAT Documentation

optoNCDT 1900 / EtherCAT

- FRMW (Configured Address Read Multiple Write, reading of a physical area with fixed addressing, multiple writing)

A 5.2.3

Addressing and FMMUs

In order to address a slave in the EtherCAT® system, various methods from the master can be used. The sensor supports Full-Slave:

- Position addressing

The slave device is addressed via its physical position in the EtherCAT® segment.
The services used for this are APRD, APWR, APRW.

- Node addressing

The slave device is addressed via a configured node address, which was assigned by the master during the commissioning phase.
The services used for this are FPRD, FPWR and FPRW.

- Logical addressing

The slaves are not addressed individually; instead, a segment of the segment-wide logical 4-GB address is addressed. This seg-
ment can be used by a number of slaves.
The services used for this are LRD, LWR and LRW.

The local assignment of physical slave memory addresses and logical segment-wide addresses is implemented via the field bus
Memory Management Units (FMMUs). The configuration of the slave FMMUs is implemented by the master. The FMMU configuration
contains a start address of the physical memory in the slave, a logical start address in the global address space, length and type of
the data, as well as the direction (input or output) of the process data.

A 5.2.4

Sync Manager

Sync Managers serve the data consistency during the data exchange between EtherCAT® master and slaves. Each Sync Manager
channel defines an area of the application memory. The sensor has four channels.

- Sync manager channel 0: Sync manager 0 is used for mailbox write transfers (mailbox from master to slave).
- Sync manager channel 1: Sync manager 1 is used for mailbox read transfers (mailbox from slave to master).
- Sync manager channel 2: Sync manager 2 is normally used for process output data. Not used in the sensor.
- Sync manager channel 3: Sync manager 3 is used for process input data. It contains the Tx PDOs that are specified by the PDO

assignment object 0x1C13 (hex.).

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Summary of Contents for ILD1900-10

Page 1: ...ILD1900 2 ILD1900 10 ILD1900 25 ILD1900 50 ILD1900 100 ILD1900 200 ILD1900 500 ILD1900 2LL ILD1900 6LL ILD1900 10LL ILD1900 25LL ILD1900 50LL Operating Instructions optoNCDT 1900 IE EtherCAT ...

Page 2: ...Deutschland Tel 49 0 8542 168 0 Fax 49 0 8542 168 90 e mail info micro epsilon com www micro epsilon com Intelligent laser optical displacement measurement optoNCDT 1900 IE EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany ...

Page 3: ...ed Surface Compensation 17 3 3 Technical Data 18 3 3 1 ILD1900 xx 18 3 3 2 ILD1900 xxLL 20 4 Delivery 22 4 1 Unpacking Included in Delivery 22 4 2 Storage 22 5 Assembly 23 5 1 Notes for Operation 23 5 1 1 Reflectance of Target Surface 23 5 1 2 Interferences 24 5 1 2 1 Ambient Light 24 5 1 2 2 Color Differences 24 5 1 2 3 Thermal Influences 24 5 1 2 4 Mechanical Vibrations 24 5 1 2 5 Motion Blur 24...

Page 4: ...b Interface Ethernet 38 6 2 1 General 38 6 2 2 Access via Web Interface 39 6 2 3 Measurement Task Selection 41 6 2 4 Display of Measurement Values in the Web Browser 42 6 2 5 Video Signal Display in the Web Browser 44 6 3 Parameter Setting via EtherCAT 46 6 4 Timing Measurement Value Cycles 46 6 5 Operation via Membrane Key 47 7 Setting Sensor Parameters 48 7 1 Preliminary Remarks about the Settin...

Page 5: ... 7 6 EtherCAT Digital Output 58 7 6 1 Values Ranges 58 7 6 2 Behavior of the Digital Output 60 7 7 System Settings 62 7 7 1 General 62 7 7 2 Unit Language 62 7 7 3 Load Save 63 7 7 4 Import Export 65 7 7 5 Reset Sensor 66 7 7 6 Bootmode 66 8 EtherCAT 67 8 1 Preliminary Remarks 67 8 2 Saving the Settings Continuing Ethernet Mode 67 9 Cleaning 68 10 Disclaimer 68 11 Service Repair 69 12 Decommission...

Page 6: ...nufacturer Device Name 80 A 5 3 1 4 Object 1009h Hardware Version 80 A 5 3 1 5 Object 100Ah Software Version 80 A 5 3 1 6 Object 1018h Device Identification 80 A 5 3 1 7 TxPDO Mapping 81 A 5 3 1 8 Object 1C00h Synchronous Manager Type 84 A 5 3 1 9 Object 1C12h RxPDO Assign 84 A 5 3 1 10 Object 1C13h TxPDO Assign 84 A 5 3 1 11 Object 1C32h Synchronization Manager Input Parameters 85 A 5 3 1 12 Obje...

Page 7: ... Object 6005 Distance value not linearized 97 A 5 4 8 Object 6006 Intensity 97 A 5 4 9 Object 6007 Distance value linearized 98 A 5 4 10 Object 6008 Peak distance 98 A 5 5 Error Codes for SDO Services 99 A 5 6 Oversampling 101 A 5 7 Update 103 A 5 7 1 Update via FoE 103 A 5 7 2 Update via EoE 103 A 5 8 Operational Modes 104 A 5 8 1 Free Run 104 A 5 8 2 Distributed Clocks SYNC0 Synchronization 104 ...

Page 8: ...optoNCDT 1900 EtherCAT ...

