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EtherCAT interface

AMS 338

Leuze electronic

9.7.5

Process data objects

The AMS 338

provides two process data objects (PDOs). The PDOs describe which of the

objects are mapped (integrated) into the PDO.

9.7.5.3

Object 1A00

TPDO1

Transmission of position and status.

Data structure TPDO1 for the transfer of the position values and the position
status

9.7.5.4

Object 1A02

TPDO3

Transmission of velocity and status.

Data structure TPDO3 for the transfer of the velocity values and the velocity
status

Index

Sub-

index

Name

Data type

Access

Value range

Remark

(hex)

Minimum

Maximum

Default

1A00

Maximum

position

value

u 32

6004 00 20

Position value from

object 6004

Position

value status

u 32

2060 01 20

Status from

object 2060

Byte

Bit

Remark

LSB

Position values

see object description 6004

1
2
3

MSB

Status

see object description 2060

sub-index 01

5
6
7

Index

Sub-

index

Name

Data type

Access

Value range

Remark

(hex)

Minimum

Maximum

Default

1A02

Velocity

value

int 32

2020 04 20

Velocity value from

object 2020

sub-index 04

Status

velocity

value

u 16

2026 00 10

Status from

object 2026

Byte

Bit

Remark

LSB

Velocity value

see object description 2020

sub-index 04

Содержание AMS 338i

Страница 1: ...AMS 338i Optical Laser Measurement System EtherCAT T E C H N I C A L D E S C R I P T I O N en 03 2014 12 50113361 We reserve the right to make technical changes...

Страница 2: ...Leuze electronic AMS 338i 2014 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: ...eption level Activated interface Measurement value No entries can be made via the display See Indicators in the display on page 37 Parameter Parameter handling EtherCAT Position value I O Other Parame...

Страница 4: ...4 Specifications 13 4 1 Specifications of the laser measurement system 13 4 1 1 General specifications AMS 338i 13 4 1 2 Dimensioned drawing AMS 338i 15 4 1 3 Type overview AMS 338i 16 5 Installation...

Страница 5: ...32 6 4 3 Table of reflector pitches 35 7 Electrical connection 36 7 1 Safety notices for the electrical connection 36 7 2 PWR voltage supply switching input output 37 7 3 EtherCAT BUS IN 37 7 4 EtherC...

Страница 6: ...isplay of the AMS 338i 80 10 1 1 Status messages 80 10 1 2 Diagnostics 81 10 1 3 Expanded diagnostics 81 10 2 General causes of errors 81 10 2 1 Power LED 82 10 3 Interface errors 82 10 3 1 BUS LED 82...

Страница 7: ...1 2 Declaration of conformity The AMS 338i absolute measuring optical laser measurement system was designed and manufactured in accordance with applicable European directives and standards The AMS ser...

Страница 8: ...o the receiving element of the laser measurement system The AMS 338i uses the propagation time of the light to calculate the distance to the reflector The high absolute measurement accuracy of the las...

Страница 9: ...their trolleys Lifts Electroplating plants Attention For UL applications use is permitted exclusively in Class 2 circuits according to NEC National Electric Code CAUTION Observe intended use Only oper...

Страница 10: ...responsible person on the mounting and operation of the device Certified electricians Electrical work must be carried out by a certified electrician Due to their technical training knowledge and exper...

Страница 11: ...the laser beam or in the direction of reflecting laser beams If you look into the beam path over a longer time period there is a risk of injury to the retina Do not point the laser beam of the device...

Страница 12: ...riate for the place of use When using the device in the US use the stick on label with the Complies with 21 CFR 1040 10 notice Affix the laser information and warning signs near the device if no signs...

Страница 13: ...um Output peak Pulse duration Wavelength RAYONNEMENT LASER NE PAS REGARDER DANS LE FAISCEAU APPAREIL LASER DE CLASSE 2 EN 60825 1 2007 Puissance max cr te Dur e d impulsion Longueur d onde RADIACI N L...

Страница 14: ...tention For error free position measurement there must be an unobstructed line of sight between the AMS 338i and the reflector 3 1 1 Mounting the device The laser is mounted using 4 screws M5 Alignmen...

