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CANopen interface

AMS 335

Leuze electronic

9.5.5

Default 11 Bit - Identifier distribution

The AMS 335

sends an 11-bit identifier. 29-bit identifiers can neither be received nor trans-

mitted by the AMS 335

The node address (address of the AMS 335

) is an integral part of the 11-bit identifier. The

default identifier and the node address yield the COB-ID. Its value is used to determine the
prioritization during arbitration.

Notice!

Identifiers with low values have a higher priority under arbitration.

Example:

If the same objects, e.g. PD01 (rx), are queried by several AMS 335

in a CANopen network,

the AMS with the smallest node address has the highest priority under arbitration.

The table printed below shows the values of the individual functions in the CANopen arbi-
tration process.

As can been see from the table, synchronization and emergency objects have the highest
priority. Next in line are the PDOs, and the SDOs have the lowest priority.

Identifier 11 Bit (binary)

Identifier
dec.

Identifier hex.

Function

00000000000

Network management

00010000000

128

Synchronization

0001xxxxxxx

129 - 255

81 - FF

Emergency

0011xxxxxxx

385 - 511

181 - 1FF

PDO1 (tx)

0100xxxxxxx

513 - 639

201 - 27F

PDO1 (rx)

0101xxxxxxx

641 - 767

281 - 2FF

PDO2 (tx)

0110xxxxxxx

769 - 895

301 37F

PDO2 (rx)

0111xxxxxxx

897 - 1023

381 - 3FF

PDO3 (tx)

1000xxxxxxx

1025 - 1151

401 - 47F

PDO3 (rx)

1001xxxxxxx

1153 - 1279

481 - 4FF

PDO4 (tx)

1010xxxxxxx

1281 - 1407

501 - 57F

PDO4 (rx)

1011xxxxxxx

1409 - 1535

581 - 5FF

SDO transmit

1100xxxxxxx

1537 - 1663

601 - 67F

SDO receive

1110xxxxxxx

1793 - 1919

701 - 77F

NMT Error Control

xxxxxxx = node address 1 - 127

Содержание AMS 335i

Страница 1: ...AMS 335i Optical Laser Measurement System CANopen T E C H N I C A L D E S C R I P T I O N en 02 2013 12 50113356 We reserve the right to make technical changes...

Страница 2: ...Leuze electronic AMS 335i 2013 Leuze electronic GmbH Co KG In der Braike 1 D 73277 Owen Teck Germany Phone 49 7021 573 0 Fax 49 7021 573 199 http www leuze com info leuze de...

Страница 3: ...reception level Activated interface Measurement value No entries can be made via the display See Indicators in the display on page 38 Parameter Parameter handling CANopen Position value I O Other Para...

Страница 4: ...ifications of the laser measurement system 12 4 1 1 General specifications AMS 335i 12 4 1 2 Dimensioned drawing AMS 335i 14 4 1 3 Type overview AMS 335i 15 5 Installation and mounting 16 5 1 Storage...

Страница 5: ...ion 35 7 1 Safety notices for the electrical connection 35 7 2 PWR voltage supply switching input output 36 7 3 CANopen BUS IN 36 7 4 CANopen BUS OUT 37 7 5 Service 37 8 Display and control panel AMS...

Страница 6: ...35i from the DS406 class 1 encoder profile 84 10 Diagnostics and troubleshooting 86 10 1 Service and diagnostics in the display of the AMS 335i 86 10 1 1 Status messages 86 10 1 2 Diagnostics 87 10 1...

Страница 7: ...Table of contents 4 AMS 335i 12 Maintenance 95 12 1 General maintenance information 95 12 2 Repairs servicing 95 12 3 Disassembling packing disposing 95...

Страница 8: ...indicates text passages containing important information 1 2 Declaration of conformity The AMS 335i absolute measuring optical laser measurement system was designed and manufactured in accordance wit...

Страница 9: ...eceiving element of the laser measurement system The AMS 335i uses the propagation time of the light to calculate the distance to the reflector The high absolute measurement accuracy of the laser meas...