Page 9: ... the power supply according to the regulations for electrical equipment Risk of injury Damage to or destruction of the sensor Avoid shocks and impacts to the sensor Damage to or destruction of the sensor Install the sensor on a flat surface using only the mounting holes threaded holes provided any type of clamp ing is not permitted Damage to or destruction of the sensor The supply voltage must not...

Page 10: ...designed for use in industrial environments The EU Declaration of Conformity and the technical documentation are available to the responsible authorities according to the EU Directives 1 4 Intended Use The optoNCDT 1900 IE is designed for use in industrial and laboratory applications It is used for Measuring displacement distance position and thickness Monitoring quality and checking dimensions Th...

Page 11: ...gged in Lenses are excluded from the protection class Contamination of the lenses causes impairment or failure of the function Temperature range Operation 0 50 C Storage 20 70 C Humidity 5 95 non condensing Ambient pressure Atmospheric pressure i The protection class is limited to water no penetrating liquids or the like ...

Page 12: ...urposes the sensors must always be sent to the manufacturer 2 2 Laser Class 2 The sensors fall within laser class 2 The laser is operated on a pulsed mode the maximum optical power is 1 mW The pulse frequency depends on the adjusted measuring rate 0 25 10 kHz The pulse duration of the peaks is regulated depending on the measuring rate and reflectivity of the target and can be 4 up to 3995 µs Laser...

Page 13: ...s on the sensor cable Fig 2 Laser warning sign on the sensor housing During operation of the sensor the pertinent regulations according to IEC 60825 1 on Safety of laser products must be fully ob served at all times The sensor complies with all applicable laws for the manufacturer of laser devices optoNCDT LASER RADIATION DO NOT STARE INTO BEAM CLASS 2 LASER PRODUCT IEC 60825 1 2014 P 1mW 670nm CO...

Page 14: ...ing surfaces are also harmful to the eyes Class 3R laser sensors require a laser protection officer Mark the laser area recognizable and everlasting During operation the laser area has to be restricted and marked The following warning labels are attached to the sensor cable LASER RADIATION AVOID DIRECT EYE EXPOSURE CLASS 3R LASER PRODUCT IEC 60825 1 2014 P 5 mW 658 nm COMPLIES WITH 21 CFR 1040 10 ...

Page 15: ...ng LASER RADIATION AVOID DIRECT EYE EXPOSURE CLASS 3R LASER PRODUCT IEC 60825 1 2014 P 5 mW 658 nm COMPLIES WITH 21 CFR 1040 10 AND 1040 11 EXCEPT FOR CONFORMANCE WITH IEC 60825 1 ED 3 AS DESCRIBED IN LASER NOTICE NO 56 DATED MAY 8 2019 Fig 6 Sensor cable and sensor with laser sign class 3R ...

Page 16: ...esolution element CMOS by a receiver optic arranged at a certain angle to the optical axis of the laser beam A signal processer in the sensor calculates the distances between the light spot on the target and the sensor from the output signal of the CMOS element The distance value is linearized and output via the EtherCAT interface Digital value 1 262077 98232 131000 163768 262078 MR SMR MR Measuri...

Page 17: ...ace control feature New algorithms generate stable measurement results even on demanding surfaces where changing reflections occur Furthermore these new algorithms compensate for ambient light up to 50 000 lux Therefore this is the sensor with the highest resistance to ambient light in its class which can even be used in strongly illuminated environments ...

Page 18: ... 40 Temperature stability 4 FSO K 0 005 Light spot diameter 10 5 SMR in µm 60 x 75 115 x 150 200 x 265 220 x 300 310 x 460 950 x 1200 950 x 1200 MMR in µm 55 x 65 60 x 65 70 x 75 95 x 110 140 x 170 EMR in µm 65 x 75 120 x 140 220 x 260 260 x 300 380 x 410 smallest diameter 55 x 65 µm with 16 mm 60 x 65 µm with 25 mm 65 x 70 µm with 35 mm 85 x 90 µm with 55 mm 120 x 125 with 75 mm Light source Semi...

Page 19: ...bilities data reduction setup management 3 color LEDs for status and EtherCAT FSO Full Scale Output SMR Start of measuring range MMR Mid of measuring range EMR End of measuring range The specified data apply to a white diffuse reflecting surface Micro Epsilon reference ceramic for ILD sensors 1 Factory setting measuring rate 4 kHz median 9 modifying the factory setting requires the IF2001 USB conv...

Page 20: ...4 µm 0 8 µm 1 6 µm Temperature stability 4 0 005 FSO K Light spot diameter 10 5 SMR 55 x 480 µm 100 x 600 µm 125 x 730 µm 210 x 950 µm 235 x 1280 µm MMR 40 x 460 µm 50 x 565 µm 55 x 690 µm 80 x 970 µm 125 x 1500 µm EMR 55 x 440 µm 100 x 525 µm 125 x 660 µm 220 x 1000 µm 325 x 1470 µm smallest diameter 40 x 460 µm with 16 mm 50 x 565 µm with 20 mm 55 x 690 µm with 25 mm 80 x 970 µm with 37 5 mm 115...

Page 21: ... peak selection video signal freely selectable averaging possibilities data reduction setup management 3x color LEDs for status and EtherCAT FSO Full Scale Output SMR Start of measuring range MMR Mid of measuring range EMR End of measuring range The specified data apply to white diffuse reflecting surfaces Micro Epsilon reference ceramic for ILD sensors 1 Factory setting measuring rate 4 kHz media...

Page 22: ...f the measuring system from the packaging and ensure that the goods are forwarded in such a way that no damage can occur Check the delivery for completeness and shipping damage immediately after unpacking If there is damage or parts are missing immediately contact the manufacturer or supplier Optional accessories are listed in the appendix see Chap A 1 4 2 Storage Temperature range for storage 20 ...