Страница 15: ...n are also available here Detailed information can be found in chapter 7 3 3 Display Once the laser measurement system is supplied with voltage the device status as well as the measured position value...

Страница 16: ...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 Current...

Страница 17: ...y 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 Statistical er...

Страница 18: ...TNT 35 7 24V 4 1 2 Dimensioned drawing AMS 338i Figure 4 1 Dimensioned drawing AMS 338i A M5 screw for alignment B Knurled nut with WAF4 hexagon socket and M5 nut for securing C Optical axis D Zero po...

Страница 19: ...operating range EtherCAT interface 50113703 AMS 338i 300 300m operating range EtherCAT interface 50113704 AMS 338i 40 H 40m operating range EtherCAT interface integrated heating 50113705 AMS 338i 120...

Страница 20: ...damage 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 indic...

Страница 21: ...ice The AMS 338i 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 line o...

Страница 22: ...aligning 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...

Страница 23: ...tronic 5 2 1 Optional mounting bracket A mounting bracket for mounting the AMS 338i on a flat horizontal surface is available as an optional accessory Type designation MW OMS AMS 01 Part no 50107255 F...

Страница 24: ...distinguish between three different arrangements of AMS 338i and reflectors The AMS 338i are mounted stationary and in parallel on one plane Both reflectors move independently of one another at differ...

Страница 25: ...m Notice Please note that when the AMS 338i 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 vehicle...

Страница 26: ...onto the 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...

Страница 27: ...Installation and mounting 24 AMS 338i Leuze electronic 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 28: ...MS 338i are mounted separately Notice When mounting make certain that the laser light spot of the AMS 338i is aligned in the center of the deflection mirror Figure 5 7 Photo and dimensioned drawing of...

Страница 29: ...r 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 Descript...

Страница 30: ...ce The 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 ef...

Страница 31: ...ure 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 Reflectiv...

Страница 32: ...0115020 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 dimen...

Страница 33: ...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 5 XL 1...

Страница 34: ...le mounting of the AMS 338i 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 Recomme...

Страница 35: ...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 cable for...

Страница 36: ...e deflected 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 mount...

Страница 37: ...e 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 from t...

Страница 38: ...ar anteed 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...

Страница 39: ...evice 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 properl...

Страница 40: ...BUS IN Table 7 2 Pin assignments for 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 Sw...

Страница 41: ...me Remark 1 TD Transmit Data 2 RD Receive Data 3 TD Transmit Data 4 RD Receive Data Thread FE Functional earth housing BUS OUT TD 1 2 3 4 RD RD TD M12 socket D coded Service 5 pin socket A coded Pin N...

Страница 42: ...The figure is for illustration purposes only and does not correspond to AMS 338i with respect to bus interface info 8 2 Status display and operation 8 2 1 Indicators in the display Status and warning...

Страница 43: ...ust be sent in for inspection Bar graph Indicates the strength of the received laser light The center bar represents the ATT warning threshold The distance value remains valid and is output at the int...

Страница 44: ...continuous light Power LED green AMS 338i ok Measurement value output Self test successfully finished Device monitoring active Red flashing Power LED flashes red Device ok but warning message ATT TMP...

Страница 45: ...Data Watchdog Timeout Flashing red BUS LED flashes red Invalid configuration LINK LED for BUS IN and BUS OUT A green yellow multicolor LED below the BUS IN and BUS OUT connectors indicates the EtherCA...

Страница 46: ...u level When one of the buttons is actuated the display illumination is activated for 10min Setting values If input of a value is possible the display looks like this Use the and buttons to set the de...

Страница 47: ...No entries can be made via the display IO1 LSR PLB ECAT IO2 TMP ATT ERR 87 000m Status and measurement data main menu Display of status warning and error messages Status overview of the switching inpu...

Страница 48: ...register via the master typically TwinCAT In this Table 8 1 Parameter handling submenu Level 3 Level 4 Level 5 Selection configuration option Description Standard Parameter enabling ON OFF The standar...

Страница 49: ...nd increases with increas ing distance Negative The measurement value begins at 0 and decreases with increasing distance Negative distance values may need to be compen sated with an offset or preset P...