Страница 10: ...ccor dance with the applicable safety standards They correspond to the state of the art 2 3 Intended use The AMS 335i device series is an absolute measuring system based on laser technology The device...

Страница 11: ...diation The AMS 335i operates with a red light laser of class 2 acc to EN 60825 1 If you look into the beam path over a longer time period the retina of your eye may be damaged Never look directly int...

Страница 12: ...he name plate on the AMS 335i A Hazard warning logotype B Warning and certification plate C Name plate with part no version no date of manufacture and serial no For EtherNet based devices the MAC ID i...

Страница 13: ...For error free position measurement there must be an unobstructed line of sight between the AMS 335i and the reflector 3 1 1 Mounting the device The laser is mounted using 4 screws M5 Alignment is pe...

Страница 14: ...configured in the planning tool control by means of the EDS file If the AMS 335i has been assigned an address in the planning tool the address Node ID is to be set on the AMS 335i via the control pan...

Страница 15: ...er of the individual interfaces Temperature drift 0 1mm K Ambient temperature sensitivity 1ppm K Air pressure sensitivity 0 3ppm hPa Traverse rate 10m s Electrical data Supply voltage Vin 2 18 30VDC C...

Страница 16: ...umidity non condensing Mechanical electrical loading capacity Vibrations acc to EN 60068 2 6 Noise acc to EN 60060 2 64 Shock acc to EN 60068 2 27 EMC acc to EN 61000 6 2 and EN 61000 6 4 5 1 Statisti...

Страница 17: ...ronic 4 1 2 Dimensioned drawing AMS 335i Figure 4 1 Dimensioned drawing AMS 335i A M5 screw for alignment B Knurled nut with WAF4 hexagon socket and M5 nut for securing C Optical axis D Zero point of...

Страница 18: ...00 200m operating range CANopen interface 50113695 AMS 335i 300 300m operating range CANopen interface 50113696 AMS 335i 40 H 40m operating range CANopen interface integrated heating 50113697 AMS 335i...

Страница 19: ...is found notify the post office or shipping agent as well as the supplier Check the delivery contents using your order and the delivery papers Delivered quantity Device type and model as indicated on...

Страница 20: ...the device The AMS 335i and the corresponding reflector are mounted on two mutually opposing plane parallel flat walls or system parts For error free position measurement there must be an unobstructed...

Страница 21: ...ing please ensure that the knurled nut and the lock nut B in figure 5 2 are opened wide Attention To prevent the laser measurement system from moving out of alignment during continuous operation subse...

Страница 22: ...TNT 35 7 24V 5 2 1 Optional mounting bracket A mounting bracket for mounting the AMS 335i on a flat horizontal surface is available as an optional accessory Type designation MW OMS AMS 01 Part no 5010...

Страница 23: ...guish between three different arrangements of AMS 335i and reflectors The AMS 335i are mounted stationary and in parallel on one plane Both reflectors move independently of one another at different di...

Страница 24: ...X 750mm Notice Please note that when the AMS 335i are mounted in a mobile manner travel tolerances could cause the two laser light spots to move towards each other Take the travel tolerances of the v...

Страница 25: ...he mechanism of the US AMS 01 deflector unit The mirror can be mounted for three deflection directions 1 Upward beam deflection 2 Beam deflection to the left 3 Beam deflection to the right The deflect...

Страница 26: ...Installation and mounting Leuze electronic AMS 335i 23 TNT 35 7 24V 5 3 2 Dimensioned drawing of US AMS 01 deflector unit Figure 5 6 Dimensioned drawing of US AMS 01 deflector unit A Laser beam...

Страница 27: ...are mounted separately Notice When mounting make certain that the laser light spot of the AMS 335i is aligned in the center of the deflection mirror Figure 5 7 Photo and dimensioned drawing of the US...

Страница 28: ...eflector size are provided as a function of the distance that is to be measured In any case the user must check to determine whether the recommendation is suitable for the respective application 6 2 D...