Page 23: ...urface Any statement about a minimum reflection factor is only possible with reservations since small diffuse portions can be evaluated even of reflecting surfaces This happens based on intensity determination of the diffuse reflection from the CMOS signal in real time and subsequent control see Chap 3 2 However for dark or shiny measuring objects such as black rubber a longer exposure time may be...

Page 24: ...er light into the material Different penetration depths then result in apparent changes of the measuring spot size Therefore color changes in combination with penetration depth changes may lead to measurement uncertainties 5 1 2 3 Thermal Influences When the sensor is commissioned a warm up time of at least 20 minutes is required to achieve uniform heat distribution in the sensor If measurement is...

Page 25: ... the measuring object In case of traversing mea surements surface roughnesses of 5 μm and more lead to an apparent distance change A suitable averaging number may improve the comparability of optical and mechanical measurements h 5 µm Max Min Ceramic reference surface Structured surface Recommendation for parameter choice The averaging number should be selected in such a way that a surface area th...

Page 26: ...y cause problems with surfaces that produce strong direct reflection These influences must be taken into account especially when scanning profiled surfaces In principle angular behavior of triangula tion is also subject to the reflective properties of the target surface optoNCDT Angle X axis Y axis Fig 9 Measurement error caused by tilt angle with diffuse reflection ...

Page 27: ...be arranged in the direction of the rolling or grinding marks The same arrangement must be used for color stripes Grinding an milling marks Fig 10 Sensor arrangement for ground or striped surfaces correct incorrect Shadow optoNCDT In case of bore holes blind holes and edges in the surface of moving parts the sensor must be arranged in such a way that the edge does not obscure the laser spot Fig 11...

Page 28: ...rface Any type of clamping is not permitted Do not exceed torques The bearing surfaces surrounding the through holes fastening holes are slightly raised Fig 12 Sensor mounting with diffuse reflection 5 2 2 Mounting Depending on the installation position it is recommended to define the sensor position using centering elements and fitting bores The cylindrical counterbore ø6 H7 is intended for the p...

Page 29: ...8 19 ø6 H7 0 012 0 1 6 0 05 60 2 36 0 1 0 02 A 0 02 A Fig 13 Dimensional drawing drilling pattern mounting plate i Mount the sensor only to the existing through bores on a flat surface or screw it directly Any type of clamping is not permit ted MR SMR X Y 2 2LL 15 23 3 6LL 17 27 9 10 10LL 20 33 14 25 25LL 25 33 33 50 50LL 40 36 45 100 50 37 75 200 60 39 130 500 100 43 215 Dimensions in mm MR Measu...

Page 30: ...ring range Red No distance value available e g target outside the mea suring range too low reflection Yellow flashing 1 Hz Bootloader Yellow flashing 8 Hz Installation active Yellow briefly red yellow green off alternating Ethernet setup mode Off Laser switched off LED RUN SF MS Meaning According to EtherCAT mode LED ERR BF NS Meaning According to EtherCAT mode Select button Meaning Switch of oper...

Page 31: ... power supply Interface terminal SPS PC1900 IE x RJ45 PC Ethernet PoE Switch Fig 15 ILD1900 IE connection example laser on off via software Source Cable power supply Interface terminal PC1900 IE x OE RJ45 SPS Laser On Off PC Ethernet PoE Switch Fig 16 ILD1900 IE connection example laser on off via hardware ...

Page 32: ...AT 5 4 2 RJ45 Connection Source Cable power supply Interface terminal PS 2020 Laser On Off PC1900 IE x OE RJ45 Switch Hub SPS PC Ethernet Fig 17 ILD1900 IE connection example supply via optional power supply unit laser on off via hardware ...

Page 33: ...witching input Laser in the sensor is active if both pins are con nected to each other Laser on off Violet Fig 18 Open end connections PC1900 IE x OE RJ45 Signal Pin Comments 2 1 8 7 12 pin plug in connector M12 pin side of pigtail cable connector V 1 Power supply 11 30 VDC typ 24 VDC GND 2 Reference ground Laser on off 7 Switching inputs Laser on off 8 Fig 19 Pigtail connection on the sensor ...

Page 34: ...30 VDC Sensor Pin PC1900 IE x OE RJ45 Color Power supply 1 Red V 2 Blue GND As an alternative to PoE the sensor can be supplied with the optional PS2020 power supply unit see Fig 17 Voltage supply only for measuring devices not to be used for drives or similar sources of impulse interference at the same time MICRO EPSILON recommends using an optional available power supply unit PS2020 for the sens...

Page 35: ...itching transistor with open collector for example in an optocoupler a relay contact or a digital TTL or HTL signal are suitable for switching Activation using the PC1900 IE x RJ45 cable is possible Activation using the PC1900 IE x OE RJ45 possible Activation using the PC1900 IE x OE RJ45 possible PC1900 IE x OE RJ45 7 Violet 8 ILD1900 IE Black GND VH PC1900 IE x OE RJ45 7 1 Violet 8 Type 1 ILD190...

Page 36: ...nal accesso ries see Chap A 1 Fasten the plug connection of the cable plug and socket when using a drag chain compatible PC1900 sensor cable Avoid excessive pull on the cables If a cable of over 5 m in length is used and it hangs vertically without being secured make sure that some form of strain relief is provided close to the plug connection Do not twist a mated connection Connect the cable shie...

