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Absolute Rotary Encoders

With EtherCAT Interface

FACTORY AUTOMATION

MANUAL

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Summary of Contents for ENA58IL B21 Series

Page 1: ...Absolute Rotary Encoders With EtherCAT Interface FACTORY AUTOMATION MANUAL ...

Page 2: ...of Delivery for Products and Services of the Electrical Indus try published by the Central Association of the Electrical Industry Zentralverband Elektrotechnik und Elektroindustrie ZVEI e V in its most recent version as well as the supplementary clause Expanded reservation of proprietorship Absolute Rotary Encoders ...

Page 3: ...g Using Device Description 9 5 Installation 11 5 1 Electrical Connection 11 5 2 LED Indicators 11 5 3 Instructions for Mechanical and Electrical Installation 12 6 Data Model for the Device Configuration 14 6 1 Communication objects according to communication profile DS 301 14 6 1 1 Object 1000h Device type 14 6 1 2 Object 1001h Error register 14 6 1 3 Object 1008h Manufacturer device name 14 6 1 4...

Page 4: ...in measuring units 17 6 2 4 Object 6003h Preset value 17 6 2 5 Object 6004h Position value 18 6 2 6 Object 6500h Operating status 18 6 2 7 Object 6501h Singleturn resolution 18 6 2 8 Object 6502h Number of distinguishable revolutions 18 6 2 9 Object 6507h Profile and software version 18 6 2 10 Object 6509h Offset value 19 7 Configuring the Rotary Encoder Using TwinCAT 20 7 1 Introduction 20 7 2 Co...

Page 5: ...a worldwide scale Symbols used The following symbols are used in this manual Handling instructions You will find handling instructions beside this symbol Contact If you have any questions about the device its functions or accessories please contact us at Pepperl Fuchs GmbH Lilienthalstraße 200 68307 Mannheim Germany Telephone 49 0 621 776 1111 Fax 49 0 621 776 271111 Email fa info de pepperl fuchs...

Page 6: ...n of Conformity 2 Declaration of Conformity 2 1 CE Conformity This product was developed and manufactured under observance of the applicable European standards and guidelines Note A declaration of conformity can be requested from the manufacturer ...

Page 7: ...nt is only guaranteed if the device is operated in accordance with its intended use 3 3 General Safety Instructions Responsibility for planning assembly commissioning operation maintenance and dismounting lies with the plant operator Installation and commissioning of all devices may only be performed by trained and qualified personnel User modification and or repair are dangerous and will void the...

Page 8: ... a standardized open fieldbus that enables data exchange between PLCs PCs operating and observation devices and also sensors and actuators EtherCAT is suitable for both central and decentralized system architecture It supports master slave master master and slave slave communication as well as the integration of lower level fieldbuses With the EtherCAT Automation Protocol it also covers the factor...

Page 9: ...ogy as well as combinations thereof are equally possible An additional Ethernet port in the master and an additional cable from the last participant to this port extend the lines to a ring topology With EtherCAT cable redundancy is made possible with simple measures A software extension in the master stack is used for detection if redundancy occurs Ease of handling EtherCAT is easy to use in compa...

Page 10: ...er are described in a device description file the ESI file EtherCAT Slave Information based on XML You must integrate the appropriate ESI file in the project planning tool Downloading the ESI File You can find the relevant ESI file in the Software section of the product detail page for the device To access the product detail page for the device go to http www pepperl fuchs com and type e g the pro...

Page 11: ...s connected to the field environment via the Power connector along with ECAT in and ECAT out for the EtherCAT connection Connector and pin assignment Connection Power Connector plug M12 x 1 4 pin A coded ECAT in ECAT out Connector socket M12 x 1 4 pin D coded 1 Operating voltage U B Tx 2 Rx 3 0 V Tx 4 Rx 1 3 4 2 1 3 4 2 ...

