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AMT58x-EC EtherCAT® 

 

 

44 

6.2.4 Service Data Objects (SDO)

 

 

SDO messages are issued via Mailbox (low priority data); 
Segmented SDO Service and SDO Complete Access are not 
supported (transfer of low size data and one sub-index at a time).

 

 

“CoE Cmd 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 described in the “Object dictionary”. 

Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: [email protected]

Содержание AMT58 Series

Страница 1: ...Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com...

Страница 2: ...Datalogic logo are registered trademarks of Datalogic S p A in many countries including the U S A and the E U All brand and product names mentioned herein are for identification purposes only and may...

Страница 3: ...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 inter...

Страница 4: ...meter 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 s...

Страница 5: ...tion 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 Suppor...

Страница 6: ...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...

Страница 7: ...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 p...

Страница 8: ...connecting the device connect according to explanation in the section 4 Electrical connections in compliance with the 2004 108 EC norm on electromagnetic compatibility following precautions must be ta...

Страница 9: ...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 e...

Страница 10: ...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 inf...

Страница 11: ...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 m...

Страница 12: ...AMT58x EC EtherCAT 5 3 1 3 Installation using a flange code ST 58 FLNG Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com...

Страница 13: ...ing 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 ap...

Страница 14: ...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 p...

Страница 15: ...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...

Страница 16: ...AT 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 De...

Страница 17: ...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 m...

Страница 18: ...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...

Страница 19: ...AMT58x EC EtherCAT 12 At the end of the process some information will be listed in the right page as in Figure here below Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com...

Страница 20: ...hat 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 descript...

Страница 21: ...rCAT 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 Buy www ValinOnline com Phone 844 385 3099 Email CustomerServ...

Страница 22: ...ow 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 Buy www ValinOnlin...

Страница 23: ...nd 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 opera...

Страница 24: ...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...

Страница 25: ...aging 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 Mapp...

Страница 26: ...ane 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 S...

Страница 27: ...e 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...

Страница 28: ...t 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 replac...

Страница 29: ...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...

Страница 30: ...vanced 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 pro...

Страница 31: ...n 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 i...

Страница 32: ...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 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService...

Страница 33: ...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 networ...

Страница 34: ...t 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...

Страница 35: ...on 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 Pass...

Страница 36: ...line 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...

Страница 37: ...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 E...

Страница 38: ...le 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 nanos...

Страница 39: ...s 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 a...

Страница 40: ...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 outgo...

Страница 41: ...ead 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 asynch...

Страница 42: ...seconds 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 sec Cycle Time 1000...

Страница 43: ...ycle 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 Des...

Страница 44: ...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...

Страница 45: ...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 applicatio...

Страница 46: ...ics 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 Int...

Страница 47: ...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 pr...

Страница 48: ...r 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...

Страница 49: ...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 Hardw...

Страница 50: ...onse 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 p...

Страница 51: ...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...

Страница 52: ...yte 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 0...

Страница 53: ...he 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...

Страница 54: ...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 re...

Страница 55: ...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 M...

Страница 56: ...nd 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 enc...

Страница 57: ...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...

Страница 58: ...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 thi...

Страница 59: ...urns 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 v...

Страница 60: ...e 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...

Страница 61: ...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 o...

Страница 62: ...r 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 err...

Страница 63: ...xadecimal 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 000...

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