Page 37: ... the sensor runs through an initialization sequence Already within the first second a connection to the sensor can be established and the measurement can be started During the first three seconds an internal function check in the sensor is indicated by the Status LED which lights up in the colors red yellow and green one after another Initialization takes a maximum of 3 seconds Within this period ...

Page 38: ...thernet setup mode Please refer to the section Switching between Ether CAT and Ethernet Setup Mode for details The standard IP address is 169 254 168 150 Note As IP set ting of the network card to which the sensor is connected we recommend a static configuration with 169 254 168 1 as IP address and the subnet mask 255 255 0 0 Parallel to the EtherCAT operation you can adjust the sensor Enable the ...

Page 39: ...urations Measurement configura tion Allows a selection of pre defined measurement settings Settings Configuration of the sensor parameters see Chap 7 Measurement chart Measure ment chart or video signal display Info Includes information about the sensor such as measuring range serial number and software status Fig 20 First page after web interface has been accessed in Ethernet mode For configurati...

Page 40: ... to specify the predefined presets more precisely for the individual measure ment task Raw signal without averaging Static Median with 9 values Moving with 128 values Dynamic Median 9 values The System configuration section shows the current settings for Measuring rate Averaging and RS422 in blue You can change the settings via the Signal Quality slider or in the Set tings tab The Chart Type area ...

Page 41: ...our individual measurement task Selecting a preset which is suitable for the target surface activates a predefined configuration of settings that will produce the best results for the material selected Standard Ceramics metal Changing surfaces 1 PCBs hybrid metal Material with penetration 1 Plastics Teflon POM materials with strong penetration depth of the laser 1 Available for the ILD1900 10 25 5...

Page 42: ...ues is running yellow waiting for data in trigger mode gray transmission of measured values stopped Data queries are controlled by using the Play Pause Stop Save buttons of the measured values that were transmitted Stop pauses the chart you can still use the data selection and zoom functions Pause stops the recording Save opens the Windows selection dialog for the file name and storage location to...

Page 43: ...t has been stopped and you move the mouse over the graph points on the curve are marked with a circle and the associated values are displayed in the text boxes above the graph Peak intensity is also updated 6 The x axis can be scaled in the input field under the time axis 7 Scaling the x axis During an ongoing measurement you can use the left hand slider to enlarge the entire signal zoom When the ...

Page 44: ...d in the large chart area on the right represents the video signal and the receiving row The video signal displayed in the chart area displays the intensity distribution of the pixels in the receiving row Left 0 short distance and right 100 large distance The corresponding measurement value is marked by a vertical line peak marking 1 2 3 4 5 6 7 8 9 Fig 22 Video signal web page ...

Page 45: ... Linearized measuring range limited by gray hatching not changeable Masked range limited by light blue hatching changeable 3 To scale the intensity axis in the graph for the measured values y axis you can use Auto automatic scaling or Manual manual scaling 4 The search function permits time saving access to functions and parameters i ASCII commands to the sensor can also be entered directly in the...

Page 46: ...in the video signal display and the output measured value 6 3 Parameter Setting via EtherCAT EtherCAT includes a mechanism for parameterizing the EtherCAT slaves Service Data Objects SDO are defined for this purpose which contain the parameters for configuring the sensor For details about reading and changing SDO please refer to the description of your EtherCAT master An overview of the available ...

Page 47: ...ect button starts the factory settings or the bootloader function Reset factory settigs Select key is pressed during boot sequence Bootloader Select key is pressed before power on Initialization select Fig 23 Process calling up the factory settings or boot loader via Select button ...

Page 48: ...e sensor is turned off If supported by the EtherCAT master values for the SDO objects can be permanently stored in the EtherCAT master and transferred to the sensor when the system is started 7 2 Parameters Overview The following parameters can be set or changed in the optoNCDT 1900 IE see Settings tab Inputs Laser power Data recording Measurement task measuring rate evaluation range exposure mode...

Page 49: ...ges Reduced Min power for service purposes Off Laser is off Synchronization with EtherCAT In case several sensors should measure the same target synchronously you can synchronize the sensors with each other Detailed information is available in the Distributed Clocks section see Chap A 5 8 2 i Pay attention to the signal intensity when switching the laser power You achieve best possible results wit...

Page 50: ... 2 3 7 4 3 Measuring Rate The measuring rate indicates the number of measurements per second Select the required measuring rate Measuring rate 250 Hz 500 Hz 1 kHz 2 kHz 4 kHz 8 kHz 10 kHz Use a high measuring rate for bright and mat measuring objects Use a low mea suring rate for dark or shiny measuring objects e g black painted surfaces to improve the measurement result free measuring rate Value ...

Page 51: ...o e g suppress interfering reflections or ambient light Masked area Measuring range Fig 24 Light blue areas delimit the region of interest The exposure control optimizes the peaks in the evaluation range Therefore small peaks can be optimally adjusted when a high inter ference peak is outside the evaluation range Fields with gray background require a selection Value Fields with dark border require...

Page 52: ...van tageous for measurements on moving objects or in the case of transitions between different materials Background suppression Suppresses interference caused by ambient light This significantly improves the ambient light toler ance of the sensor The output rate of the sensor is halved Manuel mode Exposure time in µs Value In manual mode with the video signal shown the exposure time is set by the ...

Page 53: ...andard peak with the highest intensity Last peak Peak furthest away from sensor Largest peak Peak with the largest surface 0 50 0 100 50 Range in 100 First peak Last peak Widest peak Highest peak faraway close Sensor Intensity in If a measuring object contains multiple transparent layers a correct measurement result is determined only for the first peak Fields with gray background require a select...