Страница 29: ...mounting surface must be clean dry and free of grease Cutting the tape Cut with a sharp tool always on the side of the prism structure Cleaning Do not use any agents that act with a grinding effect A...

Страница 30: ...ate Figure 6 1 Dimensioned drawing of reflectors Part Reflective tape mm Reflector plate mm xL yL XL YL L Reflective tape 200x200 M 200 200 250 250 214 Reflective tape 500x500 M 500 500 550 550 514 Re...

Страница 31: ...50115021 50115022 Voltage supply 230VAC Power 100W 600W 1800W Current consumption 0 5A 3A 8A Length of the supply line 2 m Size of the reflective tape 200x200mm 500x500mm 914x914mm Outer dimensions o...

Страница 32: ...ve tape mm Insulated base plate mm xL yL XL YL L Reflective tape 200x200 H 200 200 250 250 214 Reflective tape 500x500 H 500 500 550 550 514 Reflective tape 914x914 H 914 914 964 964 928 18 6 5 2 L 0...

Страница 33: ...nting of the AMS 335i the reflector size must accommodate any travel tolerances that may arise and the associated wandering of the light spot on the reflector Overview of reflector types Recommended r...

Страница 34: ...ves to achieve a base separation to the wall as well as the necessary pitch for avoiding surface reflection For further information see table 6 1 The reflector is provided with a 2m long connection ca...

Страница 35: ...ected to the left right or upwards chapter 6 4 3 gives the correct pitch with respect to the reflector size and thus the length of the spacers Reflective tapes S and M Figure 6 3 Reflector mounting Fi...

Страница 36: ...flective tapes H Figure 6 5 Mounting of heated reflectors Figure 6 6 Pitch of the heated reflector Pitch approx 1 Deflected surface reflection due to the pitch of the reflective tape Direct reflection...

Страница 37: ...ed if other reflectors are used Reflector type Pitch resulting from spacer sleeves 1 1 Spacer sleeves are included in the delivery contents of reflective tape M and H Reflective tape 200x200 S Reflect...

Страница 38: ...The device may only be connected by a qualified electrician Ensure that the functional earth FE is connected correctly Unimpaired operation is only guaranteed when the functional earth is connected pr...

Страница 39: ...ignments for CANopen BUS IN PWR 5 pin plug A coded Pin Name Remark 1 VIN Positive supply voltage 18 30VDC 2 I O 1 Switching input output 1 3 GND Negative supply voltage 0VDC 4 I O 2 Switching input ou...

Страница 40: ...Remark 1 Drain Shield 2 NC Not used 3 NC Not used 4 CAN_H Data signal CAN_H 5 CAN_L Data signal CAN_L Thread FE Functional earth housing 1 2 3 4 5 BUS OUT CAN_H DRAIN CAN_L M12 socket A coded Service...

Страница 41: ...igure is for illustration purposes only and does not correspond to AMS 335i with respect to bus interface info 8 2 Status display and operation 8 2 1 Indicators in the display Status and warning messa...

Страница 42: ...th of the received laser light The center bar represents the ATT warning threshold The distance value remains valid and is output at the interfaces If no bar graph is available the PLB status informat...

Страница 43: ...inuous light Power LED green AMS 335i ok Measurement value output Self test successfully finished Device monitoring active Red flashing Power LED flashes red Device ok but warning message ATT TMP LSR...

Страница 44: ...LED flashes green red Bus error Time out RX TX Buffer overflow Termination error 8 2 3 Control buttons Up Navigate upward laterally Down Navigate downward laterally ESC Exit menu item ENTER Confirm en...

Страница 45: ...1 The main menus After voltage has been applied to the laser device information is displayed for several seconds The display then shows the measurement window with all status information 100 01234567...

Страница 46: ...display See Indicators in the display on page 38 Parameter Parameter handling CANopen Maximum position value I O Other Parameter main menu Configuration of the AMS See Parameter menu on page 43 Langua...

