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AMT58x-EC EtherCAT®

17

5.2.2 Synchronous with DC (SYNC0)

In the left pane of the TwinCAT System Manager main window press
the Box (AMT58-ECAT) item: some tabbed pages for configuring and
managing the device will appear in the right pane. Enter DC page.
Select the Synchronous with DC (SYNC0) option in the Operation
Mode box.
Then press the Advanced Settings... button.

The Advanced Settings window will appear. In the section tabbed
SYNC 0 set the cycle time next to the Sync Unit Cycle box; sync time
is calculated as multiple (or sub-multiple) of the value set in the Sync
Unit Cycle (µs) item right above.

For any further information on the Synchronous with DC operation
mode please refer to the section “Synchronous with DC SYNC0” on
page 37 and to the object

1C33 Sync Manager input parameter

on

page 48.

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Содержание AMT58 Series

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Страница 2: ...dotta in un sistema di recupero o trasmessa in qualsiasi forma o con qualsiasi mezzo o per qualsiasi scopo senza l espresso consenso scritto di Datalogic S p A e o delle sue consociate Datalogic e il logo Datalogic sono marchi registrati di Datalogic S p A depositati in diversi paesi tra cui U S A e UE Tutti gli altri marchi registrati e brand sono di proprietà dei rispettivi proprietari Datalogic...

Страница 3: ...tazioni di default 15 6 Interfaccia CANopen 16 6 1 File EDS 16 6 2 Funzionamento a stati 16 6 2 1 Stato Inizialization 16 6 2 2 Stato Pre operational 17 6 2 3 Stato Operational 17 6 2 4 Stato Stopped 17 6 3 Tipi di messaggi 18 6 3 1 COB ID previsti o riconosciuti 18 6 4 Messaggi NMT 19 6 5 Messaggi di Boot up 19 PDO1 Cyclic mode trasmissione ciclica della posizione 20 PDO2 e PDO3 Sync mode trasmis...

Страница 4: ...di conteggio 32 Funzione di scaling 32 6001 00 Informazioni per giro 33 6002 00 Risoluzione totale 33 6003 00 Valore di preset 34 6200 00 Cyclic timer 35 6500 00 Stato operativo 35 Direzione conteggio 35 Funzione di scaling 35 Limit switch min 36 Limit switch max 36 Stato operativo attuale 36 6501 00 Informazioni per giro fisiche 36 6502 00 Numero di giri fisico 36 6504 00 Allarmi supportati 36 65...

Страница 5: ...vi 32 6001 00 Informazioni per giro 33 6002 00 Risoluzione totale 33 6003 00 Valore di preset 34 6004 00 Valore di posizione 35 6200 00 Cyclic timer 35 6500 00 Stato operativo 35 6501 00 Informazioni per giro fisiche 36 6502 00 Numero di giri fisico 36 6504 00 Allarmi supportati 36 6506 00 Warning supportati 36 6507 00 Versione profilo e software 36 6508 00 Tempo di lavoro dispositivo 37 6509 00 V...

Страница 6: ...ella massima importanza per l operatore concernenti l uso corretto e sicuro del dispositivo Le istruzioni accompagnate da questo simbolo devono essere seguite scrupolosamente dall operatore La loro mancata osservanza può generare malfunzionamenti e danni sia al dispositivo che alla macchina sulla quale il dispositivo è installato e procurare lesioni anche gravi agli operatori al lavoro in prossimi...

Страница 7: ...nite le informazioni generali riguardanti il trasduttore comprendenti le norme di sicurezza le istruzioni di montaggio meccanico e le prescrizioni relative alle connessioni elettriche nonché ulteriori informazioni sul funzionamento e la corretta messa a punto del dispositivo Nella seconda parte intitolata Interfaccia CANopen sono fornite tutte le informazioni sia generali che specifiche relative a...

Страница 8: ......

Страница 9: ...are le connessioni riportate nella sezione sezione 4 Connessioni elettriche in conformità alla normativa 2014 30 EU sulla compatibilità elettromagnetica rispettare le seguenti precauzioni prima di maneggiare e installare il dispositivo eliminare la presenza di carica elettrostatica dal proprio corpo e dagli utensili che verranno in contatto con il dispositivo alimentare il dispositivo con tensione...

Страница 10: ...elicato maneggiare con cura evitare urti o forti sollecitazioni sia all asse che al corpo del dispositivo utilizzare il dispositivo in accordo con le caratteristiche ambientali previste dal costruttore encoder con asse sporgente utilizzare giunti elastici per collegare encoder e motore rispettare le tolleranze di allineamento ammesse dal giunto elastico encoder con asse cavo l encoder può essere m...

Страница 11: ...vo stesso i dati sono ripetuti anche nei documenti di trasporto che lo accompagnano Citare sempre il codice di ordinazione e il numero di serie quando si contatta Datalogic Automation s r l per l acquisto di un ricambio o nella necessità di assistenza tecnica Per ogni informazione sulle caratteristiche tecniche del dispositivo fare riferimento al catalogo del prodotto ...

Страница 12: ...ssare il giunto elastico 1 all encoder fissare l encoder alla flangia di fissaggio 2 o alla campana utilizzando le viti 3 fissare la flangia 2 al supporto o la campana al motore fissare il giunto elastico 1 al motore assicurarsi che le tolleranze di allineamento ammesse dal giunto elastico 1 siano rispettate 3 1 1 Fissaggio standard a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 Fissaggio con graffe cod...

Страница 13: ...AMT58x CB CANopen 5 3 1 3 Fissaggio con flangia codice ST 58 FLNG ...

Страница 14: ... sull albero del motore utilizzando la boccola di riduzione 8 se fornita Evitare sforzi sull albero encoder fissare la molla di fissaggio 4 sul retro del motore utilizzando due viti M3 a testa cilindrica 5 fissare il collare 3 dell albero encoder fissare la vite 3 con frenafiletto ...

Страница 15: ... rate e dell indirizzo nodo e attivazione della resistenza di terminazione Per accedere a questi elementi è pertanto necessario rimuovere il coperchio NOTA Eseguire questa operazione con estrema prudenza per non danneggiare i componenti interni Per togliere il coperchio svitare le due viti di fissaggio 1 Prestare la massima attenzione alla disconnessione del connettore interno Avere cura di ripris...

Страница 16: ...a di utilizzare il punto di collegamento previsto sul coperchio del dispositivo Figura sopra utilizzare 1 vite TCEI M3 x 6 a testa cilindrica con 2 rondelle zigrinate 4 3 Coperchio con pressacavi Il coperchio dispone di due pressacavi PG9 per l ingresso bus uscita bus e alimentazione Ciascun cavo si viene a trovare allineato con i relativi morsetti Per il collegamento del bus si raccomanda di usar...

Страница 17: ...a BUS OUT M12 Descrizione Case CAN Shield 1 1 2 10VDC 30VDC Alimentazione 3 0 VDC Alimentazione 4 CAN High 5 CAN Low 1 CAN Shield è collegato anche al piedino 1 per permettere il collegamento della calza anche nel caso di connettore volante con case plastico 4 5 Collegamento della calza Districare la calza 1 e tagliarla alla giusta misura quindi piegarla sul particolare 2 infine posizionare la ghi...

Страница 18: ... della linea 4 7 LED di diagnostica Due LED installati nella parte posteriore dell encoder mostrano la condizione di funzionamento dell interfaccia CANopen secondo la seguente tabella LED VERDE Descrizione ON Encoder in stato Operational Singolo flash Encoder in stato Stopped Lampeggiante Encoder in stato Pre operational LED ROSSO Descrizione ON Bus off Doppio flash Errore Node guarding error Sing...

Страница 19: ...ione dati è definita da DIP A DIP A Con dispositivo spento impostare il valore binario della velocità di trasmissione dati considerando che ON 1 OFF 0 bit 1 LSB 2 3 MSB 4 20 21 22 ON OFF Tabella dei valori di baud rate disponibili Valore decimale Valore binario Baud rate 0 000 20 Kbit s 1 001 50 Kbit s 2 010 100 Kbit s 3 011 125 Kbit s 4 100 250 Kbit s 5 101 500 Kbit s default 6 110 800 Kbit s 7 1...

Страница 20: ...3 24 25 26 Esempi Impostare l indirizzo 25 2510 0001 10012 valore binario bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON OFF OFF ON ON OFF OFF OFF Impostare l indirizzo 55 5510 0011 01112 valore binario bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON ON ON OFF ON ON OFF OFF ATTENZIONE Nel caso in cui il baud rate e l indirizzo del nodo siano impostati in modalità software in fase di installazione di un e...

Страница 21: ...itto a pagina 36 Nel caso in cui la risoluzione fisica non corrisponda al codice di ordinazione vedi etichetta encoder è necessario effettuare la procedura di modifica della risoluzione fisica alcuni esempi per la lettura della risoluzione fisica sono riportati al paragrafo 5 2 Utilizzo con le impostazioni di default Si osservi che i parametri 6001 00 Informazioni per giro e 6002 00 Risoluzione to...

Страница 22: ... B4 B5 B6 B7 Master Encoder COB ID Cmd Index Sub Process data 600 ID 23 02 65 00 B4 B5 B6 B7 Encoder Master COB ID Cmd Index Sub Process data 580 ID 60 02 65 00 00 00 00 00 Step 4 Eseguire comando Reset node Master Encoder COB ID Cmd Slave ID 000 81 ID Step 5 Memorizzazione parametri oggetto 1010 01 Salvataggio parametri Master Encoder COB ID Cmd Index Sub Process data 600 ID 23 10 10 01 73 61 76 ...

Страница 23: ...ter Encoder COB ID Cmd Index Sub Process data 601 40 01 65 00 Encoder Master COB ID Cmd Index Sub Process data 581 43 01 65 01 A0 A1 A2 A3 Info giro A3 24 A2 16 A1 8 A0 Lettura numero di giri 6502 00 Numero di giri fisico Master Encoder COB ID Cmd Index Sub Process data 601 40 02 65 00 Encoder Master COB ID Cmd Index Sub Process data 581 43 02 65 01 B0 B1 B2 B3 Numero giri B3 24 B2 16 B1 8 B0 Impo...

Страница 24: ...com Il file EDS deve essere installato sul dispositivo master CANopen 6 2 Funzionamento a stati I dispositivi CANopen prevedono un funzionamento a stati il passaggio da uno stato all altro si effettua tramite l invio al dispositivo di specifici messaggi NMT Il diagramma degli stati è il seguente 1 Accensione dispositivo 2 Inizializzazione dispositivo conclusa invio automatico del messaggio di boot...

Страница 25: ...ivo allo stato Operational il master deve inviare un comando Avvia nodo remoto Start remote node mediante un messaggio NMT 6 2 3 Stato Operational In questo stato lo slave è operativo utilizza i valori dei parametri impostati nel Dizionario Oggetti e può inviare i valori di processo tramite messaggi PDO E possibile comunicare mediante messaggi SDO Per portare il dispositivo allo stato Pre operatio...

Страница 26: ...a trasmissione dei valori di processo quota e velocità encoder Emergency messaggi di notifica errori Nodeguard utilizzato per conoscere lo stato di un dispositivo Uso dei messaggi per ogni stato di funzionamento Inizializ Pre oper Operat Stopped NMT X X X PDO X SDO X X Sync X Emerg X X Boot up X Nodeg X X X 6 3 1 COB ID previsti o riconosciuti trasmissione Master Slave Tipo di COB Object Codice fu...

Страница 27: ...saggio NMT a tutti gli slave impostare Slave ID 00h Command Funzione NMT Stato del nodo 01 hex Start nodo remoto Operational 02 hex Stop nodo remoto Stopped 80 hex Modalità pre operativa Pre operational 81 hex Reset nodo Pre operational 82 hex Reset comunicazione Pre operational 6 5 Messaggi di Boot up Struttura messaggi Boot up COB ID hex 1 CAN Data Byte 700 Node ID 00 ...

Страница 28: ...messo dal Master per richiedere all encoder la trasmissione del PDO Se più nodi encoder sono collegati alla rete il Master riceve i messaggi di risposta al SYNC ordinati in base al numero di nodo degli encoder L encoder può rispondere ogni n messaggi di SYNC programmando opportunamente il contatore Il PDO sarà inviato dopo la n esima ricezione del SYNC Per il PDO2 il valore n del contatore è speci...

Страница 29: ...i per i campi Command Index e Subindex Gli SDO sono sempre seguiti da conferma ciò significa che per qualsiasi SDO inviato dal master allo slave quest ultimo risponde con un SDO adeguato Struttura messaggio SDO IDENTIFIER da 4 a 8 CAN data byte COB ID hex 0 1 2 3 4 5 6 7 F C Node ID Com Index Sub Data 1 byte LSB MSB 1 byte LSB MSB Com command comando Index indice del parametro Sub sub index second...

Страница 30: ... SDO inviati dal master es Indice inesistente Valore process data non valido Comman d COB Tipo COB Nr byte Data 22h Set richiesta M S non spec 23h Set richiesta M S 4 byte 2Bh Set richiesta M S 2 byte 2Fh Set richiesta M S 1 byte 60h Set conferma S M 0 byte 40h Req richiesta M S 0 byte 42h Req risposta S M non spec 43h Req risposta S M 4 byte 4Bh Req risposta S M 2 byte 4Fh Req risposta S M 1 byte...

Страница 31: ...ta byte byte 4 byte 5 byte 6 byte 7 LSByte MSByte 6 8 1 Oggetti standard DS 301 1000 00 Tipo di dispositivo Unsigned32 ro Default 0001 0196h encoder monogiro DS 406 0002 0196h encoder multigiro DS 406 1001 00 Registro errori Unsigned8 ro Per ogni situazione di errore bit 0 1 Default 00h 1003 Campo errori predefinito Conserva memoria degli ultimi quattro errori che hanno generato un messaggio Emerg...

Страница 32: ...oftware del dispositivo 100C 00 Guard time Unsigned16 rw Contiene il valore di Guard time espresso in msec millisecondi Il parametro 100C 00 Guard time è utilizzato nel Node guarding protocol gestito dal master Per maggiori dettagli si veda la sezione 6 11 Node guarding protocol Default 0000h 100D 00 Life time factor Unsigned8 rw Il parametro 100D 00 Life time factor è utilizzato nel Node guarding...

Страница 33: ...0 00 00 1011 01 Parametri di default Unsigned32 rw Oggetto utilizzato per caricare tutti i parametri di default Scrivere load in codifica ASCII esadecimale nei data byte e successivamente eseguire un comando Reset node Master Encoder COB ID Cm d Index Sub Data bytes 600 ID 23 11 10 01 6C 6F 61 64 Encoder Master conferma COB ID Cm d Index Sub Data bytes 580 ID 60 11 10 01 00 00 00 00 Master Encoder...

Страница 34: ...nzione è disabilitata Default 0000h 1018 Informazioni di identificazione 01 Identificativo del costruttore Unsigned32 ro 02 Codice prodotto Unsigned32 ro 03 Numero revisione Unsigned32 ro 1800 Parametri PDO1 Il PDO1 è usato di default per la trasmissione ciclica del valore della posizione Fare riferimento 6200 00 Cyclic timer per impostare il tempo di ciclo 01 COB ID usato da PDO1 Unsigned32 rw Se...

Страница 35: ... 0280h NodeID no RTR COB ID 02 Tipo di trasmissione Unsigned8 rw Default 01h trasmissione sincrona ogni SYNC 1802 Parametri PDO3 Il PDO3 è usato di default per la trasmissione sincrona del valore della posizione 01 COB ID usato da PDO3 Unsigned32 rw Se l indirizzo del nodo è impostato mediante i dip switch interni vale a dire se almeno uno dei dip switch utilizzati per l impostazione del nodo ha v...

Страница 36: ...deID disattivato no RTR 02 Tipo di trasmissione Unsigned8 rw Default FEh trasmissione ciclica NOTA La trasmissione dei PDO1 PDO2 PDO3 e PDO4 può essere attivata disattivata impostando a 0 1 il bit più significativo del relativo oggetto 180xh sub1 La modalità di trasmissione ciclica o sincrona può essere modificata impostando opportunamente il valore dell oggetto 180xh sub2 Per ottenere la trasmiss...

Страница 37: ...ti Unsigned8 rw Questo oggetto definisce il baud rate del dispositivo secondo la seguente tabella Data byte Baud rate 00h 20 Kbit s 01h 50 Kbit s 02h 100 Kbit s 03h 125 Kbit s 04h 250 Kbit s 05h 500 Kbit s default 06h 800 Kbit s 07h 1000 Kbit s La velocità di trasmissione dati è definita dall oggetto 3000 00 Velocità trasmissione dati solo se il bit 4 di DIP A è impostato a OFF Se il bit 4 di DIP ...

Страница 38: ...580 ID 60 00 30 00 00 Master Encoder Reset nodo COB ID Cmd Slave ID 000 81 ID Commutare il master al nuovo baud rate Encoder Master Boot up con nuovo baud rate COB ID Cmd 700 ID 00 NOTA Per non perdere il baud rate impostato 1010 01 Salvataggio parametri altrimenti alla successiva accensione sarà caricato il precedente valore di baud rate ...