Page 12: ...s EtherCAT LEDs LED Color Status Description L A Link Act IN Green On LINK active for HUB port 1 Flashes Activity for HUB port 1 L A Link Act OUT Green On LINK active for HUB port 2 Flashes Activity for HUB port 2 LED Color Status Description Error Red Off No error Flashes Invalid configuration Single flash Local fault Double flash Watchdog process data timeout watchdog EtherCAT timeout Flickers B...

Page 13: ...undefined statuses This presents a significant risk of personal injury and property damage Warning Check electrical connections before switching on the system Check all electrical connections before switching on the system Incorrect connections present a significant risk of personal injury and property damage Incorrect connections can lead to malfunctions Caution Do not remove the rotary encoder h...

Page 14: ...evices must not be installed in a location where they could be misused as a handle or climbing aid Do not make any alterations to the drive shaft or the housing of the rotary encoder Note The drive shaft on the rotary encoder must be connected to the drive shaft on the part to be measured via a suitable coupling The coupling is required to protect the drive shaft on the rotary encoder against exce...

Page 15: ...lute rotary encoders are available in the variants singleturn absolute rotary encoder or multiturn absolute rotary encoder 6 1 2 Object 1001h Error register This object specifies which device type it relates to The absolute rotary encoders are available in the variants singleturn absolute rotary encoder or multiturn absolute rotary encoder Object Description Data type Access 1000h Device type Unsi...

Page 16: ...parameters in the non volatile memory 6 1 7 Object 1011h Restore application parameters This object causes the parameter 6000 6003 to be overwritten by the factory default values and to be stored in non volatile memory Subindex Description Data type Default Access 0h Manufacturer device name String P F EtherCAT r Subindex Description Data type Default Access 0h Hardware version String x y dependin...

Page 17: ...hysical resolution of the encoder The units per revolution object 6001h and the total measuring range in units object 6002h are the scaling parameters The bit of the scaling function is set in the operating parameters If the bit of the scaling function is set to zero the scaling function is deactivated Object Description Data type Access 6000h Operating parameters Unsigned 16 r w 6001h Measuring u...

Page 18: ...0 Use MS MS MS MS R R R R R R R R MD SFC CD CS MS Manufacturer specific function not available R Reserved for future applications MD Measuring direction not available SFC Scaling function 0 enable 1 disable CD Commissioning diagnostics control not available CS Code sequence 0 clockwise 1 counterclockwise Subindex Description Data type Default Access 0h Measuring steps per revolution Unsigned 32 Se...

Page 19: ... of the rotary encoder and the type code in the corresponding datasheet Use object 1010h to save the parameters in the non volatile memory Note Important application note Dividing the Total resolution as a decimal number by Measuring steps per revolution must result in an integer The total resolution must also fit into an integer multiple of 4096 for a rotary encoder with 12 bits per revolution Th...

Page 20: ...e version The value is divided into one part for the device profile version and one part for the software version Each of these areas is again divided into a higher and a lower version 6 2 10 Object 6509h Offset value This object contains the offset value It is calculated from the difference between the physical value and the displayed process value The calculation is affected by the preset functi...

Page 21: ...arking or the item number into the search function You can find the GSDML file in the Software area of the product detail page Prior to starting the configuration ensure that the ESI file of the EtherCAT absolute rotary encoder Pepperl Fuchs_ECAT_V01 05 xml is in the TwinCAT installation directory For TwinCAT 3 the default for the installation directory is C TwinCAT 3 1 Config Io EtherCAT 7 2 Conf...

Page 22: ...e Rotary Encoder in TwinCAT 3 Prerequisite An ESI file from the absolute rotary encoder is available in C TwinCAT 3 1 Config IO EtherCAT 1 Start TwinCAT XAE Figure 7 1 2 In the project folder explorer within the E A element select the entry Devices and activate by right clicking on the Scan function ...