Page 54: ... averaging No measurement value averaging Moving N values 2 4 8 4096 Value Specify the type of averaging The averaging number N indicates how many consecutive values are averaged in the sensor Recursive N values 2 32000 Value Median N values 3 5 7 9 Value Measurement averaging is performed after the distance values have been calculated and before they are issued through the relevant interfaces Ave...

Page 55: ... thereof see Chap 6 4 7 5 2 2 Moving Average The definable number N for successive measurements window width is used to calculate the arithmetic average Mmov according to the following formula MV k k 1 N N M mov MV Measurement value N Averaging number k Running index Mmov Averaging value or output value Method Each new measured value is added the first oldest measured value is removed from the ave...

Page 56: ...low pass behavior The range of values for the averaging number N is 1 32000 7 5 2 4 Median A median value is formed from a preselected number of measurements Methods The incoming measured values 3 5 7 or 9 measurement values are also sorted again after each measurement The median value is then output as the median 3 5 7 or 9 measured values are taken into account for the calculation of the median ...

Page 57: ...asuring a master object Zeroing is when you set a master with 0 zero as the master value i Mastering or Zeroing requires a target object to be present in the measuring range Mastering or Zeroing equally influences the digital output and the display 1 Selects a signal for the function assigns master value 2 Saves master value in volatile memory 1 3 Deletes master value in volatile memory 4 Selects ...

Page 58: ...ring range in mm 2 6 10 25 50 100 200 500 d Distance in mm without mastering 0 01MR 1 01MR with mastering 2MR 2MR Exposure time 16 Bit x Digital value 1000 40000 ET x 1 10 ET Exposure time in µs 100 4000 Intensity 16 Bit x Digital value 0 1023 I x 100 1023 I Intensity in 0 100 Sensor status 18 Bit x Digital value 0 242143 Bit 0 LSB Peak starts before ROI Bit coding 0 1 Bit 1 Peak ends after ROI Bi...

Page 59: ...e 0 262143 US x 100 262143 CG Center of gravity in 0 100 Measurement frequency 18 Bit x f Digital value Frequency in Hz 2500 100000 f x 10 State information transferred in the distance value Distance value Description 262076 No peak 262077 Peak is before measuring range MR 262078 Peak is after measuring range MR 262080 Measurement value cannot be evaluated 262081 Peak is too wide 262082 Laser is o...

Page 60: ... 16 of the measuring range Target with 60 of the measuring range Target with 60 of the measuring range SMR EMR 0 16 100 MR Target 108718 16 00 mm SMR EMR 0 60 100 MR Target 137554 60 00 mm SMR EMR 0 60 100 MR Target 137554 60 00 mm Zero setting master value 0 mm Zero setting master value 0 mm Setting master value 10 mm SMR EMR 0 16 100 MR Target 98232 0 00 mm 87746 16 00 mm 153282 84 00 mm EMR SMR...

Page 61: ...tic 100 Fig 25 Digital values without zeroing or mastering Target with 80 of the measuring range 80 mm Setting master value 200 mm 50 0 Distance in mm 229304 150661 131000 163768 242411 176875 98232 Digital Out Digital Out 100 80 200 120 SMR 220 EMR MP Distance after mastering in mm Fig 26 Digital values 1900 IE 100 after mastering with 200 mm master value ...

Page 62: ... a parameter set so that they will be available again the next time you switch on the sensor 7 7 2 Unit Language The web interface promotes the units millimeter mm and inch when displaying measuring results You can choose German or Eng lish in the web interface and change the language in the menu bar Fig 27 Language selection in the menu bar ...

Page 63: ...xisting setup Saving changes in active setup Defining setup after booting New setup menu Load Save menu Menu bar Load Save menu Enter the name for the setup into field e g Rubber 1_21 and click the Save button Click on the desired setup with the left mouse button area A The Measurement settings dialog opens Click the Load button Click the button Click on the desired setup with the left mouse butto...

Page 64: ...from PC Load Save menu Load Save menu Click on the desired setup with the left mouse button area A The Measurement settings dialog opens Click Export Left click on New setup The Measurement settings dialog opens Click Search A Windows dialog for file selection opens Choose the desired file and click the Open button Click the Import button ...

Page 65: ...meter set by checking un checking the checkboxes Click the Transmit file button A Windows dialog for data transfer opens Confirm the dialog with OK The operating system files the parameter set in Download The file name for the adjacent ex ample is Downloads ILD1900_BASIC SETTINGS_MEASSETTINGS_ JSON Click Search A Windows dialog for file selection opens Choose the desired file and click on the butt...

Page 66: ... sensor settings measurement settings access authorization password and setups Loads the 1st preset Reboot sensor Button Reboots the sensor with the settings from the favorite setup see Chap 7 7 4 7 7 6 Bootmode EtherCAT The sensor starts or switches to regular EtherCAT mode Ethernet setup mode The sensor switches to recovery mode enables installation of firmware without EtherCAt see Chap A 3 Save...

Page 67: ... click the Save settings button The sensor now also saves the settings to the SD objects for use in EtherCAT operation Go to Settings System settings Boot mode Select the entry Industrial Ethernet EtherCAT The sensor disconnects from the browser and boots automatically with the EtherCAT firmware The boot process can take up to one minute Alternatively you can return to the EtherCAT operation via t...

Page 68: ... the product in par ticular consequential damage e g due to non observance of these instructions this manual improper use or improper handling in particular due to improper installation commissioning operation and maintenance of the product repairs or modifications by third parties the use of force or other handling by unqualified persons This limitation of liability also applies to defects result...