Страница 39: ...ster Encoder COB ID Cmd Index Sub Data byte 600 ID 2F 01 30 00 nuovo Node ID Encoder Master conferma COB ID Cmd Index Sub Data byte 580 ID 60 01 30 00 00 Master Encoder Reset nodo COB ID Cmd Slave ID 000 81 ID vecchio Encoder Master Boot up con nuovo Node ID COB ID Cmd 700 ID 00 NOTA Eseguire 1010 01 Salvataggio parametri utilizzando il nuovo Node ID altrimenti alla successiva accensione sarà cari...

Страница 40: ...ione di scaling Se la funzione è disabilitata l encoder utilizza la propria risoluzione fisica vedi oggetti 6501 00 Informazioni per giro fisiche e 6502 00 Numero di giri fisico se abilitata l encoder utilizza la risoluzione impostata negli oggetti 6001 00 Informazioni per giro e 6002 00 Risoluzione totale con la seguente relazione Posizione trasmessa 6001 00 Informazioni per giro posizione reale ...

Страница 41: ...rio impostare anche un nuovo valore di preset si veda l oggetto 6003 00 Valore di preset e quindi salvare i nuovi parametri si veda l oggetto 1010 01 Salvataggio parametri 6002 00 Risoluzione totale Unsigned32 rw Questo oggetto definisce la risoluzione totale desiderata Attivo se il bit 2 Funzione di scaling dell oggetto 6000 00 Parametri operativi impostato a 1 E possibile impostare solo valori m...

Страница 42: ...2 00 Risoluzione totale Se si modificano 6001 00 Informazioni per giro e o 6002 00 Risoluzione totale bisogna reimpostare eventuali azzeramenti o 6003 00 Valore di preset 6003 00 Valore di preset Unsigned32 rw Usare questo oggetto per assegnare e impostare un valore di Preset Con la funzione di preset è possibile assegnare un certo valore a una definita posizione angolare dell albero encoder Il va...

Страница 43: ...it Funzione bit 0 bit 1 0 Direzione conteggio Orario Antiorario 1 Non utilizzato 2 Funzione di scaling Disabilitato Abilitato 3 11 Non utilizzato 12 Limit switch min posizione 2104 00 Limit switch min posizione 2104 00 Limit switch min 13 Limit switch max posizione 2105 00 Limit switch max posizione 2105 00 Limit switch max 14 Non utilizzato 15 Stato operativo attuale Stopped Pre operational Opera...

Страница 44: ...a remoto lo stato di funzionamento del dispositivo si veda la sezione 6 2 Funzionamento a stati bit 15 0 stato Stopped o Pre operational bit 15 1 stato Operational 6501 00 Informazioni per giro fisiche Unsig32 ro Questo oggetto definisce il numero fisico di informazioni per giro del dispositivo Per impostare una risoluzione personalizzata si veda all oggetto 6001 00 Informazioni per giro 6502 00 N...

Страница 45: ...va al Preset si veda l oggetto 6003 00 Valore di preset Default 0000 0000h 650A 01 Valore di offset del costruttore Int32 ro Questo oggetto contiene il valore di offset calcolato come differenza dello zero meccanico del dispositivo e lo zero software impostato dal costruttore Default 0000 0000h 650B 00 Numero di serie Unsigned32 ro Default FFFF FFFFh non gestito NOTA Per salvare i parametri modifi...

Страница 46: ...sul sito www can cia org 6 10 Messaggi Emergenza I messaggi di emergenza EMCY sono trasmessi dal dispositivo per segnalare condizioni di errore interno Struttura messaggio EMCY IDENTIFIER CAN Data Byte COB ID hex 0 1 2 3 7 vedi oggetto 1014 00 COB ID EMCY Codice errore Sub registro errori Codici specifici LSB MSB 01 00 00 Codice errore previsti 1000h Errore Node guarding 5530h Errore memoria flash...

Страница 47: ... time 100C 00 Guard time 100D 00 Life time factor Il Node guarding è abilitato solo se Node life time 0 Se lo slave non riceve un messaggio RTR entro il tempo Node life time viene segnalato un Life Guarding Event con relativa segnalazione LED Node guarding error aggiornamento degli oggetti 1001 00 Registro errori e 1003 Campo errori predefinito e invio del messaggio di errore Per resettare l error...

Страница 48: ...ex Sub Process data 600 ID 23 01 60 00 00 40 00 00 Encoder Master conferma Set COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 Impostazione 6002 00 Risoluzione totale 224 1000000h Master Encoder richiesta Set COB ID Cmd Index Sub Process data 600 ID 23 02 60 00 00 00 00 01 Encoder Master conferma Set COB ID Cmd Index Sub Process data 580 ID 60 02 60 00 00 00 00 00 Impostazione 600...

Страница 49: ...ID Cmd Index Sub Process data 580 ID 60 01 18 02 00 Disattivazione Sync mode 1801 Parametri PDO2 sub 1 Lettura COB ID usato da PDO2 Master Encoder richiesta Req COB ID Cmd Index Sub Process data 600 ID 40 01 18 01 Encoder Master risposta Req COB ID Cmd Index Sub Process data 580 ID 43 01 18 01 B0 B1 B2 B3 COB ID usato da PDO2 B3 24 B2 16 B1 8 B0 porre a 1 il bit più significativo B3 0x80 Impostazi...

Страница 50: ...sposta Req COB ID Cm d Index Sub Process data 580 ID 43 00 18 01 B0 B1 B2 B3 COB ID usato da PDO1 B3 24 B2 16 B1 8 B0 porre a 0 il bit più significativo B3 0x7F Impostazione nuovo COB ID usato da PDO1 1800 Parametri PDO1 sub 1 Master Encoder richiesta Set COB ID Cm d Index Sub Process data 600 ID 23 00 18 01 B0 B1 B2 B3 Encoder Master conferma Set COB ID Cm d Index Sub Process data 580 ID 60 00 18...

Страница 51: ...tri PDO3 sub 1 NODEID 0xC0000380 1802 Parametri PDO3 sub 2 0x01 1803 Parametri PDO4 sub 1 NODEID 0xC0000480 1803 Parametri PDO4 sub 2 0xFE 1A00 01 Mappatura PDO1 0x60040020 1A01 01 Mappatura PDO2 0x60040020 1A02 01 Mappatura PDO3 0x60040020 1A03 01 Mappatura PDO4 0x36000020 2104 00 Limit switch min 0x00000010 2105 00 Limit switch max 0x003FFFF0 3000 00 Velocità trasmissione dati 0x05 3001 00 Node ...

Страница 52: ......

Страница 53: ... 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...

Страница 54: ...us termination Figure 1 12 4 9 Diagnostic LEDs Figure 1 13 5 Quick reference 14 5 1 Configuring the encoder via Siemens STEP7 14 5 1 1 Importing GSD file 14 5 1 2 Adding a node to the project 16 5 1 3 Encoder configuration parameters 17 5 2 Reading the diagnostic information 25 5 3 Setting the Preset value 27 6 Profibus interface 28 6 1 GSD file 28 6 2 Classes of the Device profile 29 6 3 Operatin...

Страница 55: ...Subject index ...

Страница 56: ...eant 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 equipment This...

Страница 57: ... is divided into two main sections In the first section general information concerning the safety the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided In the second section entitled Profibus Interface both general and specific information is given on the Profibus interface In this section the interface f...

Страница 58: ...ical safety Turn off power supply before connecting the device connect according to explanation in section 4 Electrical connections in compliance with the 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized with...

Страница 59: ...nvironmental characteristics declared by manufacturer unit with solid shaft in order to guarantee the maximum reliability over time of the mechanical parts we recommend a flexible coupling to be installed to connect the encoder and the installation 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...

Страница 60: ...label applied to its body Information is listed in the delivery document too Please always quote the ordering code and the serial number 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 ...

Страница 61: ...rs Mount the flexible coupling 1 on the encoder shaft fix the encoder to the flange 2 or to the mounting bell by means of 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 misalignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary installation a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 In...

Страница 62: ...AMT58x PB Profibus 5 3 1 3 Installation using a flange code ST 58 FLNG ...

Страница 63: ...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 ...

Страница 64: ...to set the node ID and activate the termination resistance are located inside the encoder connection cap Thus you must remove the connection cap to access any of them NOTE Be careful not to damage the internal components when you perform this operation To remove the connection cap loosen the two screws 1 Please be careful with the internal connector Always replace the connection cap at the end of ...

Страница 65: ...he ground point provided in the cap see Figure use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers 4 3 Connection cap with PGs Figure 1 Figure 1 Connection cap is fitted with three PG9 cable glands for bus IN bus OUT connections as well as power supply connection The bus cables can be connected directly to the terminal connectors located in front of each cable gland We recommend Pro...

Страница 66: ...mercially available Power supply M12 connector A coding frontal side male Pin Function 1 10VDC 30VDC 3 0 VDC GND 4 1 Shield Case 1 Shield is also connected to pin 4 to allow the connection of the shield even if the plug connector has a plastic case Profibus signals M12 connector B coding frontal side male BUS IN female BUS OUT Pin Function 1 n c 2 Profibus A Green 3 n c 4 Profibus B Red 5 n c Case...

Страница 67: ...st be turned off before performing this operation The node address must be set via hardware using the DIP A dip switches located inside the connection cap Allowed addresses are from 0 to 125 The default value is 1 The node address must be entered also in the software interface please refer to section 5 1 2 Adding a node to the project on page 16 Turn the power supply off and set the node number in...

Страница 68: ...ud rate is set by the Master via software during the configuration of the node Slave This device supports the following baud rates they are listed in the GSD file too 9 6 kbit s 19 2 kbit s 93 75 kbit s 187 5 kbit s 500 kbit s 1 5 Mbit s 3 Mbit s 6 Mbit s 12 Mbit s The following table shows the maximum transmission rates in relation to permissible line length Baud rate Kbit s 9 6 19 2 93 75 187 5 ...

Страница 69: ...s has to be activated as line termination on the last device in the transmission line Use the RT Switch to activate or deactivate the bus termination RT Description 1 2 ON Activated if the encoder is the last device in the transmission line 1 2 OFF Deactivated if the encoder is not the last device in the transmission line ...

Страница 70: ...ly is turned off or hardware breakdown not recognized OFF ON Correct function communication is on the device is sending receiving messages OFF Flashing The encoder is operating within the limits of the Red Zone for any information see section 6 8 Red zone ON Flashing Configuration parameters are not valid ON OFF Transmission time out error Flashing ON Bus communication failure Flashing Flashing Fl...

Страница 71: ...eries multiturn encoders GSD installation file is further available in both Italian GSI and English GSE versions texts and comments are in the supported language WARNING For AMT58 multiturn encoders the default value preset by Datalogic in the Counts per revolution item of the AMT58 xxx 13x12 PB GSD file is 4096 12 bits for this reason if you have a 25 bit multiturn encoder and you want to use the...

Страница 72: ...e command from Options menu bar In the window that appears you can select the GSD file specific to the unit you need to install in your Siemens control system Choose among the available files the one you need GSD file for AMT58 multiturn encoder in either Italian or English language ...

Страница 73: ...ottom left for instance install the AMT58 Class 2 submodule In this way you set the class of the device for further details on available classes see section 6 2 Classes of the Device profile on page 29 After having installed the node by double clicking on the graphic icon of the unit you have just installed you enter the page designed to configure the bus properties In this page you can both enter...

Страница 74: ...e variables table in the bottom left then right click the item and press the Object Properties command in the shortcut menu The Properties DP slave window will appear In the Parameter Assignment page all configuration data parameters available for the device are listed For a comprehensive description of the parameters and how to set them properly refer to the specific explanation in section 6 4 DD...

Страница 75: ...ed in two words Please refer to the following examples to understand how the Total resolution value has to be divided into two parts a high part and a low part WARNING You can set new values next to the Counts per revolution and Total resolution items only if Class 2 functionality ENABLED if Scaling function ENABLED the set resolution values are enabled and used by the encoder on the contrary if S...

Страница 76: ...096 rev Hardware total resolution 24 bits 4096 4096 16777216 We want to set 4096 counts per revolution and 4096 revolutions Thus we will set 4096 next to the Counts per revolution item The Total resolution value will be 4096 cpr 4096 rev 1677721610 0x1000000 The value to be set in the Total resolution items will be as follows Total resolution high Total resolution low Value 0100 0000 hexadecimal 2...

Страница 77: ...43210 0x2000000 The value to be set in the Total resolution items will be as follows Total resolution high Total resolution low Value 0200 0000 hexadecimal 512 0 decimal WARNING When you set a new value next to the Counts per revolution item please always check also the Total resolution items value and be sure that the resulting number of revolution complies with the Hardware number of revolutions...

Страница 78: ...ounts per revolution As you can see the encoder is required to carry out more than 93000 revolutions this cannot be as the hardware number of revolutions is as stated 4096 When this happens the encoder falls into an error signalling the faulty condition through the diagnostic LEDs see on page 13 You are allowed to set any integer value less than or equal to the Hardware counts per revolution in th...

Страница 79: ...e will set 2048 next to the Counts per revolution item The Total resolution value will be 2048 cpr 1024 rev 209715210 0x200000 The value to be set in the Total resolution items will be as follows Total resolution high Total resolution low Value 0020 0000 hexadecimal 32 0 decimal WARNING We recommend the Number of revolutions to be set to a value that is a power of 2 If the set number of revolution...

Страница 80: ...Hardware total resolution 24 bits 4096 4096 16777216 We want to set 4096 counts per revolution and 50 revolutions 50 is NOT a power of 2 Thus we will set 4096 next to the Counts per revolution item The Total resolution value will be 4096 cpr 50 rev 20480010 0x32000 The value to be set in the Total resolution items will be as follows Total resolution high Total resolution low Value 0003 2000 hexade...

Страница 81: ...her 360 nor 4000 is a power of 2 Thus we will set 360 next to the Counts per revolution item The Total resolution value will be 360 cpr 4000 rev 144000010 0x15F900 The value to be set in the Total resolution items will be as follows Total resolution high Total resolution low Value 0015 F900 hexadecimal 21 63744 decimal After having set new parameter values click the OK button to close the Properti...

Страница 82: ...nt Before entering the diagnostic page it is necessary to connect to the unit i e enter the online status To do this select Station Open online in the HW Config window or click the Online Offline button see the icon on the left When the unit is online select the AMT58 module first and then the PLC Module Information command to enter the Module Information window Finally open the DP Slave Diagnosti...

Страница 83: ...AMT58x PB Profibus 26 6 byte diagnostics Byte Description 0 status 1 1 status 2 2 status 3 3 Master ID 4 manufacturer ID 5 ...

Страница 84: ...le AD 100 1 8000 0500hex See also the example in the paragraph Preset on page 38 Finally click the Command variables button in the Toolbar see the right icon Now the position of the encoder is 0000 0500hex To close the Preset procedure set the bit 31 of the variable AD 100 back to 0 and then click the Command variables button again NOTE It may occur that some data variables having index higher tha...

Страница 85: ...upplied or click www datalogic com WARNING Install the AMT58 xxx 13x12 PB GSx in the AMT58 series multiturn encoders Vx is intended to indicate the GSD file version GSD installation file is further available in both Italian AMT58 xxx 13x12 PB GSI and English AMT58 xxx 13x12 PB GSE versions texts and comments are in the supported language WARNING For AMT58 multiturn encoders the default value prese...

Страница 86: ...to set the preset value see the Preset parameter Class 2 allows to use all Class 1 functions and further extended functions they are scaling function see the Scaling function parameter 6 3 Operating modes Profibus DP devices allow operation using different communication modes see Figure below NOTE All parameters are transmitted when the Set_Prm mode is active with the exception of the Preset value...

Страница 87: ... DDLM_Set_Prm on page 31 DDLM_Chk_Cfg It sets the number of bytes used for data transmission in Data_Exchange mode see section 6 5 DDLM_Chk_Cfg on page 37 DDLM_Data_Exchange This is the standard operation mode It is used either by the Master to send the Preset value and by the Slave to transmit the Position value see the section 6 6 DDLM_Data_Exchange on page 38 DDLM_Slave_Diag It is used when the...

Страница 88: ... is necessary to set some bits and bytes according to the working specifications you want to set Data transmission is carried out according to the specifications of the encoder profile as shown in the following tables DDLM_Set_Prm Byte Parameter 0 9 Reserved for PROFIBUS network 10 Operating parameters bit 0 Code sequence bit 1 Class 2 functionality bit 2 Reserved bit 3 Scaling function Bits 4 7 R...

Страница 89: ...ge 29 0 Disabled Encoder Class 1 is set 1 Enabled Encoder Class 2 is set Default 1 min 0 max 1 Scaling function When this option is disabled Scaling function 0 the device uses the hardware resolution i e the hardware counts per revolution and the hardware number of revolutions see the encoder data on the label applied to the device when the option is enabled Scaling function 1 the device uses the ...

Страница 90: ...e less than or equal to the Hardware counts per revolution However we suggest setting a value that is a power of 2 1 2 4 2048 4096 Default 4096 min 1 max 8192 for AMT58 multiturn encoder WARNING If you set a value greater than the maximum allowed value i e greater than the Hardware counts per revolution value the encoder falls into an error signalling the faulty condition through the diagnostic LE...