Страница 47: ...urther security prompts In this case English is selected as the display language Table 8 2 CANopen submenu Level 3 Level 4 Level 5 Selection configuration option Description Standard Activation ON OFF...

Страница 48: ...ion of the I Os 0mm Free resolution value The measurement value can be resolved in increments of 1 1000 within the 5 50000 value range If e g a resolution of 0 875mm per digit is required the paramete...

Страница 49: ...r inch 100 0 Table 8 5 Other submenu Level 3 Level 4 Level 5 Selection configuration option Description Standard Heating control Standard 10 C 15 C Extended 30 C 35 Defines a switch on switch off rang...

Страница 50: ...the language no password needs to be entered nor must password enabling be activated The display language is a passive operational control and is thus not a func tion parameter per se 8 3 4 Service me...

Страница 51: ...ined Inthemainmenu presstheenterbuttontoenterthe Parameter menu Parameter Parameter handling CANopen Maximum position value I O Other Use the buttons to select the Parameter handling menu item Press t...

Страница 52: ...changed by means of display entry To activate parameter enabling via the display e g for changing an address the password defined in the EDS file must be entered If parameter enabling has been activat...

Страница 53: ...runk line the trunk line can be terminated via the M12 bus OUT connection For this purpose Leuze electronic offers an M12 terminating resistor see chapter 11 Type overview and accessories 9 1 2 Bus li...

Страница 54: ...the AMS 335i is integrated into a drop line the M12 bus OUT connection must not be terminated Figure 9 1 Prohibited networking within a drop line Attention AMS 335i should not be networked with each o...

Страница 55: ...the AMS 9 2 1 Entering the address via the display To enter the address via the display proceed as follows Activate parameter enabling Select the CANopen submenu Select the Node ID menu item Enter an...

Страница 56: ...ed as follows Activate parameter enabling Select the CANopen submenu Select the baud rate menu item Activate the desired baud rate Deactivate parameter enabling Notice Basic operation of the display i...

Страница 57: ...ommend our ready made CANopen cable see chapter 11 3 6 Accessory ready made cables for CANopen BUS IN CAN_H 1 4 3 2 5 DRAIN CAN_L 1 2 3 4 5 BUS OUT CAN_H DRAIN CAN_L M12 plug A coded M12 socket A code...

Страница 58: ...he network Since every participant compares its own priority with that of the other participants at the time of bus access the participants with low priority discontinue their transmission activities...

Страница 59: ...structure which describes the exact target address by means of index and sub index addressing SDO telegrams place a part of the SDO addressing into the user data area Eventually a user data area with...

Страница 60: ...n transmits them immediately afterwards as soon as the bus permits this see explanation regarding arbitration process As the SYNC process can very quickly lead to high bus loads another distinction is...

Страница 61: ...le printed below shows the values of the individual functions in the CANopen arbi tration process As can been see from the table synchronization and emergency objects have the highest priority Next in...

Страница 62: ...ce 1800 PDO 1 properties asynchronous position value and state 1801 PDO 2 properties synchronous position value and state 1802 PDO 3 properties asynchronous velocity value and state 1803 PDO 4 propert...

Страница 63: ...gister This object contains the error register for the AMS 335i The AMS 335i maps the internal ERR error see object 2060 status and control in this byte to bit 0 The bit 0 is set when the ERR errors o...

Страница 64: ...rtbeat time is not used it is set to the value 0 zero By default the time for the AMS 335i is set to 0 zero which means that the AMS 335i does not send a cyclical heartbeat signal 9 5 7 6 Object 1018h...

Страница 65: ...nchronous position value and state object address 1801h PDO3 communication parameters for asynchronous velocity value and state object address 1802h PDO4 communication parameters for synchronous veloc...

Страница 66: ...e from object 6004 02 Position value status u 32 ro 2060 01 20 Status from object 2060 Byte Bit Remark 7 6 5 4 3 2 1 0 0 LSB Position values see object description 6004h 1 2 3 MSB 4 Status see object...