Page 69: ...on of use You are obliged to comply with all relevant national laws and regulations For Germany the EU the following disposal instructions apply in particular Waste equipment marked with a crossed garbage can must not be disposed of with normal industrial waste e g residual waste can or the yellow recycling bin and must be disposed of separately This avoids hazards to the environment due to incorr...

Page 70: ... installation input 230 VAC output 24 VDC 2 5 A PC1900 IE x RJ45 Interfaces and supply cable Length x 3 6 or 9 m 12 pin round socket and RJ45 plug for fieldbus connection PC1900 IE x OE RJ45 Power and output cable Length x 3 6 or 9 m 12 pin round socket RJ45 plug for fieldbus connec tion or open ends for supply and laser activation ...

Page 71: ...n each for 1 sec t2 Select button is pushed during the start sequence t1 t3 t4 Select button is released while the State LED is flashing yellow Dt t4 t2 Dt key stroke duration must be at least 10 sec max 15 sec Reset to factory setting Press the Select button after having switched on the sensor while the two LEDs light up red yellow green Hold the key pressed After 10 seconds the Status LED starts...

Page 72: ...flashes red State LED Firmware installation or EtherCAT Ethernet switch Select key Supply voltage red red flashing appr 8 Hz yellow flashing appr 1 Hz yellow green yellow t0 t1 t3 t2 10 15 sec t4 Ethernet Setup Mode Fig 30 Flowchart for starting a sensor in Ethernet setup mode After completion of the firmware installation switch the sensor reboots at time t4 t0 Supply voltage is applied t1 The Sta...

Page 73: ...s until the State LED flashes red State LED Firmware installation or Ethernet EtherCAT switch Select key Supply voltage red red flashing appr 8 Hz yellow flashing appr 1 Hz yellow green t0 t1 t3 t2 10 15 sec t4 EtherCAT operation Fig 31 Flowchart for starting a sensor in EtherCAT operation mode After completion of the firmware installation switch the sensor reboots at time t4 t0 Supply voltage is ...

Page 74: ...each slave The incoming Ethernet frames are directly processed by the hardware Relevant data are extracted or added from the frame The frame is then sent on to the next EtherCAT slave device The completely processed frame is sent back from the last slave device Various protocols can be used in the application level CANopen over EtherCAT technology CoE is supported here In the CANopen protocol an o...

Page 75: ... 32 Setup of EtherCAT frames A 5 2 2 EtherCAT Services EtherCAT services specify the reading and writing of data in the physical memory of the slave hardware The following EtherCAT services are supported by the slave hardware APRD Auto Increment Physical Read reading of a physical area with auto increment addressing APWR Auto Increment Physical Write writing of a physical area with auto increment ...

Page 76: ...gnment of physical slave memory addresses and logical segment wide addresses is implemented via the field bus Memory Management Units FMMUs The configuration of the slave FMMUs is implemented by the master The FMMU configuration contains a start address of the physical memory in the slave a logical start address in the global address space length and type of the data as well as the direction input...

Page 77: ...f the process inputs and the corresponding FMMU are configured by the master Mailbox communication continues to be possible in the Safe Operational state The process data communication runs for the inputs The outputs are in the safe state In the Operational state process data communication runs for the inputs as well as the outputs Initialization Pre Operational Operational Safe Operational Fig 33...

Page 78: ...lication variables parameters that should be transmitted received with the corresponding PDO The subindices from 1h up to the number of objects contain information about the depicted application variables The mapping values in the CANo pen objects are coded in hexadecimal form The following table contains an example of the entry structure of the PDO mapping MSB LSB 31 16 15 8 7 0 Index e g 0x6000 ...

Page 79: ...ts A 5 3 1 1 Overview Index h Name Description 1000 Device type Device type 1008 Device name Manufacturer device name 1009 Hardware version Hardware version 100A Software version Software version 1018 Identity Device identification 10F8 Timestamp EtherCAT stack predefined object not to be confused with the timestamp of the process data 1A00 1A16 TxPDO Mapping PDO mapping objects may contain merged...

Page 80: ...ible String ro A 5 3 1 5 Object 100Ah Software Version 100A VAR Software version xxx xxx Visible String ro A 5 3 1 6 Object 1018h Device Identification 1018 RECORD Identity Subindices 0 VAR Number of entries 4 Unsigned8 ro 1 VAR Vendor ID 0x00000607 Unsigned32 ro 2 VAR Product code 0x60CB01F6 Unsigned32 ro 3 VAR Revision 0x00010000 Unsigned32 ro 4 VAR Serial number 0x13223A25 Unsigned32 ro The pro...

Page 81: ...uency exposure time TxPDOMap OV4 0x6000 001 out_shutter 0x6001 001 out_frequency 0x6000 002 out_shutter 0x6001 002 out_frequency 0x6000 003 out_shutter 0x6001 003 out_frequency 0x6000 004 out_shutter 0x6001 004 out_frequency 0x1A03 Reserved 0x1A04 Timestamp TxPDOMap OV1 0x6002 001 out_frametimestamp 0x1A08 Measured Value Counter 0x6003 001 out_counter 0x1A0C Status 0x6004 001 out_statusr 0x1A10 No...

Page 82: ...l result in an error message and the process data will not be transferred to the EtherCAT master In object 0x1C13 is selected which PDOs are transferred The PDO mapping objects are selected The selection process takes place before switching from PreOP to SafeOP mode Example 1 Startup procedure to output distance 1 01DIST1 Distance 1 is output in 0x6007 In order to transfer 0x6007 in the PDO the PD...