Страница 91: ...rs This parameter is intended to set the number of distinguishable steps over the total measuring range The total resolution of the encoder results from the product of Counts per revolution by Number of revolutions Byte 13 14 15 16 Bit 31 24 23 16 15 8 7 0 Data 231 to 224 223 to 216 215 to 28 27 to 20 You are allowed to set any integer value less than or equal to the Hardware total resolution Howe...

Страница 92: ...ed Zone refer to section 6 8 Red zone on page 41 WARNING The AMT58 multiturn encoder can be configured so that it works exactly as the singleturn encoder This is achieved by setting Total resolution Counts per revolution Let s suppose the encoder is set as follows Counts per revolution 8192 Total resolution 8192 So it follows that Number of revolutions 8192 Total resolution 1 8192 Counts per revol...

Страница 93: ... 16 0020 0000 hex NOTE When new values are set next to the Counts per revolution and or Total resolution items also a new Preset value is required It has to comply with the new resolution you have set WARNING Please note that the in Step 7 the Total resolution value has to be split into two separate fields namely Total resolution high and Total resolution low This value in fact must be entered in ...

Страница 94: ... this function is to define the number of bytes used for the Data_Exchange as viewed from the Master side Chk_Cfg message structure 1 byte bit 7 Consistency 1 bit 6 Word format 0 byte 1 word 4 bytes bits 5 4 In out data 01 Input 10 Output bits 3 0 Length code Example bit 7 6 5 4 3 2 1 0 Dat a 1 1 0 1 0 0 0 1 D1h 1 1 1 0 0 0 0 1 E1h D1hex 4 byte input E1hex 4 byte output ...

Страница 95: ...alue set next to this item and all the previous and following positions will get a value according to it This function is useful for example when the zero position of the encoder and the zero position of the axis need to match The preset value will be set for the position of the encoder in the moment when the preset value is sent The Preset value is sent by the Master to the Slave in Data_Exchange...

Страница 96: ...2 0000000 02 S M 00hex 00hex 22hex 67hex 0000000 02 0000000 02 0010001 02 0110011 12 2 M S 80 00 05 00 S M 00 00 22 67 3 M S 80 00 05 00 S M 00 00 05 00 WARNING Always set the Preset value when the encoder shaft is in stop The new Preset value is saved immediately after receipt Please refer also to the example for setting the preset value via Step7 refer to the section 5 3 Setting the Preset value...

Страница 97: ...n at any time to the Slave device Datalogic encoders implement the standard diagnostic information 6 bytes For any information on the DP Slave diagnostics please refer to the Profibus Specification document 6 byte Diagnostic Byte Description 0 status 1 1 status 2 2 status 3 3 Master ID 4 manufacturer ID 5 ...

Страница 98: ...il the difference is less than the the set Total resolution value When the encoder crosses the limit of the last Total resolution section thus entering the red zone a counting error occurs i e a jump in the position count The problem can be represented graphically in the Figure below Example 25 bit resolution multiturn encoder Hardware counts per revolution 8192 213 Hardware number of revolutions ...

Страница 99: ...n the limits of the red zone i e for 5000 cpr 96 revolutions 480000 counts 9519999 9999999 the transmitted position is consistent with the set resolution it is calculated so that the last position within the red zone before crossing the zero position is Total resolution 1 Please be careful using the position information sent by the encoder when it is operating within the limits of the red zone Whe...

Страница 100: ...rs list Default values preset in the GSD file for AMT58 multiturn encoder AMT58 xxx 13x12 PB GSx Lista parametri Valore di default Code sequence 0 Class 2 functionality 1 Scaling function 1 Counts per revolution 8196 Total resolution 33554432 ...

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Страница 103: ... 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...

Страница 104: ...new I O modules Boxes 11 5 2 1 Synchronous with SM3 16 5 2 2 Synchronous with DC SYNC0 17 5 3 Process Data Objects 18 5 4 COE Object Dictionary 19 5 5 Online Data 20 5 6 EEProm upgrade 21 5 7 Firmware upgrade 26 6 EtherCAT interface 30 6 1 Basic Information on EtherCAT Protocol 30 6 1 1 Data transfer 31 6 1 2 ISO OSI Layer model 31 6 1 3 Topology 32 6 1 4 Line Termination 33 6 1 5 Addressing 33 6 ...

Страница 105: ...1C33 Sync Manager input parameter 47 01 Sync Type 48 02 Cycle time 48 03 Shift Time 48 04 Sync modes supported 48 05 Minimum cycle time 48 06 Calc and Copy time 48 Device profile objects 49 6000 00 Operating parameters 49 Code sequence 49 Scaling function 49 6001 00 Counts per revolution 49 6002 00 Total resolution 50 6003 00 Preset value 51 6004 00 Position value 53 6500 00 Operating status 53 Co...

Страница 106: ...0 6003 00 Preset value 51 6004 00 Position value 53 6500 00 Operating status 53 6501 00 Hardware counts per revolution 54 6502 00 Hardware number of turns 54 6503 00 Errors 54 6504 00 Supported errors 54 6505 00 Warnings 54 6506 00 Supported warnings 54 6509 00 Offset value 54 C Calc and Copy time 48 Code sequence 49 53 Cycle time 48 D Diagnostic data 55 H Hardware error 55 I INIT 38 M Minimum cyc...

Страница 107: ...eant 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 equipment This...

Страница 108: ... is divided into two main sections In the first section general information concerning the safety the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided In the second section entitled EtherCAT Interface both general and specific information is given on the EtherCAT interface In this section the interface f...

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Страница 110: ...al safety Turn off power supply before connecting the device connect according to explanation in the section 4 Electrical connections in compliance with the 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized wi...

Страница 111: ...ks or shocks respect the environmental characteristics declared by manufacturer 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 o...

Страница 112: ...label applied to its body Information is listed in the delivery document too Please always quote the ordering code and the serial number 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 ...

Страница 113: ...exible 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 installation a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 Installation usi...

Страница 114: ...AMT58x EC EtherCAT 5 3 1 3 Installation using a flange code ST 58 FLNG ...

Страница 115: ...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 ...

Страница 116: ... fitted with three M12 connectors with pin out in compliance with the EtherCAT standard Therefore you can use standard EtherCAT cables commercially available Input IN and output OUT connectors are not interchangeable IN connector must be placed in the direction of the ETherCAT Master M12 BUS IN BUS OUT POWER frontal side D coding A coding female male Pin Description Description 1 Tx Data 10VDC 30V...

Страница 117: ...rCAT interface Link Activity yellow it shows the status of the physical link and the activity in this link OFF condition port closed link YES activity N A FLICKERING condition port open link YES activity YES ON condition port open link YES activity NO RUN green it shows the status of the EtherCAT State Machine ESM OFF encoder is in INIT status BLINKING encoder is in PRE OPERATIONAL status SINGLE F...

Страница 118: ...1 Setting the Network Card Launch TwinCAT System Manager In the left pane of the main window extend the devices tree and select the I O Devices item right click the I O Devices item and then press the Append Device command In the Insert Device window select the EtherCAT Direct Mode item and confirm pressing the OK button ...

Страница 119: ...d devices Select the network card you want to use and then confirm the choice pressing the OK button If there are no network cards installed you must install one before proceeding To do this on the menu bar of the TwinCAT System Manager main window select the Options menu and then press the Show Real Time Ethernet Compatible Devices command ...

Страница 120: ...m and choose the network card you want to install finally press the Install button to confirm your choice 5 1 2 Add new I O modules Boxes If devices are connected to the network and switched ON right click the Device 1 EtherCAT item in the left pane of the TwinCAT System Manager main window and press the Scan Boxes command ...

Страница 121: ...AMT58x EC EtherCAT 12 At the end of the process some information will be listed in the right page as in Figure here below ...

Страница 122: ...n 1 Software version 4 it is mandatory that the EEProm version is S4 therefore you must then install the XML file version V4 For a description EEProm upgrade procedure please refer to the section 5 6 EEProm upgrade on page 21 For a description of the firmware upgrade procedure please refer to the section 5 7 Firmware upgrade on page 26 WARNING It is mandatory that in an EtherCAT network all device...

Страница 123: ...AMT58x EC EtherCAT 14 Right click the Device 1 EtherCAT item in the left pane of the TwinCAT System Manager main window and press the Append Box command ...

Страница 124: ... 15 In the Insert EtherCAT Device window that appears select Datalogic S p a and then EtherCAT Encoder items now choose from the list the encoder you want to install AMT58 ECAT Press the OK button to confirm your choice ...

Страница 125: ...tem some tabbed pages for configuring and managing the device will appear in the right pane Enter DC page Select the Synchronous with SM3 Inputs option in the Operation Mode box For any further information on the Synchronous with SM3 operation mode please refer to the section Synchronous with SM3 on page 36 and to the object 1C33 Sync Manager input parameter on page 48 ...

Страница 126: ...the Operation Mode box Then press the Advanced Settings button The Advanced Settings window will appear In the section tabbed SYNC 0 set the cycle time next to the Sync Unit Cycle box sync time is calculated as multiple or sub multiple of the value set in the Sync Unit Cycle µs item right above For any further information on the Synchronous with DC operation mode please refer to the section Synchr...

Страница 127: ...me tabbed pages for configuring and managing the device will appear in the right pane Enter the Process Data page In this page process data objects PDO Mapping are shown Process data objects can be displayed also by pressing the TxPDO Mapping item in the left pane of the TwinCAT System Manager main window data is listed in the right panel ...

Страница 128: ... the device will appear in the right pane Enter the CoE Online page In this page the objects dictionary is shown Objects can be read directly from the encoder to do this click the Advanced button the Advanced Settings window will appear Select the Dictionary item in the left pane and then choose the Online via SDO Information option in the Dictionary page press OK button to confirm ...

Страница 129: ...u want to display inputs only click the OP button if you want to display both inputs and outputs WARNING The structure of Data Objects PDO and SDO requires bytes to be sent from the Least Significant Byte LSB to the Most Significant Byte MSB On the contrary in TwinCAT write and read data from MSB to LSB Furthermore in TwinCAT also strings must be entered in the reverse order read default values Da...

Страница 130: ...EEProm version is S4 therefore you must then install the XML file version V4 WARNING It is mandatory that in an EtherCAT network all devices are provided with the same version of the firmware EEProm and XML file So when you need to replace an old encoder installed in your network then you must either upgrade all the encoders in the network to the last version compatible with the new encoder or you...

Страница 131: ...and the E2PROM directory finally select the HEX Editor item 3 Press the Read from File button and select the BIN file provided to upgrade the EEProm please make sure you select the file of your own model you need to upgrade for example if you have to upgrade an H series multiturn encoder then you must select the file AMT58_EC_eeprom_Hx_Sy bin finally press the Open button ...

Страница 132: ... version 4 Move back to the previous Advanced Settings page and press the Download button Now wait until the EEProm writing process is carried out The progress bar below in the page displays the progress of the operation As soon as the process is completed press the OK button 5 Now turn power off then on again ...

Страница 133: ...w delete all the Box AMT58 ECAT items in the list Select each box and then press the DEL key in the PC keyboard Press OK to confirm 7 In the left pane of the TwinCAT System Manager main window select and right click the Device 1 EtherCAT item press the Scan Boxes command in the menu ...

Страница 134: ...AMT58x EC EtherCAT 25 8 At the end of the scanning process all the devices available in the network are listed as shown in the Figure here below ...

Страница 135: ...etwork then you must either upgrade all the encoders in the network to the last version compatible with the new encoder or you must downgrade the new encoder to the older version compatible with the encoders already installed in the network Firmware is a software program which controls the functions and operation of a device the firmware program sometimes referred to as user program is stored in t...

Страница 136: ...ing the device will appear in the right pane Enter the Online page 2 Press the Bootstrap button in the State Machine box in the BOOT state the encoder is ready to accept the firmware upgrade download process the BOOT message appears next to the Current State item in the same box 3 Now press the Download button in the File Access Over EtherCAT box in the Open window that appears select the ...

Страница 137: ...8_Hx_Sy efw finally press the Open button NOTE In the EFW file Hx is the hardware version of the encoder while Sy is the software version 4 In the Edit FoE Name page that appears on the screen enter the password 0x00000000 next to the Password hex item below in the page and then press the OK button to confirm Now wait until the firmware file saving process is carried out The progress bar below in ...

Страница 138: ...en completed successfully enter the Online page in the TwinCAT System Manager main window and press the Pre Op button in the State Machine box if everything is ok the encoder enters the PREOPERATIONAL state the PREOP message appears next to the Current State item in the same box ...

Страница 139: ...rge Ethernet device that receives and sends Ethernet telegrams it can be considered an Ethernet subnet supported by an Ethernet dataframes structure However this subnet must be fitted with one only EtherCAT Master controller and several EtherCAT Slaves but no Ethernet controller with downstream microprocessor must be present Here follows an Ethernet frame structure with EtherCAT Inside the Etherne...

Страница 140: ...ach Slave node data is addressed to while the telegram passes through the device similarly input data is inserted while the telegram passes through Then the telegram is forwarded to the next device Telegrams are only delayed by a few nanoseconds The last Slave issues back the complete frame to the Master with all the requested data again passing through all the Slaves This efficient data flow is g...

Страница 141: ...ngth of the cable between two Slaves is 100 m standard EtherCAT cables commercially available can be used The choice of the topology depends on the structural characteristics of the plant and it is made in order to reduce the complexity and time for cabling Inside an EtherCAT network up to 65535 devices can be connected Some topology examples are shown in the Figures below LINE topology TREE topol...

Страница 142: ...ts outgoing line with the RX signal of its return line in this way a telegram received through the outgoing line is processed and sent back through the TX of the return line The Slave sends a carrier signal or a telegram on TX of the outgoing line continuously and once the next Slave is connected again a signal on RX of the return line is detected again so the short circuit is removed and the tele...

Страница 143: ...its own individual address but it can read and write data in a section of the total memory space available 4 Gigabytes 6 1 6 Communication mode Datalogic encoders with EtherCAT interface support the following operating modes FreeRun asynchronous mode SM3 event synchronous mode DC distributed clock synchronization mode synchronous mode For a system that requires high performances in real time close...

Страница 144: ... high sampling jitter up to 100 microseconds and can be chosen only when cycle times are quite longer than the jitter if we want to ensure a sufficient real time system performance Description Min Typ Max Jitter 0 100 µsec Cycle Time 1000 64000 µsec 0x1C33 02 Cycle Time 0x1C33 05 Min Cycle Time 0x1C33 06 Calc Copy Local Timer Local Timer Input Latch Local Timer Local Timer Local Timer Local Timer ...

Страница 145: ... will be read by the Master at next cycle following SM3 event so if cycle time is too long data could be relatively old for a real time system The main advantage is that data is updated exactly when Master is reading synchronous mode Description Min Typ Max Jitter 0 7 2 µsec Cycle Time 62 5 64000 µsec 0x1C33 02 Cycle Time 0x1C33 05 Min Cycle Time 0x1C33 03 Shift Time 0x1C33 06 Calc Copy Jitter SM3...

Страница 146: ...perating mode Jitter is a fundamental parameter in the sampling of two consecutive data The main advantage of this mode is that there is a direct relation between the sampling instant and the absolute time of the system in this way if we know the shift times of the Slaves we can have an exact image of the system at a given moment with a tolerance equal to jitter Description Min Typ Max Jitter 0 10...

Страница 147: ... registers are initialized and the Sync Managers are configured PRE OPERATIONAL in this state mailbox is active both Master and Slave can use the mailbox and its protocols for exchanging specific initialization parameters of the application Exchange of Process Data PDO is forbidden SAFE OPERATIONAL in this state Master and Slave can issue only input process data while output process data are still...

Страница 148: ...of the Slave communication characteristics Sync Manager configuration addresses synchronization modes PDO mapping can be made both using the XML file EtherCat Slave Information ESI or loading data directly from EEPROM Slave Information Interface SII EEPROM content SII ...

Страница 149: ... signals SYNC0 or interrupts they are sent to the local micro controller so that it is able to synchronize its own clock to Slaves clock Sync Manager Sync Manager has the task of synchronizing data transfer between Master and Slave and prevents the same memory area from being written by different events There are two synchronization modes 3 Buffer Mode 1 Buffer Mode Synchronisation mode is initial...

Страница 150: ...n on the firmware upgrade procedure refer to the section 5 7 Firmware upgrade on page 21 For any information on the EEProm upgrade procedure refer to the section 5 6 EEProm upgrade on page 26 XML file has to be installed on EtherCAT Master device WARNING Before installing the XML file please check that it is compatible with the firmware version and the EEProm version of the device the XML file ver...

Страница 151: ...evice press the Box AMT58 ECAT item in the left pane of the TwinCAT System Manager main window some tabbed pages for configuring and managing the device will appear in the right pane Enter the CoE Online page and refer to the indexes Hardware version and Software version ...

Страница 152: ...gency message 2 SDO request 3 SDO response 4 Transmitted PDO TxPDO 5 Received PDO RxPDO 6 Remote transmission request of TxPDO 7 Remote transmission request of RxPDO 8 SDO information 9 15 reserved Cmd specific data PDO messages are the process data e g position value SDO messages standard CANopen frame Transmit tx or receive rx Type is viewed from Slave 6 2 3 Process Data Objects PDO PDO messages...