Страница 50: ...ctive I O 2 Port config uration Input Output Defines whether I O 2 functions as an output or input Output Switching input Function No function preset teach laser ON OFF No function Activation Low acti...

Страница 51: ...ontrol The extended switch on switch off range for heating may provide relief in the event of condensation problems There is no guarantee that no condensation will occur on the optics in the extended...

Страница 52: ...ed To do this proceed as follows Service Status messages Diagnostics Expanded diagnostics Inthemainmenu presstheenterbuttontoenterthe Parameter menu Parameter Parameter handling EtherCAT Maximum posit...

Страница 53: ...0x2300h sub index 0x05h For parameter enable via the display the password must be entered If parameter enabling has been activated after successfully entering the password parameters can temporarily...

Страница 54: ...of topologies such as line tree ring star and their combi nations The bus or line structure known from the fieldbuses is thus also available for EtherCAT Telegrams are transmitted on one line pair in...

Страница 55: ...ends see table Order codes for EtherCAT connection cables on page 88 For unavailable cable lengths you can configure your cables yourself For this purpose Leuze electronic offers a D coded M12 connect...

Страница 56: ...s for EtherCAT on page 87 If you use user configurable cables note the following Notice The entire connection cable must be shielded The shielding connection must be at the same potential on both ends...

Страница 57: ...PERATIONAL The master and the AMS 338i exchange application specific initializations and device specific parameters In the PRE OPERATIONAL state configuration is initially possible via SDOs only SAFE...

Страница 58: ...AMS 338i For EtherCAT one does not specify individual device profiles for device classes Instead simple interfaces for existing device profiles are provided The AMS 338i supports the DS406 device pro...

Страница 59: ...y object contains general information regarding the device 1A00 TPDO 1 position value and status synchronous 1A02 TPDO 3 velocity value and status synchronous Object address in hex AMS 338i specific o...

Страница 60: ...der functions Encoder The 8h 8d classification describes the AMS 338i as an absolute linear encoder as described in the DS406 specification 9 7 4 2 Object 1018h Identity object This object contains ge...

Страница 61: ...Name Data type Access Value range Remark hex hex Minimum Maximum Default 1A00 01 Maximum position value u 32 ro 6004 00 20 Position value from object 6004 02 Position value status u 32 ro 2060 01 20 S...

Страница 62: ...ttention The DS406 encoder specification prescribes that the counting direction can be set in object 6000 bit 3 Object 2000 sub index 04 and object 6000 bit 3 overwrite each other 1 MSB Status see obj...

Страница 63: ...n activated by a corresponding trigger signal the preset value has priority over the offset value Preset value and offset value are not offset against each other The resolution of the offset value is...

Страница 64: ...be adapted permanently via the control The dynamic preset value is activated with preset teach and deactivated with preset reset After preset teach the current position value is offset against the con...

Страница 65: ...ge the corresponding status bits are set in objects 2050h 2051h and 2060h Sub index 02 Sub index 03 The lower and upper position limit values are entered in mm or inch 100 according to the unit select...

Страница 66: ...integration time for the velocity averages all velocity values calculated during the selected period to yield a velocity value This average velocity value is output via the inter face The velocity val...

Страница 67: ...site direction If the check is independent of direction the order of position start and position end is irrel evant Depending on the selected switching mode if the value is above or below the defined...

Страница 68: ...pendent velocity monitoring Bit 2 velocity monitoring 0 deactivated 1 activated Bit 3 Bit 7 reserve Index Sub index Name Data type Access Value range Remark hex hex Minimum Maximum Default 2022 01 Lim...

Страница 69: ...velocity monitoring Bit 2 velocity monitoring 0 deactivated 1 activated Bit 3 Bit 7 reserve Index Sub index Name Data type Access Value range Remark hex hex Minimum Maximum Default 2023 01 Limit value...

Страница 70: ...endent velocity monitoring Bit 2 velocity monitoring 0 deactivated 1 activated Bit 3 Bit 7 reserve Index Sub index Name Data type Access Value range Remark hex hex Minimum Maximum Default 2024 01 Limi...

Страница 71: ...tus Bit 0 velocity measurement error 0 OK 1 error Bit 1 movement status 0 no movement 1 movement Index Sub index Name Data type Access Value range Remark hex hex Minimum Maximum Default 2025 01 Limit...