Page 83: ... output distance 1 intensity and the timestamp 0x1A04 and 0x1A10 are now mapped the following PDOs will be transmitted As PDOs are grouped 0x6002 01 contains the timestamp 0x6006 01 contains the intensity and 0x6007 01 contains the distance value 0x6005 01 still contains the unlinearized value ...

Page 84: ...n Data Exchange between EtherCAT Master and Slave see Chap A 5 2 4 A 5 3 1 9 Object 1C12h RxPDO Assign 1C12 ARRAY RxPDO Assign rw Subindices 0 VAR Number of entries 0 Unsigned8 ro No RxPDOs can be selected because none are present The object is implemented as a dummy to enable the EtherCAT master to set the RxPDOs to 0 A 5 3 1 10 Object 1C13h TxPDO Assign 1C13 ARRAY TxPDO Assign rw Subindices 0 VA...

Page 85: ...nchronization Type currently specified synchronization see Fig 37 Cycle Time currently specified cycle time in ns Free run the cycle time derived from the measuring rate SM2 SM3 the cycle time derived from the measuring rate Sync0 synchronization the Sync0 cycle time set by the master Supported synchronization types Freerun SM2 SM3 and Sync0 synchronization Minimum cycle time the minimum cycle tim...

Page 86: ...No errors 1 An synchronization error occurred The Cycle Time Too Small Counter has been incremented The set synchronization depends on the combination of 0x1C33 001 and 0x1C32 001 The synchronization changes during a transi tion from the PreOP state to the SafeOP state If the combination is invalid an error message is displayed when the state is changed Process data communication will then not be ...

Page 87: ...gs such as login and factory settings 3850 Device settings Definition of measurement task 3851 Preset settings Definition of signal quality 3852 Measurement settings Load save 3900 Sensor information Information on measuring range and option of sensor 6000 Out_shutter Output value exposure time 6008 Out_01_peak1_distance Output value peak distance The following is a description of the individual o...

Page 88: ...900 EtherCAT A 5 3 2 1 Object 3000h Light Source 3000 RECORD Laser power Subindices 0 VAR Number of entries 1 UINT8 ro 1 VAR Laser power x UINT8 rw For more information please refer to the Inputs section see Chap 7 3 Laser power 0 Off 1 Full 2 Reduced ...

Page 89: ... Start of range x UINT16 rw 0B VAR End of range x UINT16 rw 14 VAR Shutter mode x UINT8 rw 15 VAR Shutter time in us x FLOAT rw 16 VAR Exposure mode x UINT8 rw 1E VAR Peak selection x UINT8 rw 28 VAR Error handling type x UINT8 rw 29 VAR Error handling values x UINT32 rw Measurement task Shutter mode Exposure mode Peak selection Error handling type 0 Standard 0 Manual 0 Standard 0 Highest peak 0 N...

Page 90: ...ber of values for recursive x UINT32 rw 0B VAR Average 2 type x UINT8 rw 0C VAR Average 2 number of values for moving average x UINT32 rw 0D VAR Average 2 number of values for median x UINT32 rw 0E VAR Average 2 number of values for recursive x UINT32 rw Average 1 type Average 1 2 number of values for moving average Average 1 2 number of values for median Average 1 2 number of values for recursive...

Page 91: ...herCAT Documentation optoNCDT 1900 EtherCAT A 5 3 2 4 Object 3450 Zeroing Mastering 3450 RECORD Mastering Subindices 0 VAR Number of entries UINT8 ro 4 VAR Set Reset x BIT rw 5 VAR Value x FLOAT rw Set Reset 0 Reset 1 Set ...

Page 92: ...T8 rw 0F VAR Change password old x STRING 32 wo 10 VAR Change password new x STRING 32 wo 11 VAR Change password repeat x STRING 32 wo 15 VAR Reset to factory measurement settings x BIT wo 16 VAR Reset to factory device settings x BIT wo 18 VAR Reset to factory all settings x BIT wo 19 VAR Reboot sensor x BIT wo Current access authorization Logout User level when restarting Reset to factory measur...

Page 93: ...AR Number of entries 2 UINT8 ro 1 VAR Load x BIT wo 2 VAR Save x BIT wo Load Save 0 False 0 False 1 True 1 True A 5 3 2 7 Object 3851 Signal Quality 3851 RECORD Presets Subindices 0 VAR Number of entries 3 UINT8 ro 1 VAR Mode x UINT8 rw 2 VAR List x STRING 230 ro 3 VAR Read x STRING 32 wo Mode 0 None 1 Static 2 Balanced 3 Dynamic 4 No averaging ...

Page 94: ...rogram and activates it enter the setup name in the String field and confirm with OK Store Store saves a measuring program enter the setup name in the String field and confirm with OK Delete Enter setup name in the String field and confirm with OK Initial Displays the user program to be loaded when the sensor is started List Displays the names of the user programs setups A 5 3 2 9 Object 3900 Sens...

Page 95: ... object 0x6000 frequency therefore has the sub indices 1 2 3 and 4 each representing an overs ampling value The values of the process data can also be read asynchronously via SDOs However please note that only the value in sub index 1 can be read Older values caused by oversampling cannot be read acyclically Accordingly the sub indices greater than 1 always return 0 A 5 4 2 Object 6000 Exposure ti...