Страница 153: ...d type 2 or 3 Structure of Cmd specific data Cmd specific data SDO control Index Sub index Data Data optional 8 bits 16 bits 8 bits 32 bits 1 1470 bytes SDO control standard CANopen SDO Service Index parameter index Sub index parameter sub index Data parameter value Data optional optionally more then 4 bytes of data can be sent in one frame Full mailbox size usable Index and sub index values are d...

Страница 154: ... data type Process data bytes byte 4 byte 5 LSByte MSByte Unsigned32 data type Process data bytes byte 4 byte 5 byte 6 byte 7 LSByte MSByte Standard objects 1000 00 Device type Unsigned32 ro Default 0001 0196h single turn encoder DS 406 0002 0196h multi turn encoder DS 406 1008 00 Manufacturer Device Name String ro It shows the manufacturer device name expressed in ASCII code Default 454D353878 AM...

Страница 155: ...tore all parameters to default values The default parameters are set at the factory by Datalogic Automation engineers to allow the operator to run the device for standard operation in a safe mode A list of machine data and relevant default parameters preset by Datalogic Automation s r l engineers is available on page 56 Write load in ASCII code in the data bytes Master Encoder Cmd specific data Cm...

Страница 156: ...0 Unsigned8 ro Default 1 02 SM MailBox Send SM1 Unsigned8 ro Default 2 03 SM PDO output SM2 Unsigned8 ro Default 3 04 SM PDO input SM3 Unsigned8 ro Default 4 1C12 00 Sync Manager RxPDO Assigned Unsigned8 ro This device does not support receive PDO messages Default 0 1C13 01 Sync Manager TxPDO Assigned Unsigned32 ro This device uses TxPDO messages to send the position value Default 0000 1A00hex 1C3...

Страница 157: ... hardware This parameter is calculated dynamically 04 Sync modes supported Unsigned16 ro Default 7 bit 0 FreeRun supported bit 1 Synchronous with SM3 supported bit 2 Synchronous with DC SYNC0 supported 05 Minimum cycle time Unsigned32 ro Max duration of the encoder internal cycle time This parameter is calculated dynamically and depends on the operating parameters and the position value 06 Calc an...

Страница 158: ...ameters 6001 00 Counts per revolution and 6002 00 Total resolution When the scaling function is disabled bit 2 0 the encoder uses its own physical resolution i e hardware counts per revolution and number of hardware revolutions see the encoder identification label and the objects 6501 00 Hardware counts per revolution and 6502 00 Hardware number of turns otherwise when the scaling function is enab...

Страница 159: ...Hardware counts per revolution Default 0000 2000h 8192 WARNING Every time you change the value in this object then you are required to set a new preset value see 6003 00 Preset value 6002 00 Total resolution Unsigned32 rw This object sets a custom number of distinguishable steps over the total measuring range This value is considered only if the bit 2 Scaling function in the 6000 00 Operating para...

Страница 160: ...nsigned32 rw This object allows to set the encoder position to a Preset value Preset function is meant to assign a certain value to a desired physical position of the encoder The chosen physical position will get the value set next to this item and all the previous and following positions will get a value according to it For instance this can be useful for getting the zero point of the encoder and...

Страница 161: ...revolution 6502 00 Hardware number of turns If the scaling function is enabled bit 2 Scaling function in the parameter 6000 00 Operating parameters 1 6003 00 Preset value must be lower than or equal to 6002 00 Total resolution Set Preset value 6003 00 Preset value preset 1000 3E8h Master Encoder Cmd specific data Cmd Index Sub Data 23 03 60 00 E8 03 00 00 Encoder Master Set confirmation Cmd specif...

Страница 162: ...alue has been set to increment when the shaft rotates clockwise if the bit is 1 instead the output encoder position value has been set to increment when the shaft rotates counter clockwise For any further information on setting and using the counting direction function refer to 6000 00 Operating parameters parameter on page 49 Scaling function It shows the currently set value that is entered throu...

Страница 163: ... resolution 6503 00 Errors Unsigned16 ro The corresponding bits of supported errors are set see object 6504 00 Supported errors 6504 00 Supported errors Unsigned16 ro Default 0000h No errors supported 6505 00 Warnings Unsigned16 ro Bits of supported warnings are set see object 6506 00 Supported warnings 6506 00 Supported warnings Unsigned16 ro bit 12 wrong parameters loaded from flash memory at po...

Страница 164: ... SAFE OPERATIONAL to OPERATIONAL Encoder errors 5000hex Hardware error 5001hex Diagnostic data wrong parameters loaded from flash memory Error Register EtherCAT state machine current status ESM Diagnostic Datainformation about possible error causes see ETG1000 6 par 5 6 4 3 2 5 6 2 8 AL Status Error Codes If the state transition requested by the Master through the AL Control Register is unsuccessf...

Страница 165: ...ist Default values are expressed in hexadecimal notation Parameters list Default values 6000 00 Operating parameters 0000 6001 00 Counts for revolution 0000 2000h 8192 6002 00 Total resolution 0800 0000h 134217728 6003 00 Preset value 00000 0000 ...

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Страница 167: ...AMT58 PN INSTRUCTION MANUAL Absolute Encoders ...

Страница 168: ...documentation and shall ensure that all notices appear on any reproductions of the documentation Electronic versions of this document may be downloaded from the Datalogic website www datalogic com If you visit our website and would like to make comments or suggestions about this or other Datalogic pub lications please let us know via the Contact page Disclaimer Datalogic has taken reasonable measu...

Страница 169: ... 5 Installation using a flange code ST 58 FLNG 5 Hollow Shaft Encoders 6 AMT 58 H15 6 CHAPTER 4 ELECTRICAL CONNECTIONS 7 PWR Power Supply Connector 8 P1 Port1 and P2 Port2 Connectors 8 Network Configuration Cables Hubs Switches 8 Line Termination 9 MAC Address and IP Address 9 Ground Connection 9 Diagnostic LEDs 10 States 12 SETUP state 12 NW_INIT state 12 WAIT_PROCESS state 12 IDLE state 12 PROCE...

Страница 170: ...ling the encoder as a technology object TO 34 Downloading the project and going online 38 Enabling the encoder 39 Setting and activating the preset value 42 CHAPTER 6 PROFINET INTERFACE 43 A brief introduction to Profinet 43 Profinet encoders from Datalogic 44 Overview of the encoder profiles 44 Application Class definition 45 Application Class 3 45 Application Class 4 45 Encoder Object model 46 E...

Страница 171: ...Setting an isochronous communication 73 OB61 77 PIP Process Image Partition 77 Consistency 77 CHAPTER 11 ENCODER REPLACEMENT USING LLDP 78 CHAPTER 12 MEDIA REDUNDANCY PROTOCOL MRP 80 Setting MRP roles 81 Configuring the network topology 82 Interconnecting the ports in the Inspector window 83 CHAPTER 13 ENCODER STATE MACHINE 84 Normal operation diagram 85 Preset diagram 86 Parking sensor diagram 87...

Страница 172: ...in this manual to notify the reader of key issues or procedures that must be observed when using the reader In this manual to make it easier to understand and read the text the following typo graphic conventions are used parameters and objects of both Datalogic device and interface are colored in GREEN alarms are colored in RED states are colored in FUCSIA NOTE Notes contain information necessary ...

Страница 173: ...e name of the product you re looking for This allows you access to download Data Sheets Manu als Software Utilities and Drawings Hover over the Support Service menu for access to Services and Technical Support Reseller Technical Support An excellent source for technical assistance and information is an authorized Datalogic reseller A reseller is acquainted with specific types of businesses applica...

Страница 174: ...coder profile 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 Automation system Programmable logic controller for the open loop and closed loop control of process chains in process and production engineering The automation system consists of different components and inte grated system...

Страница 175: ...ET 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 in XML format The structure of the GSD file conforms to ISO 15734 which is the world wide standard for device descriptions GSDML General Station Description Markup Language The file containing the X...

Страница 176: ...ustry Profiles guar antee quicker system design and they support faster device inter change promoting competition amongst vendors increased choice for users and full interoperability Provider Status The Status an IO device provides to an IO Controller with the data transferred to the Controller Proxy A device which maps non PROFINET IO data to PROFInet Real time Real time means that a system proce...

Страница 177: ...nto a sequence of packets 2 The packets are transported over the Ethernet to the correct recipient 3 The recipient reassembles the data packets in the correct order 4 Faulty packets are sent again until the recipient acknowledges that they have been transferred successfully Telegram A telegram is a rigidly defined bit stream carrying data A telegram specifies the data length and the type of data w...

Страница 178: ...ve object DO LS Driver Object Sign Of Life DU Drive Unit 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...

Страница 179: ...INSTRUCTION MANUAL xiii SFC System function TCP Transmission Control Protocol TMAPC Master Application Cycle Time ...

Страница 180: ...LIST OF ABBREVIATIONS xiv AMT58 PN ...

Страница 181: ...y with these requirements ELECTRICAL SAFETY Turn OFF power supply before connecting the device connect according to explanation in section 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 dev...

Страница 182: ...e the unit do not tool the unit or its shaft delicate electronic equipment handle with care do not subject the device and the shaft to knocks 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 sur...

Страница 183: ...d on the label applied to its body Information is listed in the delivery doc ument too Please always quote the ordering code the serial number and the MAC address when reaching Datalogic for purchasing spare parts or needing assistance For any information on the technical characteristics of the product please refer to the technical catalogue ...

Страница 184: ...ible coupling 1 on the motor shaft make sure the alignment tolerances of the flexible coupling 1 are respected Customary installation CAUTION Installation and maintenance operations must be carried out by qualified personnel only with power supply disconnected Shaft and mechanical components must be in stop NOTE For any information on the mechanical data and the electrical characteris tics of the ...

Страница 185: ...SOLID SHAFT ENCODERS INSTRUCTION MANUAL 5 Installation using fixing clamps code ST 58 KIT Installation using a flange code ST 58 FLNG a mm b mm c mm d mm AMT58 36 H7 67 ...

Страница 186: ... 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 A min 8 mm max 18 mm ...

Страница 187: ...ION Power supply must be turned off before performing any electrical connec tion Installation electrical connection and maintenance operations must be carried out by qualified personnel only with power supply disconnected Mechanical components must be in stop Do not remove the connection cap of the encoder Damage may be caused to internal components ...

Страница 188: ...opologies of connection are supported by Profinet networks line tree daisy chain star etc Furthermore Profinet networks can be configured in almost any topology in the same structure The connection of PROFINET IO field devices occurs exclusively with switches as net work components Switches typically integrated in the field device are used for this with 2 ports assigned PROFINET suitable switches ...

Страница 189: ...d 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 a network using the Internet protocol MAC address is 6 byte long and can not be modified It consists of two parts numbers are expressed in hexadecimal nota tion the first three bytes are used to identify the manufacturer OUI namely Organizatio...

Страница 190: ...ity on port 2 P2 NS LED DESCRIPTION MEANING OFF Offline The device is switched OFF No connection with IO controller estab lished ON green Online RUN Connection with IO controller estab lished IO controller in RUN state FLASHING green once Online STOP Connection with IO controller estab lished IO controller in STOP state or IO data is wrong IRT synchronization not carried out BLINKING green Blink U...

Страница 191: ...upply is switched OFF or the device is in SETUP or NW_INIT state see SETUP state on page 12 ON green Normal operation The device has shifted from the NW_INIT state see NW_INIT state on page 12 FLASHING green once Diagnostic event s Diagnostic event s active ON red Exception error The device is in EXCEPTION state see EXCEPTION state on page 12 Fatal event A major internal error has occurred this in...

Страница 192: ...ror occurs i e any error which prevents the system from proceeding it will shift to the EXCEPTION state WAIT_PROCESS state The network Process Data channel is temporarily inactive The system will consider the Read Process Data as not valid IDLE state The network interface is idle The Read Process Data may be either updated or static unchanged PROCESS_ACTIVE state The network Process Data channel i...

Страница 193: ...0 to set the parameters enter the Module parameters page see Module parame ters on page 24 in this page it is possible for example to set the singleturn reso lution or the total resolution to enable the scaling function or to change the counting direction after entering new values you must download the parameters to the device for the complete list of the default parameters see Default Parame ter ...

Страница 194: ...ass 4 func tionality on page 64 check that the G1_XIST1 Preset control parameter is enabled 0 see G1_X IST1 Preset control on page 64 set the preset value by means of Telegram 860 and G1_XIST1_PRESET_VALUE sig nal see G1_XIST1_PRESET_VALUE on page 54 execute the preset by forcing high the Request set shift of home position bit 12 in the G1_STW control word see Request set shift of home position on...

Страница 195: ...ge neous system Data is saved in a single project Tools for programming STEP 7 and dis playing WinCC are not distinct programs but editors of a system that has access to and uses a common database One single user interface is used to enter all functions used for displaying and programming Project overview 1 Title bar the name of the project is displayed in the title bar 2 Menu bar the menu bar con...

Страница 196: ...to produce and edit individual devices and modules entire networks and device configurations or the topological structure of your project See the Change over switches point 5 Device view for parametrization and configuration of the individual devices it allows to configure and assign both device and module parameters see Device view on page 17 Network view for graphical connections between devices...

Страница 197: ... components just dragging and dropping them onto the Work Area Cus tomarily the field devices that have been integrated into the TIA Portal via GSDML files are listed under Other field devices Profinet IO Device view Press the Device view changeover switch in the Hardware and network editor to enter the Device view The configuration of devices and assigning of addresses etc is performed in the Dev...

Страница 198: ...mation to be displayed quickly and easily An offline online comparison identifies the communicating ports By detecting presenting and monitoring the physical connections between devices on Profinet the administrator can easily monitor and maintain even complex networks NETWORK AND COMMUNICATION SETTINGS The MAC address of the device is reported in the label applied to the device enclosure See the ...

Страница 199: ...f the file in a 8 digit format encompassing information about year 4 digits month 2 digits and day 2 digits Go to www datalogic com to get the GSDML file The XML file has to be installed in the Profinet Controller Version structure of GSDML files The GSDML file structure is in compliance with the ISO 15745 Open Systems Applica tion Integration Framework and is oriented on the defined profile of a ...

Страница 200: ...der where the GSDML file is located Please make sure that the bitmap file representing the encoder is located in the same folder as the GSDML file Select the GSDML file specific to the device you need to install and press the Install but ton to install it Figure 2 Selecting the GSDML file Now scroll through the directory tree in the Hardware Catalog pane of the main window task cards and select th...

Страница 201: ...nstall the module of the desired model In the right pane open the Hardware catalog task card to display the field devices inte grated into TIA Portal via the Profinet file GSDML file select the Datalogic product family directory drag the required module to the Network view and drop it next to the PLC module Then assign the module to the network Figure 4 Adding a node to the project ...

Страница 202: ...e of the node it warns that the connection between the PLC and the Slave device is not established yet Right click on the message and select through the Select IO controller drop down box the PLC the node has to be connected to When doing so make sure that you are in the Net work function mode in the Network view After configuring the networking the device is connected to the PLC via the Profinet ...

Страница 203: ...ed automatically Press the Device view changeover switch to enter the Device overview working area and display the installed telegrams Two types of telegrams with different characteristics are available Standard Telegram 81 and Telegram 860 For detailed information on the Tele grams refer to Telegrams starting on page 48 Figure 6 Telegrams and module parameters ...

Страница 204: ...quired The parameters listed in this page are sent at each switching on You can change the value of each parameter in the edit field The new value will be transmitted to the Device at switching on You can change the value of the module parameters also while the device is operational in the Cyclic Data Exchange mode via the Watch table Please note that the value how ever will be overwritten at swit...

Страница 205: ...d recall than complex IP addresses Devices on an Ethernet subnet must have unique names The device names must satisfy DNS Domain Name System conventions Names are limited to a total of 127 characters letters numbers dashes or dots Any component part that is a character string between two dots of the device name may only be up to 63 characters long Names cannot contain any special character such as...

Страница 206: ... the drop down box on the top left of the graphic area right click on the image of the module and select the Properties com mand from the shortcut menu or the Assign device name command as an alternative Figure 8 Setting the device name and IP address In the Properties inspector window General tab you can now use the Ethernet addresses menu option to set the Ethernet address IP address subnet mask...

Страница 207: ...ENCODER UNDER TIA PORTAL ENVIRONMENT INSTRUCTION MANUAL 27 Steps for system start up Start up response Compiling and transferring the project After setting you must compile and then transfer the project to the device ...

Страница 208: ...n to the right of the device in the Project Tree To establish an online connection between the PLC Profinet Controller and the device Profinet Device proceed as follows In the Project Tree see point 4 under Project overview on page 15 mark the folder of the PLC that is configured as the Controller Select the Go online command in the Online menu bar to establish an online con nection to the PLC Con...

Страница 209: ...w them 3 An orange pulsing bar appears at the right hand edge of the status bar If the con nection has been established but it is not working properly an icon for an inter rupted connection is displayed instead of the bar You will find more information on the error in Diagnostics in the Inspector window 4 Operating mode symbols or diagnostics symbols for the stations connected online and their und...