Страница 72: ...locity 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 velocity comparison limit va...

Страница 73: ...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 o...

Страница 74: ...he laser power falls below the predefined limit value the output is set 0 OFF 1 ON Bit 14 plausibility monitoring PLB If implausible measurement values are diagnosed the output is set 0 OFF 1 ON Bit 1...

Страница 75: ...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 output is set 0 OFF 1 ON Bit 9 position limit value 2 If the position val...

Страница 76: ...t 0 OFF 1 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 se...

Страница 77: ...erature TMP Laser LSR Plausibility PLB In sub index 02 the laser diode can be switched OFF ON Explanations on sub index 01 Bit 0 hardware error ERR 0 OK 1 hardware error ERR Bit 1 Bit 3 reserve 0 rese...

Страница 78: ...If the intensity of the received signal falls below the predefined limit value the warning is set 0 OK 1 warning Bit 14 temperature TMP If the internal device temperature lies outside the predefined...

Страница 79: ...ase of error 0 last valid value 1 zero Bit 1 static 0 Bit 2 suppress velocity state 0 OFF 1 ON Bit 3 error delay velocity 0 OFF 1 ON Index Sub index Name Data type Access Value range Remark hex hex Mi...

Страница 80: ...limited heating capacity 9 7 7 Objects of the AMS 338i from the DS406 class 1 encoder profile The AMS 338i adopts the profile from CANopen The profile puts prescribed characteristics of the participan...

Страница 81: ...5 reserve 9 7 7 2 Object 6004h Position value Object 6004h contains the position value for process data objects PDOs 1A00h TPDO1 Index Sub index Name Data type Access Value range Remark hex hex Minimu...

Страница 82: ...t 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 res...

Страница 83: ...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 84: ...iagnostic data are displayed in 2 fields In the upper half of the display status messages of the AMS and the bar graph are displayed The lower half contains information that assists in a Leuze interna...

Страница 85: ...NK LED for BUS IN LINK LED for BUS OUT Error Possible error cause Measure PWR LED OFF No supply voltage connected Check supply voltage Hardware error Send in device PWR LED flashes red Light beam inte...

Страница 86: ...outside of the permissible range TMP display PLB Select AMS with heating or ensure cooling ATT insufficient received signal level Reflector soiled Clean reflector or glass lens Glass lens of the AMS...

Страница 87: ...84 Interbus AMS Absolute Measuring System Type designation Description Part no AMS 338i 40 40m operating range EtherCAT interface 50113701 AMS 338i 120 120m operating range EtherCAT interface 50113702...

Страница 88: ...ted 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 Overview...

Страница 89: ...ed 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 Operating temperature range in rest state 30 C 70 C in motion 5 C 70 C Material sheathing PVC Bending...

Страница 90: ...nnection cable open cable end Cable designation KB ET SA Accessories EtherCAT connection cable with both sided D coded M12 connector Cable designation KB ET SSA cable assignment 1 1 not crossed Access...

Страница 91: ...00 SA Cable length 15m 50106742 KB ET 20000 SA Cable length 20m 50106743 KB ET 25000 SA Cable length 25m 50106745 KB ET 30000 SA Cable length 30m 50106746 M12 plug for BUS IN to RJ 45 connector KB ET...

Страница 92: ...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 93: ...iagnostics 80 Dimensioned drawing of AMS 3xxi 15 Display 39 E Electrical connection 36 Safety notices 36 EtherCAT Cable lengths and shielding 52 Wiring 52 EtherCAT topology 51 Expanded diagnostics 81...

Страница 94: ...eflective tape Dimensioned drawing 28 Specifications 27 Reflector 26 Mounting 32 Pitch 35 Size 31 Type overview 31 Repair 89 S Sensing distance 84 Servicing 89 Specifications 13 Dimensioned drawing 15...

Страница 95: ...ee resolution value 5 50000 I O I O 1 Port configuration Input Output page 45 Switching input Function No function preset teach laser ON OFF Activation Low active High active Switching output Function...

Страница 96: ...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 46 Service Status messages Number of readings reading gates reading rate n...

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