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Preliminary information

This guide is designed to provide the most complete information the operator needs to correctly and
safely install and operate the following rotary encoders 

equipped with MODBUS TCP/IP interface

:

EMxxx13/16384MT-xx

(multiturn encoder, resolution 13 +14 bits)

HSxxx18/MT-xx

(singleturn encoder, resolution 18 bits)

HMxxx16/16384MT-xx

(multiturn encoder, resolution 16 +14 bits)

For technical specifications please refer to the product datasheet.

To make it easier to read the text, this guide can be 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.
While in the second section, entitled 

MODBUS TCP/IP Interface

, both general and specific information

is given on the MODBUS interface. In this section the interface features and the registers implemented in
the unit are fully described.

Содержание EMC58 MT

Страница 1: ... the Modbus over TCP IP protocol Suitable for the following models EM58 EM58S MT EMC58 EMC59 EMC60 MT HS58 HS58S MT HSC58 HSC59 HSC60 MT HM58 HM58S MT HMC58 HMC59 HMC60 MT General Contents Preliminary information 8 1 Safety summary 17 2 Identification 19 3 Mounting instructions 20 4 Electrical connections 25 5 Quick reference 33 6 MODBUS TCP IP interface 34 Lika Electronic Tel 39 0445 806600 info ...

Страница 2: ...ion herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s r l Lika Electronic s r l reserves the right to make all modifications at any moments and without forewarning This manual is periodically reviewed and revised As required we suggest checking if a new or updated edition of this document is available at Lika Electronic s r l s website Lika...

Страница 3: ...1 M12 connectors 25 4 1 1 PWR Power supply connector Figure 1 25 4 1 2 P1 Port 1 and P2 Port 2 connectors Figure 1 26 4 1 3 Network configuration topologies cables hubs switches Recommendations 26 4 2 Ground connection 26 4 3 Connection of the shield 27 4 4 MAC address and IP address 27 4 5 Setting the IP address and the network configuration parameters 28 4 6 Line Termination 29 4 7 Diagnostic LE...

Страница 4: ...Word 111 112 60 Save parameters 60 Restore default parameters 60 Perform counting preset 61 Singleturn resolution 113 114 62 Number of revolutions 115 116 62 Supported alarms 117 118 63 Supported warnings 119 120 63 Alarm registers 121 122 64 Machine data not valid 64 Setting data not valid 64 Flash memory error 64 Warnings register 123 124 65 Wrong parameters list 125 126 65 Counts per revolution...

Страница 5: ...ncoder information MODBUS registers 78 8 5 Setting the Preset value 79 8 6 Setting the registers 81 8 7 Firmware upgrade 85 8 8 Network configuration 91 9 Programming examples 95 9 1 Using the 03 Read Holding Registers function code 95 9 2 Using the 04 Read Input Registers function code 96 9 3 Using the 06 Write Single Register function code 97 9 4 Using the 16 Write Multiple Registers function co...

Страница 6: ...rating parameters 109 110 58 P PCB Hardware Version 131 132 66 Perform counting preset 61 Preset value 105 106 56 Preset value error 65 PROCESS_ACTIVE 50 R Restore default parameters 60 S Save parameters 60 Scaling function 58 69 Setting data not valid 64 Singleturn resolution 113 114 62 Speed format 107 108 58 Speed value 3 4 68 Speed value 97 98 52 Status word 5 6 68 Status word 99 100 53 Suppor...

Страница 7: ...ant 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 8: ...r technical specifications please refer to the product datasheet To make it easier to read the text this guide can be 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 While in the second section entitled MOD...

Страница 9: ...a transmission medium TCP IP only guarantees that application messages are transferred between the devices over the Ethernet Local Area Network LAN it does not guaranty that the devices actually understand or interoperate with one another For MODBUS TCP IP this capability is provided by the application layer protocol MODBUS Broadcast address An IP address with a host portion that is all ones Bus A...

Страница 10: ...be returned by Slaves in the event of problems All exceptions are signalled by adding 0x80 to the function code of the request Refer to page 71 Exception response MODBUS operates according to the common client server Master Slave model the Client Master sends a request telegram service request to the Server Slave and the Server replies with a response telegram If the Server cannot process a reques...

Страница 11: ... get the following 192 168 123 Network 132 Host Or 192 168 123 0 network address 0 0 0 132 host address Refer to page 27 Isochronous Pertains to processes that require timing coordination to be successful Isochronous data transfer ensures that data flows continuously and at a steady rate in close timing with the ability of connected devices Legacy Ethernet Ethernet as standardised in IEEE 802 3 no...