Страница 210: ...nline button in the Diagnostics entry 4 The diagnostic status of the module will be displayed in the Diagnostic status group in the Diagnostics folder in the Online and diagnostics view of the module to be diagnosed The following status information is displayed in the Diagnostic status area Status of the module as viewed by the CPU for example Module available and OK Module defective If the module...

Страница 211: ...o restore the default values proceed as follows Enter the Device view working area select the device you need to configure in the drop down box on the top left of the graphic area right click on the image of the module and select the Online diagnostics command from the shortcut menu or double click the Online diagnostics command in the project tree Confirm your request in the dialog box that appea...

Страница 212: ...indow contains information about the encoder statuses events etc Under Functions press Reset to factory settings Figure 14 Reset to factory settings Enter the MAC address of the encoder you need to reset it is written on the encoder label and then press the Reset button to confirm When the operation is carried out you will find the value 0 0 0 0 under the IP address item and three dashes under the...

Страница 213: ...RESETTING THE PARAMETERS TO THE DEFAULT FACTORY VALUES INSTRUCTION MANUAL 33 Figure 15 Encoder reset ...

Страница 214: ...t in the controller The technology object represents the mechanical components The technology object encapsulates the technological functionality The technology object allows a uniform setting and configuration The technology object ensures a simple connection of the drives and encoders as well as the distributed I O The technology object encapsulates the mechanical configuration the monitoring an...

Страница 215: ...ed to add a new technology object click Add new object under the Tech nology objects item in the project tree the Add new object dialog box will be displayed Figure 17 Adding a new technology object In the Add new object dialog box select the entry TO_ExternalEncoder under the Motion Control list Press OK to confirm ...

Страница 216: ...ion view working area set the available items according to the technical features of the encoder to be connected Please note that when a new object is successfully added the object node is added to the Project tree and the configuration for this newly added device is opened Figure 19 Setting the TO basic parameters ...

Страница 217: ...lect the telegrams to be used and set the singleturn resolution and the number of revolutions Figure 20 Setting the TO hardware interface As soon as the parameters are set some green ticks will appear in the lateral bar to indi cate the proper configuration Figure 21 TO configured The page will appear as in the following detailed views ...

Страница 218: ...eated program downloaded To do this press the Download to device button in the toolbar After download is carried out you can go online by pressing the Go online button in the toolbar Once the online connection to the controller is established you can enter the diagnostic functions To do this select the Technology Object and then the Diagnostics item in the Project tree The Status and error bits pa...

Страница 219: ...bits pane Enabling the encoder Please note that the encoder is disabled now it must be enabled Figure 25 TO encoder disabled To enable the encoder select the Watch and force tables and then the Telegram 81 item in the Project tree The Telegram 81 watch table will be displayed ...

Страница 220: ...r Status Sensor MC_POWER select the MC_POWER_DB_Enable function right click on the item in the Monitor value column and then press Modify and Modify to 1 commands in the drop down box that appears Figure 27 TO enabling the encoder In the Status and error bits pane check that the encoder is enabled now ...

Страница 221: ...TO TECHNOLOGY OBJECTS INSTRUCTION MANUAL 41 Figure 28 TO encoder enabled ...

Страница 222: ...city It is 2129 853 currently To set the preset value select the MC_HOME_DB Position function under the section TO External Encoder Status Sensor MC_HOME and set a desired value in the Moni tor value field for example 50 in Figure 30 Press ENTER to confirm Then select the MC_HOME_DB_Execute function and right click in the Monitor value column Then press Modify and Modify to 1 commands in the drop ...

Страница 223: ...nd Isochronous Real Time IRT communication all the way Real Time chan nel 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 automa tion and permits cycle times lower than 250 µs with less than 1 µs jitter...

Страница 224: ...er Object EO see Encoder Object model on page 46 via the Cyclic Data Exchange Service The EO comprises the following mandatory functionalities parameters measuring task i e position value velocity value IO data cyclical transmission of control and actual values support for Alarm Mechanism Among the parameters available in the Profinet encoders from Datalogic code sequence scaling function preset C...

Страница 225: ...ne whether an optional function is supported Application Class 3 Encoder with base mode parameter access and limited parametrization of the encoder functionality Isochronous mode is not supported Application Class 4 Encoder with scaling preset isochronous mode and base mode parameter access A Class 4 configured encoder fully supports all functionalities NOTE There is no relation between the Encode...

Страница 226: ... are administered in the Parameter Data Base For periodic transportation of control values to the EO and 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 ...

Страница 227: ...least the mandatory 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 param eter manager has access to t...

Страница 228: ...e 50 Standard Telegram 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 Input data DEVICE CONTROLLER Telegram 860 The Telegram 860 is a manufacturer specific encoder telegram It offers the following functionality 32 bit current posit...

Страница 229: ...ge 58 The Telegram 860 uses 4 bytes to output data from the IO controller to the encoder and 8 bytes to input data from the encoder to the IO controller Output data CONTROLLER DEVICE Input data DEVICE CONTROLLER 4 bytes IO Data 1 2 Set point G1_XIST1_PRESET_VALUE NOTE Bit 31 is ignored 4 bytes 4 byes IO Data 1 2 3 4 Actual value G1_XIST1 NIST_B ...

Страница 230: ... described SIGNIFICANCE ABBREVIATION LENGTH BITS DATA TYPE Sensor 1 current position value 1 G1_XIST1 32 Unsigned Sensor 1 current position value 2 G1_XIST2 32 Unsigned Sensor 1 preset value G1_XIST1_PRESET_VALUE 32 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 c...

Страница 231: ...INSTRUCTION MANUAL 51 ...

Страница 232: ...presented in binary notation the recommended default shift factor is zero right aligned value for both G1_X IST1 and G1_XIST2 the settings in the encoder parameter data affect the position value in both G1_X IST1 and G1_XIST2 Example Here follows a format example 25 bit absolute multiturn encoder 13 bit singleturn resolution 8 192 counts per revolu tion 12 bit multiturn resolution 4 096 revolution...

Страница 233: ...e 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 Error codes in G1_XIST2 on page 61 Format definition all values are represented in binary notation the recommended default shift factor is zero right aligned value for both G1_X IST1 and G1_XIST2 th...

Страница 234: ...me position on page 58 Preset function is meant to assign a desired value to a known physical position of the system The chosen physical position will get the value set next to this index and all the previous and following mechanical positions will get a value according to it The structure of the G1_XIST1_PRESET_VALUE signal is shown below P preset value 30 bits for G1_XIST1 in the format resoluti...

Страница 235: ...etpoint are always checked If the Compatibility Mode is disabled see Compatibility Mode on page 66 then the bit 10 Control by PLC is checked So the control word G1_STW and the setpoint are checked only if the bit Control by PLC is set Controller Sign Of Life Bits 12 15 For more information on the control word STW2_ENC please refer to the PROFIdrive Technical Specification document BIT MEANING 0 6 ...

Страница 236: ...Encoder Sign Of Life Bits 12 15 For more information on the status word 2 ZSW2_ENC please refer to the PROFIdrive Technical Specification document BIT MEANING 0 2 Reserved 3 Not used 4 8 Reserved 9 Control requested 10 11 Reserved 12 15 Encoder Sign Of Life BIT VALUE SIGNIFICANCE COMMENT 9 1 Control requested The automation system is requested to assume control 0 No Control requested Control by th...

Страница 237: ...s Home position mode Bit 11 BIT MEANING 0 7 Not used 8 10 Reserved 11 Home position mode 12 Request set shift of home position 13 Request absolute value cyclically 14 Activate parking sensor 15 Acknowledging a sensor error NOTE If the Activate parking sensor is activated bit 14 1 the encoder is still on bus with the slave Sign Of Life active and the encoder error and diag nostics switched off ...

Страница 238: ... in the sensor status word G1_ZSW Now the bit 12 Request set shift of home position in the sensor 1 control word G1_STW can be set to zero by the Master The encoder will end the preset cycle by clearing the bit 12 Set shift of home position executed in the sensor status word G1_ZSW The new internal offset value is securely stored in case of voltage breakdown and uploaded again at each power on 1 1...

Страница 239: ...T 14 1 Activate parking sen sor 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 needing to change the drive configuration or causing a fault In this case all current errors of the encoder are cleared The parking of the encoder while the drive is running is not allowed and will res...

Страница 240: ...G 0 9 Not used 10 Reserved 11 Requirements of error acknowledge detected 12 Set shift of home position executed 13 Transmit absolute value cyclically 14 Parking sensor active 15 Sensor error NOTE If the bit 13 Transmit absolute value cyclically or the bit 15 Sensor error are not set there is no valid value or error code transferred in G1_XIST2 NOTE The bit 13 Transmit absolute value cyclically and...

Страница 241: ...ter sign of life fault The number of permissible failures of the Mas ter 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 on or reading the internal non volatile memory 0x1002 Parametrization error User parameter data assignment error Example Measuring units Revolution and Total measurin...

Страница 242: ...lity 518 Bit 1 enabled G1_XIST1 Preset control 519 Bit 0 enabled Scaling function control 520 Bit 0 disabled Alarm channel control 521 Bit 0 disabled Only supported in Compatibility Mode Compatibility mode 522 Bit 1 disabled profile version V4 1 Measuring unis Revolution 523 UnSigned32 8 192 Total measuring range 524 UnSigned32 134 217 728 Maximum tolerated fail ures of Master Sign Of Life 525 UnS...

Страница 243: ...rocessed only if Class 4 functionality is enabled Default 0 CW min 0 max 1 ATTRIBUTE MEANING VALUE AMT58 multiturn 13 14 Installed encoder AMT58 resolution 13 x 14 bits 0 ATTRIBUTE MEANING VALUE CW Absolute position value increasing count up information when the shaft rotates clockwise viewed from shaft end 0 CCW Absolute position value increasing count up information when the shaft rotates counte...

Страница 244: ...519 This parameter is available only if Class 4 functionality is enabled This parameter controls the effect of a preset on the G1_XIST1 current value When it is enabled Preset will affect the position value in G1_XIST1 Default 0 enable min 0 max 1 ATTRIBUTE MEANING VALUE Disable Code sequence G1_XIST1 Preset control and Scaling function control disabled 0 Enable Code sequence G1_XIST1 Preset contr...

Страница 245: ...ransferred 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 specific faults and warn ings are sent via the alarm channel Default 0 disable min 0 max 1 ATTRIBUTE MEANING VALUE Disable Scaling func...

Страница 246: ...TIBILITY MODE ENABLED 0 COMPATIBILITY MODE DISABLED 1 Control by PLC STW2_ENC Ignored The control word G1_STW and setpoint values are always valid Control requested ZSW2_ENC is notsupported and is set to 0 Supported User parameter Maximum tolerated failures of Master Sign Of Life Supported Not supported One Sign Of Life failure tolerated User parameter Alarm chan nel control Supported Not supporte...

Страница 247: ...ween 20 and 213 213 8 192 while the permissible value for the Total measuring range is between 20 and 227 227 213 214 134 217 728 Measuring units Revolution Index 523 It is used to program a user specific resolution per each revolution singleturn resolu tion Allowed values are less than or equal to the hardware counts per revolution physical singleturn resolution We suggest setting values that are...

Страница 248: ...epped If you set the Number of revolutions which is not a power of 2 a so called Red Zone is generated before the physical zero For more detailed information refer to Red Zone on page 70 Default 134217728 min 1 max 134 217 728 Example The AMT58 13X14 PN encoder has a singleturn resolution of 13 bits 8 192 cpr and a multiturn resolution of 14 bits 16 384 revolutions The permissible value for the Me...

Страница 249: ... information included and the encoder does not use the velocity measuring unit information in this case Telegram 860 include velocity output NIST_B and need a declaration of the velocity measuring unit Default 0 Step s min 0 max 3 NOTE This parameter is only supported in compatibility mode see Compatibility Mode on page 66 PARAMETER MEANING VALUE Velocity measuring unit Definition of the engineeri...

Страница 250: ...n the following Figure Example AMT58 13X14PN multiturn encoder Physical resolution Singleturn physical resolution 8 192 counts rev 13 bits 213 Multiturn physical resolution 16 384 revolutions 14 bits 214 Overall physical resolution 134 217 728 27 bits 227 Set values Measuring units Revolution 8 192 213 Total measuring range 122 880 000 it is NOT a power of 2 It results from this Number of revoluti...

Страница 251: ...N MANUAL 71 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 sta tus to Red Zone status and vice versa a jump of position occurs ...

Страница 252: ...ple for high accuracy closed loop control tasks REAL TIME CLASSES IN PROFINET IO To enable enhanced scaling of communication options and thus also of determinism in PROFINET IO real time classes have been defined for data exchange From the user per spective these classes involve unsynchronized and synchronized communication PROFINET IO differentiates the following classes for RT communication They...

Страница 253: ... of 1 µs or better with respect to the highly accurate bus clock Setting an isochronous communication To activate the real time class 3 both the IO controller and the IO device must be config ured To do this proceed as follows 1 Enter the Network view the bus connection between the encoder and the PLC is established Figure 1 Encoder inserted in the Network view 2 Now enter the Topology view and co...

Страница 254: ...Isochronous mode option for all telegrams Figure 4 Setting the Isochronous mode 5 Select each I O module in the Device view Navigate to the I O addresses area in the Inspector window and set each Telegram as shown in the Figures hereafter You use the properties of the I O addresses of the corresponding I O module to set isochronous mode for the module assign the inputs and outputs of the module to...

Страница 255: ...REAL TIME CLASS 3 IRT_TOP RT3 INSTRUCTION MANUAL 75 Figure 5 Telegram 81 IN Figure 6 Telegram 81 OUT ...

Страница 256: ...REAL TIME CLASS COMMUNICATION 76 AMT58 PN Figure 7 Telegram 860 IN Figure 8 Telegram 860 OUT 6 Finally transfer your project ...

Страница 257: ...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 consistent input informa tion is always available You define process image partition with ...

Страница 258: ...mong the main uses LLDP allows to replace 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 When you need to activate deactivate the Support device replacement without exchangeable m...

Страница 259: ...INSTRUCTION MANUAL 79 NOTE When you replace a device make sure that the PROFINET cable is then inserted into the correct port as it is configured in TIA Portal Otherwise the system will not run ...

Страница 260: ...panning Tree Protocol In other words it allows to prevent interruptions in an automation machine caused by a defect of a cable or a device In an MRP ring the ring manager is named Media Redundancy Manager MRM while ring clients are named Media Redundancy Clients MRCs Any MRC is connected to the MRM via two ways of communication During normal work status network without failure in the ring the tele...

Страница 261: ...C as the manager Go to the Device view for the PLC and look at the properties of the network interface Under Advanced Options look for Media redundancy Here you can select the role for the device set the Manager Auto option in the Media redundancy role drop down menu Figure 2 Setting the PLC as the MRM We do the same for the encoder it must be set as a client Go to the Device view for the encoder ...

Страница 262: ...e Topology view tab of the Devices and Networks view Configure the topology to create a ring by connecting the ports for instance as shown in the Figure Of course you must comply with the rules for topology as required by your own network For detailed information please refer to specific documentation Figure 4 Configuring the network topology ...

Страница 263: ...f the Hardware and network editor select the port which you want to configure Port 1 and Port 2 3 In the Inspector window navigate to the Properties tab and select Port intercon nection in the navigation area 4 In the Local port section you can find the settings at the local port 5 In the Partner port area select the drop down list for Partner port in order to dis play the available partner ports ...

Страница 264: ...84 AMT58 PN CHAPTER 13 ENCODER STATE MACHINE Figure 1 Encoder state machine PARKING see on page 87 NORMAL OPERATION see on page 85 PRESET see on page 86 ALARM see on page 88 ...

Страница 265: ...NORMAL OPERATION DIAGRAM INSTRUCTION MANUAL 85 NORMAL OPERATION DIAGRAM ...

Страница 266: ...ENCODER STATE MACHINE 86 AMT58 PN PRESET DIAGRAM ...

Страница 267: ...PARKING SENSOR DIAGRAM INSTRUCTION MANUAL 87 PARKING SENSOR DIAGRAM ...

Страница 268: ...ENCODER STATE MACHINE 88 AMT58 PN ERROR DIAGRAM Acknowledgment of acknowledgeable sensor error ...

Страница 269: ...ERROR DIAGRAM INSTRUCTION MANUAL 89 Acknowledgment of not acknowledgeable sensor error ...

Страница 270: ... 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 Mozilla Firefox Google Chrome Opera is installed in the PC or in the devic...

Страница 271: ... the encoder you want to connect to in the example 192 168 20 1 in the address bar of your web browser and confirm by pressing ENTER Figure 1 Opening the web server 2 as soon as the connection is established the web server Home page will appear on the screen Figure 2 Web server Home page In the Home page some commands are available in the menu bar ...

Страница 272: ...ncoder as well as useful functions can be achieved They are described in the following sections ENCODER POSITION AND SPEED Press the Encoder Position Speed command in the left navigation bar of the Web server Home page to enter the page where the current encoder position and the current encoder speed are displayed Figure 3 Encoder position speed range The current encoder position is expressed in c...