Страница 67: ...object description 2060h sub index 01 5 6 7 Index Sub index Name Data type Access Value range Remark hex hex Minimum Maximum Default 1803 01 COB ID for TPDO1 u 32 ro 380h Node ID 02 Transmis sion type...

Страница 68: ...ing direction of the position value A possible offset value Value for the free resolution Index Sub index Name Data type Access Value range Remark hex hex Minimum Maximum Default 1804 01 COB ID for TP...

Страница 69: ...ative Sub index 05 offset value The offset value in mm or inch 100 in accordance with the unit selected Output value measurement value offset If the preset value has been activated by a corresponding...

Страница 70: ...object The preset value is activated with preset teach and deactivated with preset reset After preset teach the current position value is offset against the configured preset value After preset reset...

Страница 71: ...configured resolution The unit metric or inch is set in object 2000 sub index 02 and also applies to the velocity If no change is made in object 2000 sub index 02 the AMS 335i uses the metric default...

Страница 72: ...current velocity output occurs with the configured resolution The unit metric or inch is set in object 2000 sub index 02 and also applies to the velocity Index Sub index Name Data type Access Value ra...

Страница 73: ...rmed in the direc tion from 5500 to 5000 The limit value is not active in the opposite direction If the check is independent of direction the order of position start and position end is irrel evant De...

Страница 74: ...pter 9 5 8 7 Object 2021h Configuration velocity monitoring 1 Sub index 01 Bit 0 switching mode 0 upon exceeding the velocity 1 upon falling below the velocity limit Bit 1 direction selection 0 direct...

Страница 75: ...elocity limit Bit 1 direction selection 0 direction independent velocity monitoring 1 direction dependent velocity monitoring Bit 2 velocity monitoring 0 deactivated 1 activated Bit 3 Bit 7 reserve In...

Страница 76: ...selection 0 direction independent velocity monitoring 1 direction dependent velocity monitoring Bit 2 velocity monitoring 0 deactivated 1 activated Bit 3 Bit 7 reserve Index Sub index Name Data type...

Страница 77: ...y monitoring 0 deactivated 1 activated Bit 3 Bit 7 reserve 9 5 8 12 Object 2026h Velocity status Bit 0 velocity measurement error 0 ok 1 error Index Sub index Name Data type Access Value range Remark...

Страница 78: ...value violated Bit 6 velocity limit value status 4 0 limit value maintained 1 limit value violated Bit 7 velocity limit value status dynamic 0 limit value maintained 1 limit value violated Bit 8 veloc...

Страница 79: ...event occurs Bit 2 Bit 7 reserve 0 reserve 1 NC Notice Bit 8 to bit 23 set the output via an OR logic Bit 8 position limit value 1 If the position value lies outside of configured limit value 1 the ou...

Страница 80: ...ON Bit 14 plausibility monitoring PLB If implausible measurement values are diagnosed the output is set 0 OFF 1 ON Bit 15 hardware error ERR If a hardware error is diagnosed the output is set 0 OFF 1...

Страница 81: ...t 8 position limit value 1 If the position value lies outside of configured limit value 1 the output is set 0 OFF 1 ON Bit 9 position limit value 2 If the position value lies outside of configured lim...

Страница 82: ...as an input Value 000 no function Value 001 Preset teach valid for static object 2001 and dynamic object 2002 preset Value 010 laser OFF Laser diode is switched off Bit 27 Bit 31 reserve 0 reserve 1 N...

Страница 83: ...oring lower position value 2 0 OK 1 value less than limit Bit 7 monitoring upper position value 2 0 OK 1 value exceeded Bit 8 laser status 0 OK 1 laser OFF Bit 9 preset status 0 preset inactive 1 pres...

Страница 84: ...ausible measurement values are diagnosed the error is set 0 OK 1 error Bit 17 Bit 31 reserve 0 reserve 1 NC 9 5 8 16 Object 2070h Behavior of the AMS 335i in the case of error Explanation on sub index...