Страница 12: ...etwork by the Client to initiate a transaction Refer to page 37 MODBUS Response A MODBUS Response is the Response message sent by the Server Refer to page 37 Network Network is a group of computers on a single physical network segment otherwise it is an IP network address range that is allocated by a system administrator Network address An IP address with a host portion that is all zeros Octet An ...

Страница 13: ...quirements for real time are therefore deterministic response and defined response time Register MODBUS functions operate on memory registers to configure monitor and control device I O Refer to page 51 Router A device that passes network traffic between different IP networks Server A Server is any program that awaits data requests to be sent to it Servers do no initiate contacts with Clients but ...

Страница 14: ...ntil the recipient acknowledges that they have been transferred successfully Topology Network structure Commonly used structures Line topology Ring topology Star topology Tree topology Refer to page 26 Transmission rate Data transfer rate in bps Refer to page 26 Wide area network WAN A large network that is a collection of smaller networks separated by routers The Internet is an example of a very ...

Страница 15: ... Application Data Unit HDLC High level Data Link Control HMI Human Machine Interface I O Input Output IETF Internet Engineering Task Force IP Internet Protocol MAC Media Access Control MB MODBUS Protocol MBAP MODBUS Application Protocol MBAP header MODBUS Application Header PDU Protocol Data Unit PLC Programmable Logic Controller TCP Transmission Control Protocol ...

Страница 16: ...FC 791 Internet Protocol Sep81 DARPA 4 RFC 1122 Requirements for Internet Hosts Communication Layers 5 IEC 61918 Industrial communication networks Installation of communication networks in industrial premises 6 IEC 61784 5 13 Industrial communication networks Profiles Part 5 13 Installation of fieldbuses Installation profiles for CPF 13 ...

Страница 17: ...ection on page 25 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 install EMC filters on device power supply if needed always use shielded cables twisted pair cables when...

Страница 18: ...ct 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 a shaft whose di...

Страница 19: ...mber and the MAC address when reaching Lika Electronic for purchasing spare parts or needing assistance For any information on the technical characteristics of the product refer to the technical catalogue Warning encoders having order code ending with Sxxx may have mechanical and electrical characteristics different from standard and be supplied with additional documentation for special connection...

Страница 20: ... technical catalogue 3 1 Solid shaft encoders 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 ...

Страница 21: ...3 Installation using a mounting bell code PF4256 NOTE In order to guarantee reliability over time of the encoder mechanical parts we recommend a flexible coupling to be installed between the encoder and the motor shaft Make sure the misalignment tolerances of the flexible coupling are respected MAN EM58_HS58_HM58 MT E 1 1 odt Mounting instructions 21 of 104 ...

Страница 22: ...e encoder on the motor shaft using the reducing sleeve 8 if supplied Avoid forcing the encoder shaft insert the anti rotation pin 1 into the slot on the flange of the encoder this secures it in place by grub screw 2 preset at Lika fix the collar 3 to the encoder shaft apply some threadlocker to the screw 3 MAN EM58_HS58_HM58 MT E 1 1 odt Mounting instructions 22 of 104 ...

Страница 23: ...ncoder 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 x 8 cylindrical head screws 5 fix the collar 3 to the encoder shaft apply some threadlocker to the screw 3 MAN EM58_HS58_HM58 MT E 1 1 odt Mounting instructions 23 of 104 ...

Страница 24: ...tation pin 6 is inserted properly into the fixing plate 7 fix the collar 3 to the encoder shaft apply some threadlocker to the screw 3 NOTE You are strongly advised not to carry out any mechanical operations drilling milling etc on the encoder shaft This could cause serious damages to the internal parts and an immediate warranty loss Please contact our technical personnel for the complete availabi...

Страница 25: ... with three M12 connectors with pin out in compliance with the Ethernet standard Therefore you can use standard Ethernet cables commercially available PORT 1 and PORT 2 are interchangeable 4 1 1 PWR Power supply connector Figure 1 M12 4 pin male connector with A coding is used for power supply Description Pin 10Vdc 30Vdc 1 n c 2 0Vdc 3 n c 4 n c not connected MAN EM58_HS58_HM58 MT E 1 1 odt Electr...

Страница 26: ...se a standard straight network cable not a crossover cable You need at least a CAT 5 cable category 5 to get a data transfer rate up to 100 Mbit s If there is a network component in the network which does not provide fast Ethernet the encoder will automatically switch down to 10 Mbit s Standard Ethernet cables commercially available can be used For complete information please refer to IEC 61918 IE...

Страница 27: ...ss The MAC address is an identifier unique worldwide and has to be intended 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 The MAC address is 6 byte long and cannot be modified It consists of two parts numbers are expressed in hexadecimal notation the fi...