Страница 273: ...RMATION PROFINET PARAMETERS Press the Encoder Information command in the left navigation bar of the Web server Home page to enter the Encoder Information page In this page the complete list of the available Profinet parameters is displayed Indexes are expressed in hexadecimal nota tion values are expressed in either decimal notation or string format The MAC address of the connected encoder is show...

Страница 274: ...sage Are you sure you want to change Registers Values appears on the screen it warns the operator about the awkwardness of the operation thus he is required to confirm the procedure before continuing Press the OK button to proceed otherwise press the EXIT button to abort the proce dure The Set Registers canceled message will appear on the screen Press the OK but ton to move back to the Web server ...

Страница 275: ... then press the CODE SEQUENCE button to confirm Example The Measuring units Revolution parameter is currently set to 8192 see the READ box in the third last line of the Figure 52 above To change the set value enter a suitable value in the corresponding WRITE box of the same line and then press the MEASUR UNITS REV button to confirm Press the Homepage command to move back to the Web server Home pag...

Страница 276: ...e page and enter the Set Encoder Preset page as soon as you press the Set Preset Value command a warning message Are you sure you want to change Preset Value appears on the screen it warns the oper ator about the awkwardness of the operation thus he is required to confirm the procedure before continuing press the OK button to proceed otherwise press the EXIT button to abort the procedure The Set P...

Страница 277: ...e preset value is set and activated for the position of the encoder in the moment when the preset value is transmitted It is activated as soon as the value is confirmed by pressing the Set Preset Value button We suggest activating the preset value when the encoder is in stop NOTE At each confirmation of the set parameters a message will appear under the buttons see the No Command sent message It i...

Страница 278: ...FW Version item in the Encoder Information page after con nection to the web server see Encoder Information Profinet Parameters on page 93 Before proceeding with the firmware upgrade please ascertain that the following requirements are fully satisfied the encoder is connected to the Ethernet network the encoder has valid device name and IP address the PC is connected both to the network and the IO...

Страница 279: ...word before starting the firm ware upgrade procedure Figure 8 Firmware Upgrade page 5 in the Password text box type the password 0850 and then press the Send Request button 6 if the password you typed is wrong the following warning message will appear on the screen THE PASSWORD INSERTED IS INCORRECT PLEASE RETRY Please retype the correct password and confirm 7 if the password you typed is correct ...

Страница 280: ...pen the folder where the firmware upgrading BIN file released by Datalogic is located select the file and confirm Hx in the file name shows the hardware version of the PCB Sx shows the software version of the firmware upgrading file 13 some properties of the selected file are shown next to the relevant labels in the page File Name File Dimension byte File Date hour Please check the file properties...

Страница 281: ... the page while upgrading the firmware 16 as soon as the operation is carried out successfully the FILE SENT CORRECTLY mes sage appears on the screen 17 now you are required to turn the encoder power supply off and then on Close the program 18 turn the encoder power supply off and then on to complete the operation ...

Страница 282: ...g program unexpected condi tions may arise which could lead to a failure of the installation process When such a matter occurs the download process cannot be carried out successfully and thus the operation is aborted error messages are dis played In case of flash upgrade error please switch the encoder off and then on again and retry the operation ...

Страница 283: ... AMT58 multiturn 13 14 Code sequence 0 Class 4 functionality 1 G1_XIST1 Preset control 0 Scaling function control 0 Alarm channel control 0 Compatibility Mode 1 Measuring units Revolution 8 192 Total measuring range 134 217 728 Maximum tolerated failures of Master Sign Of Life 1 Velocity measuring unit 0 ...

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Страница 286: ...ight no part of this documentation may be repro duced stored in or introduced into a retrieval system or transmitted in any form or by any means or for any purpose without the express written permission of Data logic 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 and the E U www datalogic com 821007850 R...

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Страница 288: ... 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...

Страница 289: ...2 1 Initialization state 15 6 2 2 Pre operational state 15 6 2 3 Operational state 15 6 2 4 Stopped state 15 6 3 Communication objects 16 6 3 1 Pre defined connection set 16 6 4 NMT objects 17 6 5 Boot up objects 17 6 6 PDO objects 17 PDO1 Cyclic mode cyclic transmission 18 PDO2 and PDO3 SYNC mode synchronous transmission 18 PDO4 Cyclic mode cyclic transmission 18 6 7 SDO objects 19 6 7 1 Command ...

Страница 290: ... Scaling function 29 Limit switch min 30 Limit switch max 30 6001 00 Counts per revolution 30 6002 00 Total resolution 30 6003 00 Preset value 31 6004 00 Position value 32 6200 00 Cyclic time 32 6500 00 Operating state 32 Code sequence 32 Scaling function 32 Limit switch min 32 Limit switch max 33 Current operating state 33 6501 00 Hardware counts per revolution 33 6502 00 Hardware number of turns...

Страница 291: ...0 Velocity value 28 6 6000 00 Operating parameters 29 6001 00 Counts per revolution 30 6002 00 Total resolution 30 6003 00 Preset value 31 6004 00 Position value 32 6200 00 Cyclic time 32 6500 00 Operating state 32 6501 00 Hardware counts per revolution 33 6502 00 Hardware number of turns 33 6504 00 Supported alarms 33 6506 00 Supported warnings 34 6507 00 Profile and software version 34 6508 00 O...

Страница 292: ...eant 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 equipment This...

Страница 293: ...e is divided into two main sections In the first section general information concerning the safety the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided In the second section entitled CANopen Interface both general and specific information is given on the CANopen interface In this section the interface fe...

Страница 294: ......

Страница 295: ...Turn off power supply before connecting the device connect according to explanation in section 4 Electrical connections in compliance with the 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized without noise in...

Страница 296: ... or shocks respect the environmental characteristics declared by manufacturer 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 ...

Страница 297: ...label applied to its body Information is listed in the delivery document too Please always quote the ordering code and the serial number 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 ...

Страница 298: ...g 1 on the encoder shaft fix the encoder to the flange 2 or to the mounting bell by means of 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 misalignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary installation a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 Fissaggio con graffe codice ST ...

Страница 299: ...AMT58x CB CANopen 5 3 1 3 Installation using a flange code ST 58 FLNG ...

Страница 300: ...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 ...

Страница 301: ...ID and activate the termination resistance are located inside the encoder connection cap Thus you must remove the connection cap to access any of them NOTE Be careful not to damage the internal components when you perform this operation To remove the connection cap loosen the two screws 1 Please be careful with the internal connector Always replace the connection cap at the end of the operation Ta...

Страница 302: ...ed in the cap see Figure use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers 4 3 Connection cap with PGs The connection cap is fitted with two PG9 cable glands for bus IN bus OUT and supply voltage connections The bus cables can be connected directly to the terminal connectors in front of each cable gland It is recommended to use CANbus certificated cables Core diameter should not e...

Страница 303: ... IN female BUS OUT M12 Description Case CAN Shield 1 1 2 10VDC 30VDC Supply voltage 3 0 VDC Supply voltage 4 CAN High 5 CAN Low 1 CAN Shield is also connected to pin 1 to allow the connection of the shield even if the plug connector has a plastic case 4 5 Connection of the shield Disentangle and shorten the shielding 1 and then bend it over the part 2 finally place the ring nut 3 of the connector ...

Страница 304: ...coder is not the last device in the transmission line 4 7 Diagnostic LEDs Two diagnostic LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the CANopen interface GREEN LED Description ON Encoder is in Operational state Single flash Encoder is in Stopped state Blinking Encoder is in Pre Operational state RED LED Description ON The CAN controlle...

Страница 305: ...N the bit rate is set by DIP A DIP A Set binary value of transmission rate considering that ON 1 OFF 0 bit 1 LSB 2 3 MSB 4 20 21 22 ON OFF Available baud rate values Decimal value Binary value Baud rate 0 000 20 Kbit s 1 001 50 Kbit s 2 010 100 Kbit s 3 011 125 Kbit s 4 100 250 Kbit s 5 101 500 Kbit s default 6 110 800 Kbit s 7 111 1000 Kbit s Example Set 250Kbit s 410 1002 binary value see table ...

Страница 306: ...26 Example Set node number 25 2510 0001 10012 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON OFF OFF ON ON OFF OFF OFF Set node number 55 5510 0011 01112 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON ON ON OFF ON ON OFF OFF WARNING If baud rate and node number are set via software master device has to detect the baud rate of the slave scanning of baud rate when the encoder is ...

Страница 307: ... 65 00 Encoder Master COB ID Cmd Index Sub Process data 581 43 01 65 01 A0 A1 A2 A3 steps rev A3 24 A2 16 A1 8 A0 Read number of revolutions 6502 00 Hardware number of turns Master Encoder COB ID Cmd Index Sub Process data 601 40 02 65 00 Encoder Master COB ID Cmd Index Sub Process data 581 43 02 65 01 B0 B1 B2 B3 N rev B3 24 B2 16 B1 8 B0 Set cyclic time 6200 00 Cyclic time 100 ms 64h Master Enco...

Страница 308: ...d documentation or visit www datalogic com EDS file has to be installed on CANopen master device 6 2 Operation states CANopen devices are designed to operate using different states Transition from one state to another is made by sending specific NMT messages see Figure below 1 Power on 2 Initialization carried out boot up message is sent automatically 3 NMT message Start remote node 4 NMT message ...

Страница 309: ...tart remote node command using a NMT message 6 2 3 Operational state In this state slave device is active and all communication objects are available Slave device can use the parameters available in the Object dictionary and is allowed to send process data using PDO messages Object dictionary can be accessed using SDO messages To switch slave device to Pre operational state master must send an Ent...

Страница 310: ...e used by master to enable slaves devices to transmit process data encoder position and velocity Emergency error messages are triggered by each error event Nodeguard used to request the state of the slave Relation between device states and communication objects Initial Pre oper Operat Stopped NMT X X X PDO X SDO X X SYNC X EMCY X X Boot up X Node guard X X X 6 3 1 Pre defined connection set Master...

Страница 311: ...hex Enter pre operational Pre operational 81 hex Reset node Pre operational 82 hex Reset communication Pre operational 6 5 Boot up objects Boot up message structure COB ID hex 1 CAN Data Bytes 700 Node ID 00 6 6 PDO objects PDO tx messages are always made up of 4 CAN Data Bytes and are used by the encoder to transmit the position value and or the velocity value PDO structure IDENTIFIER 4 CAN Data ...

Страница 312: ... Node number order The encoder can be programmed to send a reply after a set number of SYNC messages by setting a counter The PDO message will be transmitted after having received the set number of SYNC messages For PDO2 the value of the counter must be set in object 1801 PDO2 parameters sub 2 For PDO3 refer to object 1802 PDO3 parameters sub 2 SYNC transmission mode can be enabled or disabled by ...

Страница 313: ...Node ID Com Index Sub Data 1byt e LSB MSB 1byte LSB MSB Com command Index parameter index Sub parameter sub index Data parameter value 6 7 1 Command The command byte contains the type of telegram transmitted to the CAN network Three types of telegram are available Set to send configuration parameters to a device Req used by master to read data from a device Warnings used by slave to send error mes...

Страница 314: ...yte MSByte 6 8 1 Standard objects DS 301 1000 00 Device type Unsigned32 ro Default 0001 0196h singleturn encoder DS 406 0002 0196h multiturn encoder DS 406 1001 00 Error register Unsigned8 ro Should an error occur bit 0 of this object will be set to 1 Default 00h 1003 Pre defined error field This object contains the last four errors which generated an emergency message 00 Number of current errors ...

Страница 315: ...device 100C 00 Guard time Unsigned16 rw It contains the Guard time expressed in msec milliseconds Object is used in the Node guarding protocol controlled by the master For more details see section 6 11 Node guarding protocol Default 0000h 100D 00 Life time factor Unsigned8 rw Object 100D 00 Life time factor is used in the Node guarding protocol controlled by the master For more details see section...

Страница 316: ...all parameters to default values default values are set at the factory by Datalogic Automation engineers to allow the operator to run the device for standard operation in a safe mode Write load ASCII code in hexadecimal form in the data bytes and then issue a Reset node command Master Encoder COB ID Cmd Index Sub Data bytes 600 ID 23 11 10 01 6C 6F 61 64 Encoder Master confirmation COB ID Cmd Inde...

Страница 317: ...hen set to 0 this function is disabled Default 0000h 1018 Identification object 01 Vendor number Unsigned32 ro 02 Product number Unsigned32 ro 03 Revision number Unsigned32 ro 1800 PDO1 parameters PDO1 message is used by default for cyclic transmission of the position value See object 6200 00 Cyclic time for setting the cyclic timer 01 COB ID of PDO1 Unsigned32 rw If the node address is set using ...

Страница 318: ...ion of the position value 01 COB ID of the PDO3 Unsigned32 rw If the node address is set using the internal dip switches i e at least one dip switch for setting the node has HIGH logic level 1 when the power is turned on this object is always forced to the default value Otherwise if the node address is set via software i e all dip switches for setting the node have LOW logic level 0 it retains the...

Страница 319: ...sub1 Cyclic transmission or synchronous transmission can be modified setting the object 180xh sub 2 01h synchronous transmission at each SYNC command 02h synchronous transmission after two SYNC commands FEh cyclic transmission 1A00 01 PDO1 mapping parameter Unsig32 rw This object contains the mapped position value of the encoder according to DS406 device profile Default 6004 0020h 1A01 01 PDO2 map...

Страница 320: ...o enable this function set bit 13 of object 6000 00 Operating parameters to 1 Default 003F FFF0h 3000 00 Baud rate Unsigned8 rw This object is meant to set the baud rate transmission rate according to the following table Data byte Baud rate 00h 20 Kbit s 01h 50 Kbit s 02h 100 Kbit s 03h 125 Kbit s 04h 250 Kbit s 05h 500 Kbit s default 06h 800 Kbit s 07h 1000 Kbit s The bit rate is set through obje...

Страница 321: ...not saved are lost 3001 00 Node ID Unsigned8 rw This object defines the node identifier of the device The node number is set through the object 3001 00 Node ID only if all bits of DIP B are set to OFF If one bit at least of DIP B is set to ON the node number is set through DIP B For any further information refer to section 4 9 Node number DIP B To change the Node ID value you have to set the objec...

Страница 322: ...meters not saved are lost 3005 00 Velocity format Unsigned8 rw This attribute defines the engineering units for the velocity value 00h steps s number of steps per second default 01h rpm revolutions per minute 3006 00 Velocity value Unsigned32 ro This attribute shows the current speed detected by the position sensor and calculated every 100 ms Value is transmitted according to the settings in the o...

Страница 323: ...ue increases when the encoder shaft rotates counterclockwise CW and CCW rotations are viewed from shaft end Scaling function If disabled the device uses its own physical resolution see objects 6501 00 Hardware counts per revolution and 6502 00 Hardware number of turns if enabled it uses the resolution set in objects 6001 00 Counts per revolution and 6002 00 Total resolution with the following rela...

Страница 324: ...evolution see encoder label WARNING Every time you change the value in this object then you are required to set a new preset value see object 6003 00 Preset value and finally save the new parameters see object 1010 01 Store parameters 6002 00 Total resolution Unsigned32 rw This object sets a custom number of distinguishable steps over the total measuring range Enabled if bit 2 in the object 6000 0...

Страница 325: ...00 Total resolution to avoid counting errors If 6001 00 Counts per revolution and or 6002 00 Total resolution values change the 6003 00 Preset value must be updated to the new resolution A new 6003 00 Preset value is also required 6003 00 Preset value Unsigned32 rw This object allows to set the encoder position to a Preset value Preset function is meant to assign a certain value to a desired physi...

Страница 326: ...ing function Disabled Enabled 3 11 not used 12 Limit switch min posit posit 13 Limit switch max posit posit 14 not used 15 Current operating state Stopped Pre operational Operational Code sequence It shows whether the code sequence is set to clockwise CW or counterclockwise CCW To set the code sequence to either CW or CCW you must set the bit 0 Code sequence of the object 6000 00 Operating paramet...

Страница 327: ...r further information on the available states see section on page 14 bit 15 0 Stopped or Pre operational state bit 15 1 Operational state 6501 00 Hardware counts per revolution Unsigned32 ro This object defines the physical number of distinguishable steps each turn given by the hardware To set a custom resolution see object 6001 00 Counts per revolution 6502 00 Hardware number of turns Unsig16 ro ...

Страница 328: ... position of the encoder and the position relating to 6003 00 Preset value Default 0000 0000h 650A 01 Manufacturer offset value Integer32 ro This object contains the manufacturer offset value This is the difference between the physical zero position of the encoder zero set mechanically and the zero position set by the manufacturer zero set via software Default 0000 0000h 650B 00 Serial number Unsi...

Страница 329: ...ument available at address www can cia org 6 10 Emergency objects Emergency EMCY objects are issued by the device when an internal error occurs EMCY structure IDENTIFIER CAN Data Byte COB ID hex 0 1 2 3 7 see object 1014 00 COB ID EMCY Error code Error Sub register Specific code LSB MSB 01 00 00 Available error codes 1000h Node guarding error 5530h Flash memory error ...