Страница 85: ...8 17 Object 2300h Other Notice Password activation must be set to ON Index Sub index Name Data type Access Value range Remark hex hex Minimum Maximum Default 2300 01 Display language selection u8 rw...

Страница 86: ...ut functions only for devices with integrated heat ing AMS 335i H Sub index 06 defines a switch on switch off range for the heating control The extended switch on switch off range for heating may prov...

Страница 87: ...ce 1 negative the measurement value decreases with increasing distance Counting direction positive Counting direction negative Bit 4 Bit 15 reserve 9 5 9 2 Object 6004h Position value Object 6004h con...

Страница 88: ...6501h Measurement step The resolution set in object 2000h sub index 03 is specified in multiples of 0 001 m 1nm in object 6501 Example If the default resolution in object 2000h is set to 1mm the reso...

Страница 89: ...The status messages are written in a ring memory with 25 positions The ring memory is organized according to the FIFO principle No separate activation is necessary for storing the status messages Powe...

Страница 90: ...vates the diagnostics function and clears the contents of the recordings The recorded diagnostic data are displayed in 2 fields In the upper half of the display status messages of the AMS and the bar...

Страница 91: ...ssary to send in the device Table 10 1 General causes of errors Error Possible error cause Measure BUS LED OFF Power off on AMS 335i Check supply voltage BUS LED flashes red Invalid configuration BUS...

Страница 92: ...luted air oil mist dust Optimize usage conditions Laser spot only partially on the reflector Check alignment Protective foil on the reflector Remove protective foil from reflector TMP operating temper...

Страница 93: ...IP 84 Interbus AMS Absolute Measuring System Type designation Description Part no AMS 335i 40 40m operating range CANopen interface 50113693 AMS 335i 120 120m operating range CANopen interface 5011369...

Страница 94: ...Heated reflective tape 200 x 200mm 50115020 Reflective tape 500x500 H Heated reflective tape 500 x 500mm 50115021 Reflective tape 914x914 H Heated reflective tape 914 x 914mm 50115022 Table 11 2 Over...

Страница 95: ...OUT 50040099 Table 11 6 Accessory terminating resistor PWR connection cable 5 pin socket A coded Pin Name Core color 1 VIN brown 2 I O 1 white 3 GND blue 4 I O 2 black 5 FE gray Thread FE bare Operat...

Страница 96: ...Core color Remark 1 Drain Shield 2 NC Not used 3 NC Not used 4 CAN_H white Data signal CAN_H 5 CAN_L blue Data signal CAN_L Thread FE Functional earth housing Operating temperature range in rest stat...

Страница 97: ...d cable length 30m 50114701 KB DN CAN 2000 SA M12 plug for BUS OUT axial connector open cable end cable length 2m 50114693 KB DN CAN 5000 SA M12 plug for BUS OUT axial connector open cable end cable l...

Страница 98: ...on the device except where expressly described in this operating man ual are not authorized The device must not be opened Failure to comply will render the guarantee void Warranted features cannot be...

Страница 99: ...sioned drawing 23 Description of functions 6 Diagnostics 86 Dimensioned drawing of AMS 3xxi 14 Display 38 E EDS file 11 Electrical connection 35 Safety notices 35 Expanded diagnostics 87 Explanation o...

Страница 100: ...ed drawing 27 Specifications 26 Reflector 25 Mounting 31 Pitch 34 Size 30 Type overview 30 Repair 7 95 S Safety notices 7 Sensing distance 90 Servicing 95 Specifications 12 Dimensioned drawing 14 Gene...

Страница 101: ...lue input Error delay ON OFF Position value in the case of error Last valid value zero Free resolution value 5 50000 I O I O 1 Port configuration Input Output page 45 Switching input Function No funct...

Страница 102: ...e RS232 Baud rate 57 6kbit s 115 2kbit s Format 8 e 1 8 n 1 Language selection Deutsch English Espa ol Fran ais Italiano page 47 Service Status messages Number of readings reading gates reading rate n...

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