Страница 28: ...can be set only via software The following table summarises the default IP address and the network configuration parameters IP Parameter Value IP address 192 168 1 10 Subnet mask 255 255 255 0 Default Gateway 0 0 0 0 To configure the network and set specific communication parameters the operator must enter the Network IP Configuration page of the Web server Any change is valid in the range 0 0 0 0...

Страница 29: ...he activity of the physical link port 1 P1 OFF Neither link active nor activity ON Port 1 P1 link active no activity BLINKING Activity on port 1 P1 LED Description NS Network State Error LED green red It shows the current state of the network OFF No IP address detected or fault status ON green One MODBUS message at least has been received FLASHING green The encoder is waiting for the first MODBUS ...

Страница 30: ... activity of the physical link port 2 P2 BLINKING Activity on port 2 P2 ON Port 2 P2 link active no activity NOTE If both the NS Network Status LED and the MS Module Status LED are red a fatal error has occurred NOTE During startup the device carries out a hardware test to check the LEDs operation Both NS Network Status and MS Module Status LEDs light up 4 8 DIP A Resetting the network configurati...

Страница 31: ... as explained in the following 4 9 Connection cap Figure 2 section set the hardware switch 1 to ON reconnect the cap then turn the power supply on and wait for the initialization process to be completed turn the power supply off remove the connection cap again and set the hardware switch 1 to OFF again replace the connection cap as explained in the following 4 9 Connection cap Figure 2 section tur...

Страница 32: ...E 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 Tighten the screws 1 using a tightening torque of approx 2 5 Nm WARNING You are required to check that the...

Страница 33: ...on page 58 the encoder will use the Singleturn resolution 113 114 and the Number of revolutions 115 116 register values to arrange the absolute position information otherwise if you need a specific resolution please enable the Scaling function item the bit 0 in the Operating parameters 109 110 registers 1 see on page 58 then set the value you need for the singleturn resolution next to the Counts p...

Страница 34: ...ices MODBUS devices communicate using a Master Slave Client Server technique in which only one device the Master Client can initiate transactions called queries The other devices Slaves Servers respond by supplying the requested data to the Master or by taking the action requested in the query A Slave is any peripheral device I O transducer valve network drive or other measuring device which proce...

Страница 35: ...MODBUS frame description The MODBUS application protocol defines a simple Protocol Data Unit PDU independent of the underlying communication layers Function Code Data MODBUS PDU The mapping of MODBUS protocol on a specific bus or network introduces some additional fields on the Application Data Unit ADU The Client that initiates a MODBUS transaction builds the MODBUS Application Data Unit and then...

Страница 36: ...onse transaction It is initialized by the Client the Server copies in the response the Transaction Identifier received with the request Protocol Identifier it is 2 byte long and is used for intra system multiplexing The MODBUS protocol is identified by the value 0 It is initialized by the Client the Server copies in the response the Protocol Identifier received with the request Length it is 2 byte...

Страница 37: ...in the field The structure of the DATA field depends on each FUNCTION CODE refer to the 6 5 Function codes section on page 38 The complete MODBUS TCP IP Application Data Unit is embedded into the data field of a standard TCP frame and sent via TCP to registered port 502 which is specifically reserved for MODBUS applications MODBUS TCP IP Clients and Servers listen and receive MODBUS data via port ...

Страница 38: ... 260 bytes 6 5 Function codes As previously stated the function code indicates to the Server what kind of action to perform The function code field of a MODBUS Protocol Data Unit is coded in one byte Valid codes are in the range of 1 255 decimal the range 128 255 is reserved and used for Exception Responses When a message is sent from a Client to a Server device the function code field tells the S...

Страница 39: ... the response message is packed as two bytes per register with the binary contents right justified within each byte For each register the first byte contains the high order bits msb and the second contains the low order bits lsb For the complete list of the holding registers accessible using the 03 Read Holding Registers function code please refer to the 7 1 1 Holding Register parameters section o...

Страница 40: ...he Preset value 105 106 registers address 104 105 is as follows MBAP Header Request PDU in hexadecimal notation 00 01 00 00 00 06 00 03 00 68 00 02 where 00 01 Transaction Identifier 00 00 Protocol Identifier 00 06 Length 00 Unit Identifier 03 03 Read Holding Registers function code 00 68 starting address Preset value 105 106 registers address 104 105 00 02 number of requested registers The MODBUS...

Страница 41: ...esponse message are packed as two bytes per register with the binary contents right justified within each byte For each register the first byte contains the high order bits msb and the second contains the low order bits lsb For the complete list of the input registers accessible using the 04 Read Input Registers function code please refer to the 7 1 2 Input Register parameters section on page 68 R...