Page 23: ...tomatically therefore the following message appears Figure 7 2 3 Confirm this message with OK the scan is then started If the scan agent recognizes an Ethernet port with an installed TwinCAT real time driver this is displayed as a device In this example as Device 2 EtherCAT Figure 7 3 4 Click OK to confirm the dialog box ...

Page 24: ...ng TwinCAT 2018 06 23 The EtherCAT device is created and a scan for other participants slaves so called boxes is suggested Figure 7 4 5 Confirm this message with Yes to establish the EtherCAT absolute rotary encoder and where appropriate other connected devices ...

Page 25: ...ry encoder found is now displayed in the project folder as entry Box 1 P F EtherCAT At the same time the message Activate Free Run appears 6 Confirm the dialog with Yes to allow the manipulation of input and output values during the configuration 7 Then click on the entry Box 1 P F EtherCAT using the left mouse button ...

Page 26: ... 2018 06 25 Figure 7 6 The menu TwinCAT Project 1 is displayed 8 Enter a name for your absolute rotary encoder in this project For example Box 1 P F EtherCAT has been entered here 9 Go to the CoE Online tab This calls up the parameter management for the EtherCAT devices ...

Page 27: ...the now open window For example purposes changing the Position value index 6004 is described Other parameters can be changed in the same way To permanently save the changes in the absolute rotary encoder you must double click object 1010 Store application parameters at the end of parameterization Example set preset value in object 6003h The position value is before setting the preset value 0x00002...

Page 28: ...bsolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT 2018 06 27 The entry dialog box for setting the preset value is displayed Figure 7 8 2 Enter the value 5000 and confirm by clicking OK ...

Page 29: ...2018 06 28 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT The preset value 5000 is transferred to the absolute rotary encoder and is taken as the new position value Figure 7 9 ...

Page 30: ...Using TwinCAT 2018 06 29 3 Double click on the object 1010 Store Application Parameters Figure 7 10 Note If the preset value or other parameters are to be permanently transferred you must still store the parameter Store Application Parameters in object 1010h ...

Page 31: ... 30 Absolute Rotary Encoders Configuring the Rotary Encoder Using TwinCAT 4 Object 1010h is already prepopulated with the value 0x65766173 allowing you to store the parameters by simply clicking OK Figure 7 11 ...

Page 32: ...e to the SYSTEM element in the project folder explorer and select the entry Tasks Right click to activate the drop down list and select Add New Item Figure 7 12 Note As there is no external EtherCAT master and the PC laptop is used as the EtherCAT master in this example an additional task is required ...

Page 33: ...Encoder Using TwinCAT 6 In the dialog activate the type TwinCAT Task with Image and confirm this with OK Figure 7 13 7 Now activate the option Auto start for the newly created task Thus this task is started automatically with each restart of TwinCAT Figure 7 14 ...

Page 34: ...ders Configuring the Rotary Encoder Using TwinCAT 2018 06 33 8 In the project folder explorer navigate to the entry Inputs under the newly created task in this case task 2 and right click to select Add New Item Figure 7 15 ...

Page 35: ...figuring the Rotary Encoder Using TwinCAT 9 In the dialog box for the inputs select data type DWORD and confirm the selection by clicking OK Figure 7 16 10 Now click the newly created variable in this case Var 24 in the project folder window ...

Page 36: ... 7 17 11 In the TwinCAT project window click Linked to 12 In the window that opens Variables link Var 24 input select the entry for Position value here Position value IB 39 0 UDINT 4 0 13 Confirm the entry with OK This means that the link between the position value and variable is created ...

Page 37: ...uchs GmbH 68307 Mannheim Germany Tel 49 621 776 0 E mail info de pepperl fuchs com USA Headquarters Pepperl Fuchs Inc Twinsburg Ohio 44087 USA Tel 1 330 4253555 E mail sales us pepperl fuchs com Asia Pacific Headquarters Pepperl Fuchs Pte Ltd Company Registration No 199003130E Singapore 139942 Tel 65 67799091 E mail sales sg pepperl fuchs com DOCT 6100 06 2018 ...

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