Страница 330: ...fe time 100C 00 Guard time 100D 00 Life time factor Node guarding is enabled if Node life time 0 If the slave does not receive a RTR message before the Node life time has expired it warns activating a Life Guarding Event Furthermore the red LED starts flashing so indicating the Node guarding error objects 1001 00 Error register and 1003 Pre defined error field are updated and an error message is s...

Страница 331: ...00 00 00 01 00 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 01 60 00 00 00 00 00 Set total resolution 6002 00 Total resolution 228 1000 0000h Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 02 60 00 00 00 01 00 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 02 60 00 00 00 00 00 Set Operating parameter 6000 00 Operat...

Страница 332: ...Process data 580 ID 60 01 18 02 00 Disable Sync mode 1801 PDO2 parameters sub 1 Read COB ID used by PDO2 Master Encoder Req request COB ID Cmd Index Sub Process data 600 ID 40 01 18 01 Encoder Master Req reply COB ID Cmd Index Sub Process data 580 ID 43 01 18 01 B0 B1 B2 B3 COB ID used by PDO2 B3 24 B2 16 B1 8 B0 set the most significant bit to 1 B3 0x80 Set new COB ID used by PDO2 1801 PDO2 param...

Страница 333: ...Req reply COB ID Cmd Index Sub Process data 580 ID 43 00 18 01 B0 B1 B2 B3 COB ID used by PDO1 B3 24 B2 16 B1 8 B0 set the most significant bit to 0 B3 0x7F Set new COB ID used by PDO1 1800 PDO1 parameters sub 1 Master Encoder Set request COB ID Cmd Index Sub Process data 600 ID 23 00 18 01 B0 B1 B2 B3 Encoder Master Set confirmation COB ID Cmd Index Sub Process data 580 ID 60 00 18 01 00 00 00 00...

Страница 334: ... 0xC0000380 1802 PDO3 parameters sub 2 0x01 1803 PDO4 parameters sub 1 NODEID 0xC0000480 1803 PDO4 parameters sub 2 0xFE 1A00 01 PDO1 mapping parameter sub 1 0x60040020 1A01 01 PDO2 mapping parameter sub 1 0x60040020 1A02 01 PDO3 mapping parameter sub 1 0x60040020 1A03 01 PDO4 mapping parameter sub 1 0x36000020 2104 00 Limit switch min 0x00000010 2105 00 Limit switch max 0x003FFFF0 3000 00 Baud ra...

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Страница 336: ... 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...

Страница 337: ...Worx 13 5 1 Import EDS file 13 5 2 Adding a node to the project 14 5 3 Encoder parameters configuration 15 5 4 Save parameter with RSNetWorx 18 5 5 Using scanner module 19 5 6 Encoder parameters 22 1 Position 22 2 Position sensor type 22 3 Counting direction 22 4 Scaling function control 22 5 Measuring units rev 22 6 Total measuring range 23 7 Preset value 23 8 Physical resolution revolution 23 9 ...

Страница 338: ... 39 05 Inst 05 Consumed connection ID 39 05 Inst 06 Initial comm Characteristics 39 05 Inst 07 Produced connection size 41 05 Inst 08 Consumed connection size 41 05 Inst 09 Expected packet rate 41 05 Inst 0C Watchdog time out action 41 05 Inst 0D Produced connection path length 41 05 Inst 0E Produced connection path 41 05 Inst 0F Consumed connection path length 41 05 Inst 10 Consumed connection pa...

Страница 339: ... parameters 48 6 5 5 Class 2Bh Acknowledge Handler Object 49 2B 01 01 Acknowledge timer 49 2B 01 02 Retry Limit 49 2B 01 03 Connection Instance of COS 49 7 Setup 50 7 1 Read and set parameters 50 7 1 1 Set 23 01 13 Preset value 51 7 1 2 Save parameter 52 7 1 3 Close Master Slave connection 52 7 2 Set Cyclic mode without velocity 53 ...

Страница 340: ...eant 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 equipment This...

Страница 341: ...trical safety Turn off power supply before connecting the device connect according to explanation in section 4 Electrical connections in compliance with the 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized wi...

Страница 342: ...ical parts do not disassemble the encoder do not tool the encoder or its shaft delicate electronic equipment handle with care do not subject the device and the shaft to knocks or shocks respect the environmental characteristics declared by manufacturer solid shaft use a flexible coupling to connect the encoder to motor shaft Make sure the misalignment tolerances of the flexible coupling are respec...

Страница 343: ... label applied to its body Information is listed in the delivery document too Please always quote the ordering code and the serial number 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 ...

Страница 344: ...ng 1 on the encoder shaft fix the encoder to the flange 2 or to the mounting bell by means of 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 misalignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary installation a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 Fissaggio con graffe codice ST...

Страница 345: ...AMT58x DN DeviceNET 5 3 1 3 Installation using a flange code ST 58 FLNG ...

Страница 346: ...Mount 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 ...

Страница 347: ...re located inside the encoder connection cap Thus you must remove the connection cap to access any of them NOTE Be careful not to damage the internal components when you perform this operation To remove the connection cap loosen the two screws 1 Please be careful with the internal connector Always replace the connection cap at the end of the operation Take care in re connecting the internal connec...

Страница 348: ... cap see Figure use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers 4 3 Connection cap with PGs The connection cap is fitted with two cable glands PG9 type for bus IN and bus OUT connections The bus cables can be connected directly to the terminal connectors placed in front of each cable gland We recommend DeviceNet certificated cables to be used Core diameter should not exceed Ø 1 ...

Страница 349: ...e male BUS IN female BUS OUT Pin Function Case CAN Shield 1 1 2 10VDC 30VDC Supply voltage 3 0 VDC Supply voltage 4 CAN High 5 CAN Low 1 CAN Shield is also connected to pin 1 to allow the connection of the shield even if the plug connector has a plastic case 4 5 Connection of the shield Disentangle and shorten the shielding 1 and then bend it over the part 2 finally place the ring nut 3 of the con...

Страница 350: ...ssion rate considering that ON 1 OFF 0 bit 1 2 3 4 21 20 OFF OFF Baud rate values table Binary value Baud rate 00 125 Kbit s 10 250 Kbit s 01 500 Kbit s default NOTE Bits 3 and 4 must be always set to OFF Examples Set the baud rate to 250 Kbit s 10 binary value see table above bit 1 2 3 4 ON OFF OFF OFF Set baud rate to 500 Kbit s 01 binary value see table above bit 1 2 3 4 OFF ON OFF OFF ...

Страница 351: ...esses range between 0 and 63 The default value is 1 Set the node number in binary value ON 1 OFF 0 bit 1 LSB 2 3 4 5 6 MSB 7 not used 8 not used 20 21 22 23 24 25 Example Set node number 25 2510 0001 10012 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 ON OFF OFF ON ON OFF OFF OFF Set node number 55 5510 0011 01112 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 ON ON ON OFF ON ON OFF OFF ...

Страница 352: ...ice on line but not connected Flashing green red Communication error MS Led Description OFF No power supply Red ON Unrecoverable fault see attribute on page 44 Flashing red Recoverable fault may need replacing see attribute on page 44 Green ON Device operational Flashing green Device on line but not connected standby Flashing green red Device self test 4 9 Bus termination A bus termination resista...

Страница 353: ... click www datalogic com EDS file has to be installed on the Master device In this section the installation and configuration of the device using Rockwell Automation s RSNetWorx program are described On the menu bar of the RSNetWorx window select the Tools menu and then press the EDS Wizard command In the EDS Wizard window select Register an EDS file s option and then press Next button ...

Страница 354: ...MT58 xxx 16x14 FBUS DN if the file is in the enclosed CD or a different path finally press the Next button Then follow the remaining steps to complete the EDS wizard 5 2 Adding a node to the project In the Hardware pane of the RSNetworx window open the directory tree and select Generic Device drag the AMT58 module to the Graph pane on the right ...

Страница 355: ...ceNET 15 5 3 Encoder parameters configuration Double click the encoder icon in the Graph pane and open the Properties window Open the General page of the Properties window and set the address node in the Address box ...

Страница 356: ...ncoder parameters Please pay particular attention to parameters 16 Data Tx in Poll mode 17 Data Tx in COS Cyclic mode and 20 Auto save parameters Parameters 16 Data Tx in Poll mode and 17 Data Tx in COS Cyclic mode must be set in accordance with the scanner module settings si see section 5 5 Using scanner module ...

Страница 357: ...r information on the scanner module parameters refer to section 5 5 Using scanner module Click Upload button to upload and read the current configuration Click Download button to send the new parameters to the encoder NOTE If 20 Auto save parameters YES new parameters values are saved automatically otherwise if 20 Auto save parameters NO you must start manually the save parameters procedure see se...

Страница 358: ...NCE EDITOR to do this right click the encoder icon in the Graph pane and select the Class Instance Editor command In the Class Instance Editor window enter values expressed in hexadecimal notation as shown in the Figure below When setting up is carried out press the Execute button data will be downloaded to the encoder and saved Soon afterwards The execution was completed message will appear to co...

Страница 359: ... Properties window if requested upload the configuration and then open the Scanlist page Select Lika device in the Available Devices pane on the left and move it to the Scanlist pane on the right pressing the button Now double click the item in the Scanlist pane to open the Edit I O parameters window ...

Страница 360: ...g to 16 Data Tx in Poll mode and 17 Data Tx in COS Cyclic mode see encoder parameters in section 5 6 Encoder parameters If Position value is set Input Size 4 bytes if Position value velocity is set Input Size 8 byte Click the OK button to confirm parameters The list of variables is available in the Input page ...

Страница 361: ...16 Data Tx in Poll mode Position value velocity 17 Data Tx in COS Cyclic mode Position value Polled messages Variables Bytes Input 1 1 1 2 Position value 1 2 3 4 1 3 5 6 Velocity value 1 4 7 8 COS Messages Variables Bytes Input 1 5 1 2 Position value 1 6 3 4 ...

Страница 362: ...CW the position will increase 4 Scaling function control Disabled device uses the physical hardware resolution see 8 Physical resolution revolution and 9 Physical number of revolutions Enabled device uses the resolution set in 5 Measuring units rev and 6 Total measuring range 5 Measuring units rev This object sets the number of distinguishable steps per revolution Enabled if 4 Scaling function con...

Страница 363: ...e with new resolution 7 Preset value 7 Preset value function is meant to assign a certain value to a desired physical position of the encoder shaft When the axis reaches the set physical position the 7 Preset value is transmitted 7 Preset value must not be greater than the 6 Total measuring range to avoid run time errors 8 Physical resolution revolution This parameter defines the hardware number o...

Страница 364: ...sing the calculated value Offset 7 Preset value Internal Position Value 13 Velocity value This attribute represents the current speed detected by the position sensor and calculated every 100 ms 14 Velocity format This attribute sets the engineering units for the velocity value steps s number of steps per second default value rpm revolutions per minute 15 Dip switch This object shows the status of ...

Страница 365: ...e between two subsequent transmissions is set in the 05 Inst 09 Expected packet rate object of the cyclic mode see section 6 5 3 Class 05h Connection Object Change Of State COS mode connection is enabled this parameter sets the minimum gap between two I O messages Values too low could cause the Bus network to saturate 20 Auto save parameters Yes when a new parameter is set the encoder waits 5 seco...

Страница 366: ...e of the communication messages CAN ID CAN Data bytes 11 bit from 3 to 8 bytes Datalogic DeviceNet encoders support two kinds of communication messages I O messages I 0 messages are high priority messages Their meaning is explained in the Message ID Slave device uses these messages to send process data For further information see section 6 3 I O Messages Msg group 1 on page 27 Explicit messages Ex...

Страница 367: ... P2P connection at a time Simultaneous or multiple P2P connections are rejected P2P connection see section 6 4 3 Config messages I O Messages see section 6 3 power up communications error wait for new connection Close connection see section 6 4 3 Duplicate MAC ID check see section 6 4 1 reset node ...

Страница 368: ...request and Slave device replies sending its position value If the expected packet rate of polled mode is null see 05 Inst 09 Expected packet rate communication is always active and time out status is never triggered otherwise if the Slave does not receive any message from the Master within the time set in the 05 Inst 09 Expected packet rate object then communication is closed time out status 3 Cy...

Страница 369: ...ge a message data transfer send receive data configuration see section 6 4 4 Message data transfer CAN ID table of explicit message bit 10 9 8 7 6 5 4 3 2 1 0 1 0 MAC ID Msg ID MAC ID device address Msg ID 0002 Master s I O Bit Strobe Command Msg 0012 Master s I O Multicast Poll Command Msg 0102 Master s I O COS Cyclic Acknowledge Msg 0112 Slave s Explicit Unconnected Response Msg 1002 Master s Co...

Страница 370: ...Low byte 4 serial number 5 serial number 6 serial number High byte R R bit 0 duplicate MAC ID check request This message is sent by a device to all nodes in the network 1 duplicate MAC ID check response This message is sent back to sender by the node in the network having the same MAC ID Port number 0 device that allows only one P2P connection When serial number node ID and vendor ID are not singl...

Страница 371: ...able 03h Invalid parameter value A parameter associated with the request was invalid This code is used when a parameter does not meet the requirements of this specification and or the requirements defined in an Application Object Specification 08h Service not supported The requested service was not implemented or was not defined for this Object Class Instance 09h Invalid attribute value Invalid at...

Страница 372: ... Too much data The service supplied more data than was expected 16h Object does not exist The object specified does not exist in the device 20h Invalid parameter A parameter associated with the request was invalid This code is used when a parameter does not meet the requirements of this specification and or the requirements defined in an Application Object Specification For any further information...

Страница 373: ...cation Choice 5 Master MAC ID Open connection response Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 F 0 0 Master MAC ID 1 R R 1 Service Code 4Bh 2 General error code Close connection request Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 F 0 0 Master MAC ID 1 R R 0 Service Code 4Ch 2 Class ID 03h 3 Instance ID 01h 4 Release choice Allocation Choice Close connection response Byte bit7 bit6 bit5 b...

Страница 374: ...tion parameters Data transfer request Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 F 0 0 Master MAC ID 1 R R 0 Service Code 2 Class ID 3 Instance ID 4 Attribute ID 5 7 Data byte Data transfer response Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 F 0 0 Master MAC ID 1 R R 1 Service Code 2 7 Data byte Service code Class ID Instance ID and Attribute ID are meant to set the type and content of dat...

Страница 375: ... 16 bit specify 2 bytes Access type ro read only access rw read and write access NOTE All data bytes are sent from less significant byte LSB to most significant byte MSB Example UDINT 4 data bytes Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0 F 0 0 Master MAC ID 1 R R 1 Service Code 2 Data byte Low byte 3 Data byte 4 Data byte 5 Data byte High byte 6 5 1 Class 01h Identity Object This object prov...

Страница 376: ... the device Its value changes as the state of the device changes Bit definitions are as follows Bit s Called Definition 0 Owned TRUE indicates the device or an object within the device has an owner Within the Master Slave paradigm the setting of this bit means that the Predefined Master Slave Connection Set has been allocated to a Master Outside the Master Slave paradigm the meaning of this bit is...

Страница 377: ...UE indicates the device detected a problem with itself which is thought to be unrecoverable The problem does not cause the device to go into one of the faulted states 10 Major Recoverable fault TRUE indicates the device detected a problem with itself which caused the device to go into the Major Recoverable Fault state 11 Major Unrecoverable fault TRUE indicates the device detected a problem with i...

Страница 378: ...50 Kbit s 01 500 Kbit s default To set the baud rate see section on page 10 03 01 03 Bus off interrupt BOOL ro This attribute sets how the device has to act after a bus off event 00 when a bus off event occurs device resets and hold the bus off reset status 01 when a bus off event occurs device resets and then tries to get the previous communication status Default 01h 03 01 04 Bus off counter USIN...

Страница 379: ...licErrore L origine riferimento non è stata trovata 05 Inst 01 Connection status USINT ro This attribute defines the current status of the Connection instance Value 03 means the connection has been configured correctly 05 Inst 02 Instance type USINT ro 00h Explicit messaging 01h I O messaging 05 Inst 03 TransportClass_trigger BYTE ro Defines whether this is a producing only consuming only or both ...

Страница 380: ...AMT58x DN DeviceNET 40 Default 21h ...

Страница 381: ...on Object should perform when the Inactivity Watchdog Timer gap has expired Default 01h the Connection Class automatically closes the connection after the Inactivity Watchdog Timer gap has expired 05 Inst 0D Produced connection path length UINT ro This attribute specifies the number of bytes the 05 Inst 0E Produced connection path attribute is fitted with 05 Inst 0E Produced connection path EPATH ...

Страница 382: ... data is to be received by this Connection Object 05 Inst 11 Production inhibit time UINT ro Default 00h no inhibit time NOTE To save the parameters execute the Save parameters function see Save parameter in the section 7 1 Read and set parameters When the power is turned off or in case of Reset node and Restore node commands parameters not saved are lost ...

Страница 383: ... 0B Device type UINT ro 0001h single turn absolute rotary encoder 0002h multi turn absolute rotary encoder 23 01 0C Code sequence BOOL rw 23 01 0C code sequence attribute sets the rotation direction of the encoder shaft and consequently defines whether the position value output by the encoder increases when the encoder shaft rotates clockwise CW or counterclockwise CCW CW and CCW rotations are vie...