Page 96: ...stamp Index Name Data type Access 0x6002 out_frametimestamp ARRAY Subindices 0 Number of entries Unsigned8 ro 1 out_frametimestamp__OV00 Unsigned32 ro 2 out_frametimestamp__OV01 Unsigned32 ro 3 out_frametimestamp__OV02 Unsigned32 ro 4 out_frametimestamp__OV03 Unsigned32 ro A 5 4 5 Object 6003 Measurement counter Index Name Data type Access 0x6003 out_framecounter ARRAY Subindices 0 Number of entri...

Page 97: ...OV03 Unsigned32 ro A 5 4 7 Object 6005 Distance value not linearized Index Name Data type Access 0x6005 out_01_md_unlin ARRAY Subindices 0 Number of entries Unsigned8 ro 1 out_01_md_unlin__OV00 Unsigned32 ro 4 out_01_md_unlin__OV03 Unsigned32 ro A 5 4 8 Object 6006 Intensity Index Name Data type Access 0x6006 out_md_intensity ARRAY Subindices 0 Number of entries Unsigned8 ro 1 out_md_intensity__OV...

Page 98: ...lin ARRAY Subindices 0 Number of entries Unsigned8 ro 1 out_01_md_lin__OV00 Unsigned32 ro 4 out_01_md_lin__OV03 Unsigned32 ro A 5 4 10 Object 6008 Peak distance Index Name Data type Access 0x6008 out_01_peak1_distance ARRAY Subindices 0 Number of entries Unsigned8 ro 1 out_01_peak1_distance__OV00 Unsigned32 ro 4 out_01_peak1_distance__OV03 Unsigned32 ro ...

Page 99: ...ted in the object directory 0604 0041 Object parameter is not mapped on PDO 0604 0042 Number or length of objects to be transmitted exceeds PDO length 0604 0047 General internal device incompatibility 0606 0000 Excess denied because of a hardware error 0607 0010 False data type or length of service parameter is incorrect 0607 0012 False data type or length of service parameter is too large 0607 00...

Page 100: ...T 0800 0021 Data can not be transmitted or saved in application due to local control unit 0800 0022 Data can not be transmitted or saved in application due to device status 0800 0023 Dynamic generation of object directory failed or no object directory is available ...

Page 101: ...ts is included with the oversampling factor 1 Use the fol lowing list to determine the index for selecting a different oversampling factor Base index 1 Oversampling factor 2 Base index 2 Oversampling factor 4 Base index 3 Oversampling factor 8 You can only select mapping objects with the same oversam pling factor in 0x1C13h Example The fieldbus EtherCAT master operates at a cycle time of 1 ms beca...

Page 102: ...ck is picked up in a master cycle Block 4 samples at a distance 250 µs 1 ms Master cycle 1 ms not transmitted blocks Time for n samples master cycle time 4 samples 1 ms But if you select a number of samples sufficiently large so that the time for filling a block is greater than the master cycle time each block will be picked up in a master cycle Individual blocks and therefore samples however will...

Page 103: ...nsor automatically starts the update which disconnects the EtherCAT master A 5 7 2 Update via EoE An update is performed via a meu file The firmware update tool Update_Sensor exe is required for this The current firmware is available at www micro epsilon de service download software To execute an update you have to check Ethernet in the firmware update tool and enter the IP address which you have ...

Page 104: ...synchronize the measure ment acquisition for the EtherCAT cycle time and the measurement acquisition of multiple controllers Note that although the measurements in the sensor are synchronized to the Sync0 cycle time the transmission of the values to the EtherCAT master is again asynchronous with the bus cycle Synchronous transmission of the values to the EtherCAT master is only given if oversampli...

Page 105: ...ff INIT state Green flashing 2 5 Hz PRE OP status Green single flash 200 ms ON 1000 ms OFF SAFE OP status Green on OP status LED ERR Meaning Red off No error Red flashing 2 5 Hz Invalid configuration Red single flash 200 ms ON 1000 ms OFF Not requested status change Red double flash 200 ms ON 200 ms OFF 200 ms ON 400 ms OFF Timeout of the watchdog Red flashing 10 Hz Error by initializing ...

Page 106: ...le EtherCAT Slave Information Micro Epsilon_optoNCDT_19xx xml can be found online at www micro epsilon com service download software Copy the device description file to the directory C TwinCAT 3 1 Config Io EtherCAT before the measuring device can be configured via EtherCAT Delete any existing older files EtherCAT Slave information files are XML files which specify the characteristics of the Slave...

Page 107: ...loca tion Confirm with OK Searching for a device Switch to the Solution Explorer window In the I O tab right click on the Devices entry and then Scan Confirm with OK Select a network card at which EtherCAT slaves are to be searched for Confirm with OK The Scan for boxes window appears EtherCAT slaves Confirm with Yes ...

Page 108: ... Yes The current status should be at least PREOP SAFEOP or OP on the Online page In the event that ERR PREOP appears in Current Status the cause is reported in the message window This will be the case if the settings for the PDO mapping in the controller are different from the settings in the ESI file Micro Epsilon_optoNCDT_19xx xml You can select other data in the Process Data tab ...

Page 109: ...f the provided process data and the assignment of the SyncManager may be viewed now Go to the TwinCAT menu and select the Restart TwinCAT Config Mode entry The configuration is now complete In SAFEOP and OP status the selected measurement values are transferred as process data ...

Page 110: ...Page 110 Appendix EtherCAT Documentation optoNCDT 1900 EtherCAT ...

Page 111: ......

Page 112: ... KG Königbacher Str 15 94496 Ortenburg Germany Phone 49 8542 168 0 Fax 49 8542 168 90 info micro epsilon com www micro epsilon com Your local contact www micro epsilon com contact worldwide X9751444 A012062MSC MICRO EPSILON MESSTECHNIK ...

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