Страница 384: ...AMT58x DN DeviceNET 44 Default 00h ...

Страница 385: ...ution is 23 01 2A Hardware counts per revolution 65536 216 23 01 2B Hardware number of turns 16384 214 Total hardware resolution 1073741824 230 2048 counts rev 1024 turns are required Enable 23 01 0E Scaling function control 01 23 01 10 Resolution per revolution 2048 0000 0800h 23 01 11 Total measuring range 2048 1024 2097152 0020 0000h ATTENTION To avoid counting errors we recommend values which ...

Страница 386: ...ow could cause the Bus network to saturate Default 05h 23 01 18 Velocity value UDINT ro This attribute represents the current speed detected by the position sensor and calculated every 100 ms 23 01 19 Velocity format USINT rw This attribute identifies the engineering units for the velocity value 00 steps s number of steps per second 01 rpm revolutions per minute 23 01 2A Hardware counts per revolu...

Страница 387: ...has been triggered see 23 01 2D Supported alarms object 23 01 33 Offset DINT ro The 23 01 33 Offset attribute is calculated by the preset function and shifts the 23 01 03 Position value attribute using the calculated value Offset 23 01 13 Preset value Internal Position Value 23 01 65 Dip switch UINT ro This object shows the status of the dip switches Dip switches are located in the connection cap ...

Страница 388: ...oder waits 5 seconds and then saves automatically all new values on EPROM No new parameters are not saved on EPROM automatically To save new values Class Instance Editor must be used default value see section 5 4 Save parameter with RSNetWorx NOTE To save new parameters execute the Save parameters function see Errore L origine riferimento non è stata trovata section 7 1 Read and set parameters Whe...

Страница 389: ...lass attribute value Supported Instance 01h Explicit Message 2B 01 01 Acknowledge timer UINT rw After a Master request Slave waits for the set acknowledgement time before sending back a reply Default 10h 16ms 2B 01 02 Retry Limit USINT rw Number of Ack Timeouts after which the application informs the Master that a RetryLimit_Reached event occurred 2B 01 03 Connection Instance of COS UINT rw Connec...

Страница 390: ...D FC Fragmented message counter SC Service Code Cl Class Ins Instance AC Allocation Choice At Attribute Err Error code 7 1 Read and set parameters P2P Master Slave connection without I 0 msg Master Encoder request CAN ID 6 Data byte 406 ID 3 Ms SC Cl Ins AC Ms 00 4B 03 01 01 00 Encoder Master response CAN ID 3 Data byte 403 ID 3 Ms SC Err 00 CB 00 Read position 23 01 03 Position value in Object di...

Страница 391: ...0 23 01 13 Low Encoder Master 1st message received CAN ID 3 Data byte 403 ID 3 Ms SC Err 80 C0 00 Master Encoder 2nd message CAN ID 4 Data byte 404 ID 3 Ms FC preset 80 81 Hi Encoder Master 2nd message received CAN ID 3 Data byte 403 ID 3 Ms SC Err 80 C1 00 Encoder Master parameter value accepted CAN ID 3 Data byte 403 ID 3 Ms SC Err 00 90 00 ...

Страница 392: ...te 404 ID 3 Ms SC Cl Ins At 00 16 23 01 01 Encoder Master CAN ID 3 Data byte 403 ID 3 Ms SC Err 00 96 00 7 1 3 Close Master Slave connection Master Encoder CAN ID 5 Data byte 406 ID 3 Ms SC Cl Ins AC 00 4C 03 01 01 Encoder Master CAN ID 3 Data byte 403 ID 3 Ms SC Err 00 CC 00 ...

Страница 393: ...00 Set 05 Inst 09 Expected packet rate for Cyclic mode milliseconds Master Encoder CAN ID 7 Data byte 404 ID 3 Ms SC Cl Ins At Ctime 00 10 05 04 09 Low Hi Encoder Master CAN ID 3 Data byte 403 ID 3 Ms SC Err 00 90 00 From now on the encoder sends I 0 message at intervals set in Ctime object until the connection will be closed or 05 Inst 09 Expected packet rate attribute will be modified Encoder Ma...

Страница 394: ......

Страница 395: ... 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...

Страница 396: ...g GSD file 13 5 1 2 Adding a node to the project 14 5 1 3 Encoder configuration parameters 14 5 2 Reading diagnostic information 16 5 3 Setting the Preset value 18 5 4 Set node number via BUS 19 6 Profibus interface 20 6 1 GSD file 20 6 2 Classes of the Device profile 20 6 3 Modes of operation 21 6 4 DDLM_Set_Prm 22 6 4 1 Byte 10 Operating parameters 23 Code sequence 23 Class 2 functionality 24 Sc...

Страница 397: ...ity 24 Code sequence 23 Counts per revolution 25 D Diagnostic type 24 E Exchange type 24 P Position and velocity values 29 Position value 28 Preset value 29 S Scaling function control 24 T Total resolution 26 V Velocity measure unit 28 ...

Страница 398: ...eant 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 equipment This...

Страница 399: ... is divided into two main sections In the first section general information concerning the safety the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided In the second section entitled Profibus Interface both general and specific information is given on the Profibus interface In this section the interface f...

Страница 400: ...ical safety Turn off power supply before connecting the device connect according to explanation in section 4 electrical connections in compliance with the 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized with...

Страница 401: ...s or shocks respect the environmental characteristics declared by manufacturer 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...

Страница 402: ...l applied to its body Information is listed in the delivery document too Please always quote the ordering code and the serial number when reaching contatta 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 ...

Страница 403: ...g 1 on the encoder shaft fix the encoder to the flange 2 or to the mounting bell by means of 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 misalignment tolerances of the flexible coupling 1 are respected 3 1 1 Customary installation a mm b mm c mm d mm AMT58 36 H7 48 3 1 2 Fissaggio con graffe codice ST ...

Страница 404: ...AMT58x PB Profibus 5 3 1 3 Installation using a flange code ST 58 FLNG ...

Страница 405: ...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 ...

Страница 406: ...ated inside the encoder connection cap Thus you must remove the connection cap to access any of them NOTE Be careful not to damage the internal components when you perform this operation To remove the connection cap loosen the two screws 1 Please be careful with the internal connector Always replace the connection cap at the end of the operation Take care in re connecting the internal connector Ti...

Страница 407: ...TCEI M3 x 6 cylindrical head screw with 2 tooth lock washers 4 3 Connection cap with PG gland BC PB connection cap is fitted with three PG9 cable glands for bus IN and bus OUT connections and power supply connection The bus cables can be connected directly to the terminal connectors located in front of each cable gland We recommend Profibus DP certificated cables to be used Core diameter should no...

Страница 408: ...rcially available Power supply M12 connector A coding frontal side male Pin Function 1 10VDC 30VDC 3 0 VDC GND 4 1 Shield Case 1 Shield is also connected to pin 4 to allow the connection of the shield even if the plug connector has a plastic case Profibus signals M12 connector B coding frontal side male BUS IN female BUS OUT Pin Function 1 n c 2 Profibus A Green 3 n c 4 Profibus B Red 5 n c Case S...

Страница 409: ...tance is provided in the connection cap This has to be activated as line termination in the last device Use RT Switch to activate or deactivate the bus termination RT Description 1 2 ON Activated if the encoder is the last device in the transmission line 1 2 OFF Deactivated if the encoder is not the last device in the transmission line 4 7 Baud rate The baud rate is set by the Master via software ...

Страница 410: ... The default value is 1 DIP A Turn the power supply off and set the node number in binary value consider that ON 1 OFF 0 bit 1 LSB 2 3 4 5 6 7 MSB 8 not used 20 21 22 23 24 25 26 Example Set node number 25 2510 0001 10012 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON OFF OFF ON ON OFF OFF OFF Set node number 55 5510 0011 01112 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 ON ON ...

Страница 411: ... of the Profibus DP interface Fault red Power green Event OFF OFF No power supply or hardware fault OFF ON Correct operation correct communication OFF Flashing Red Zone see section 6 9 Red Zone ON Flashing Configuration parameters not valid ON OFF Transmission time out error Flashing ON Bus communication failure Flashing Flashing Flash memory error ...

Страница 412: ...ile Profibus encoders are supplied with their own GSD file AMT58 xxx 16x14 FBUS PB see enclosed documentation or www datalogic com In the menu bar of the HW Config window press Options and then Install New GSD command Select the correct GSD file in the installation window and install it ...

Страница 413: ...module Class 1 Class 2 or Class 2 VEL to the variables table in the bottom right in this way you set the class of the device for further details see section 6 2 Classes of the Device profile 5 1 3 Encoder configuration parameters To enter the Encoder configuration parameters window select the device in the bottom right of the HW Config window and right click to open the menu then choose the Object...

Страница 414: ...e For any information on using and setting each parameter refer to section 6 4 DDLM_Set_Prm Class 2 example Class 2 VEL example After having set new parameter values click the OK button to close the Properties DP slave window and then the Download button see icon on the left in the toolbar of the HW Config window to download set parameters ...

Страница 415: ...tering the diagnostic page it is necessary to connect to the unit enter online status To do this select Station Open online in the HW Config window or click the Online Offline button see icon on the left Then select PLC Module information to enter the Module information window Finally open the DP Slave Diagnostic page Click the Hex Format button to display diagnostic information ...

Страница 416: ... work properly using STEP7 software we suggest setting the 16 byte diagnostic If diagnostic information is not used it is recommended to set 16 byte diagnostic see 5 1 3 Encoders configuration parameters section See section 6 7 DDLM_Slave_Diag for a complete list and meaning of each diagnostic byte ...

Страница 417: ... variables ED 100 103 4 bytes Speed value is loaded into variables ED 104 107 4 bytes The Preset value is sent to the encoder using variables AD 100 103 4 bytes The current position of the encoder is 0003 7AA1hex To set the Preset value 0000 0500hex set bit 31 of variable AD 100 1 8000 0500hex Finally click Command variables button in the Toolbar see right icon Now the position of the encoder is 0...

Страница 418: ...oder position speed and Preset to be used 5 4 Set node number via BUS To access this function PLC must be able to run the SAP55 service To set the node number via BUS set dip switches to address 126 0111 11102 DIP A To set node number select PLC PROFIBUS Assign PROFIBUS Address in the SIMATIC Manager window and open the Assign PROFIBUS Address window Choose the current address 126 in the first Cur...

Страница 419: ...6 2 Classes of the Device profile Encoder class must be set when configuring the device Class 1 allows basic functions of the device and should be used for sending the position value see parameter Position value changing the counting direction see parameter Code sequence setting the preset value see parameter Preset value Class 2 allows to use Class 1 functions and extended functions such as scali...

Страница 420: ...parameters from Master to Slave see section 6 4 DDLM_Set_Prm DDLM_Chk_Cfg Sets the number of bytes used for data transmission in Data_Exchange mode see section 6 5 DDLM_Chk_Cfg DDLM_Data_Exchange Used as standard operation mode Used by Master to send the Preset value used by Slave to transmit position and velocity values see section 6 6 DDLM_Data_Exchange DDLM_Slave_Diag Used when power is turned ...

Страница 421: ...e working specifications you want to set Data transmission is carried out in compliance with values set for the encoder profile and shown in the following tables DDLM_Set_Prm with Class 1 Byte Parameter 0 9 Reserved for PROFIBUS network 10 Operating parameters bit 0 Code sequence bit 1 Class 2 functionality bits2 5 Reserved bit 6 Diagnostic type bit 7 Exchange type 11 20 Reserved DDLM_Set_Prm with...

Страница 422: ...0 Code sequence CW CCW 1 Class 2 functionality disabled enabled 2 Reserved 3 Scaling function control disabled enabled 4 5 Reserved 6 Diagnostic type reduced large 7 Exchange type pos pos vel Code sequence It defines whether the position value output by the transducer increases when the encoder shaft rotates clockwise CW or counterclockwise CCW When Code sequence 0 the position value increases whe...

Страница 423: ...ault 1 min 0 max 1 WARNING You can set new values next to the Counts per revolution and Total resolution items only if Class 2 functionality ENABLED if Scaling function control ENABLED the set resolution values are enabled and used by the encoder on the contrary if Scaling function control DISABLED you are allowed to set new resolution values however they are not enabled even if sent to the encode...

Страница 424: ... 0 Data 231 to 224 223 to 216 215 to 28 27 to 20 Allowed values are equal to or lower than Hardware counts per revolution value We suggest setting power of 2 values 1 2 4 2048 4096 Setting a value greater than allowed causes the resolution to be forced to Hardware counts per revolution value Default 262144 min 1 max 262144 for HS58 Default 65536 min 1 max 65536 for HM58 WARNING When you set a new ...

Страница 425: ...ered values until you enable the Scaling function control See the section 6 4 1 Byte 10 Operating parameters on page 23 This parameter is intended to set the number of distinguishable steps over the total measuring range The total resolution of the encoder results from the product of Counts per revolution by Number of revolutions Byte 15 16 17 18 Bit 31 24 23 16 15 8 7 0 Data 231 to 224 223 to 216...

Страница 426: ...Hardware counts per revolution 18 bit turn 218 262144 cpr Hardware number of turns 1 Total hardware resolution 18 bit 262144 1 262144 HM5816 16384 FB xx multiturn encoder Hardware counts per revolution 16 bit turn 216 65536 cpr Hardware number of turns 14 bit 16384 turn Total hardware resolution 30 bit 65536 16384 230 1073741824 Example Multiturn encoder HM5816 16384 FB 6 with BC PB C connection c...

Страница 427: ...from Master side Chk_Cfg message structure 1 byte bit 7 Consistency 1 bit 6 Word format 0 byte 1 word 4byte bit 5 4 In out data 01 Input 10 output bit 3 0 Length code Example bit 7 6 5 4 3 2 1 0 Dat a 1 1 0 1 0 0 0 1 D1h 1 1 0 1 0 0 1 1 D3h 1 1 1 0 0 0 0 1 E1h Class 1 and Class 2 D1hex 4 byte input E1hex 4 byte output Class 2 VEL D3hex 8 byte input E1hex 4 byte output 6 6 DDLM_Data_Exchange This i...

Страница 428: ...osition of the encoder and the zero position of the axis need to match The preset value will be set for the position of the encoder in the moment when the preset value is sent The Preset value value is sent by the Master to the Slave in Data_Exchange mode by setting bit 31 1 for 3 cycles The MSB of the preset value controls the preset function in the following way Normal operating mode MSB 0 bit 3...

Страница 429: ...alue 0005 5000hex Byte 1 2 3 4 Cycle Bit 31 24 23 16 15 8 7 0 1 M S 80 00 10 00 S M 00 05 50 00 2 M S 80 00 10 00 S M 00 05 50 00 3 M S 80 00 10 00 S M 00 00 10 00 NOTE We suggest setting the Preset value when the shaft is in stop The new Preset value is saved immediately after receipt ...

Страница 430: ...63 bytes Set the diagnostic type during DDLM_Set_Prm operating parameters byte 10 see section 6 4 1 Byte 10 Operating parameters 16 byte Diagnostic Byte Description Byte Description 0 Status 1 8 Operating status 1 Status 2 9 Encoder type 2 Status 3 10 Hardware single turn resolution 3 Master ID 11 4 Manufacturer ID 12 5 13 6 Extended diagnostic header 14 Hardware number of revolution 15 7 Alarms 6...

Страница 431: ...esolution 8 Operating status 40 9 Encoder type 41 10 Hardware single turn resolution 42 11 43 Programmed total resolution 12 44 13 45 14 Hardware number of revolution 46 15 47 Serial number 16 Additional alarms 48 17 Supported alarms 49 18 50 19 Warnings 51 20 52 21 Supported warnings 53 22 54 23 Profile version 55 24 56 25 Software version 57 Reserved 26 58 Reserved 27 Operating time 59 Reserved ...

Страница 432: ...SAP55 To access this function the PLC must be able to run the SAP55 service Set dip switch to address 126 0111 11102 DIP A The message has the following DATA bytes Byte Description 0 New node number 1 Manufacturer ID 2 3 Lock node number 0 not supported ...

Страница 433: ...ns The size of the red zone is variable To calculate it we must subtract the Total resolution value from the Hardware total resolution of the device as many times as until the difference is less than the the set Total resolution value When the encoder crosses the limit of the last Total resolution section thus entering the red zone a counting error occurs i e a jump in the position count The probl...

Страница 434: ...utions 16384 2 8000 384 the encoder will work within the Red Zone limits NOTE The Red Zone status is indicated by the green LED flashing while the red LED is OFF see the section 4 9 Diagnostic LEDs on page 12 Within the limits of the Red Zone the transmitted position is coherent with setting resolution it is calculated so that the last position transmitted before zero position is Total resolution ...

Страница 435: ... Parameters list Default values Code sequence 0 Class 2 functionality 1 Scaling function control 1 Diagnostic type 0 Exchange type Class 1 and Class 2 0 Class 2 VEL 1 Counts per revolution 16384 Total resolution 1073741824 Velocity measure unit 0 ...

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