Страница 42: ...dress 0 1 is as follows MBAP Header Request PDU in hexadecimal notation 00 01 00 00 00 06 00 04 00 00 00 02 where 00 01 Transaction Identifier 00 00 Protocol Identifier 00 06 Length 00 Unit Identifier 04 04 Read Input Registers function code 00 00 starting address Current position 1 2 registers address 0 1 00 02 number of requested registers The MODBUS TCP IP ADU needed to send back the value of t...

Страница 43: ...r contents have been written For the complete list of the holding registers accessible using the 06 Write Single Register function code please refer to the 7 1 1 Holding Register parameters section on page 51 Request PDU Function code 1 byte 0006 hex Register address 2 bytes 0000 hex to FFFF hex Register value 2 bytes 0000 hex to FFFF hex Response PDU Function code 1 byte 0006 hex Register address...

Страница 44: ... Watchdog timeout 82 register address 81 is as follows MBAP Header Request PDU in hexadecimal notation 00 01 00 00 00 06 00 06 00 51 00 0A where 00 01 Transaction Identifier 00 00 Protocol Identifier 00 06 Length 00 Unit Identifier 06 06 Write Single Register function code 00 51 address of the Watchdog timeout 82 register 51 hex 81 dec 00 0A value to be set in the register The MODBUS TCP IP ADU ne...

Страница 45: ... registers accessible using the 16 Write Multiple Registers function code please refer to the 7 1 1 Holding Register parameters section on page 51 Request PDU Function code 1 byte 0010 hex Starting address 2 bytes 0000 hex to FFFF hex Quantity of registers 2 bytes 0001 hex to 007B hex Byte count 1 byte 2 x N Registers value N x 2 bytes value N Quantity of registers Response PDU Function code 1 byt...

Страница 46: ...value Hi 00 Register 104 value Lo 00 As you can see in the table the values 00 00 hex and 08 00 hex i e 2048 in decimal notation are set in the Counts per revolution 101 102 registers at address 100 101 while the values 00 80 hex and 00 00 hex i e 8388608 in decimal notation are set in the Total Resolution 103 104 registers at the address 102 103 Thus the encoder will be programmed to have a 2048 ...

Страница 47: ...r 104 00 00 hex 00 80 00 00 hex 8388608 dec The MODBUS TCP IP ADU needed to send back a response following the request to write the value 2048 next to the Counts per revolution 101 102 registers address 100 101 and the value 8388608 next to the Total Resolution 103 104 registers address 102 103 is as follows MBAP Header Response PDU in hexadecimal notation 00 01 00 00 00 06 00 10 00 64 00 04 where...

Страница 48: ... i e 0000 0000 0000 0000 0000 0000 0000 0001 in binary notation is set in the Operating parameters 109 110 registers address 108 109 the bit 0 Scaling function 1 the bit 1 Code sequence 0 the remaining bits are not used therefore their value is 0 The MODBUS TCP IP ADU needed for the request to set the scaling function bit 0 Scaling function 1 and the count up information with clockwise rotation of...

Страница 49: ...to be sure that the communication is always active this is intended to prevent danger situations from arising in case of failures in the communication network For this purpose the Watchdog function is implemented and can be enabled The Watchdog function is a safety timer that uses a time out to detect loop or deadlock conditions For instance should the communication be cut off while a command is s...

Страница 50: ... a MODBUS request is received ERROR An IP address conflict has been detected in the MODBUS network The NS Network State Error LED lights up red see on page 29 PROCESS_ACTIVE The encoder shifts to the WAIT_PROCESS state if no requests are received within the preset time EXCEPTION A Watchdog timeout has occurred any MODBUS requests will be ignored The NS Network State Error LED starts flashing red s...

Страница 51: ... Machine data parameters are 4X Reference Registers and accessible for both writing and reading to read the value set in the parameter use the 03 Read Holding Registers function code reading of multiple registers to write a value in the parameter use the 06 Write Single Register function code writing of a single register or the 16 Write Multiple Registers writing of multiple registers for any furt...

Страница 52: ...g timeout When the Watchdog function is enabled if the device does not receive a message from the Server within the set time the system forces the encoder to exit the network participation and shift to the EXCEPTION state Furthermore the NS Network State Error LED starts flashing red Default 0 min 0 max 65535 NOTE As soon as the Watchdog function is enabled Watchdog timeout 82 0 one MODBUS command...

Страница 53: ... number of distinguishable steps per revolution that are output for the absolute singleturn position value You are allowed to set whatever integer value less than or equal to the maximum number of physical steps per revolution see the Singleturn resolution 113 114 registers If you enter an out of range value i e greater than the maximum number of physical steps per revolution the value is not acce...

Страница 54: ...equired to carry out more than 93 000 revolutions this cannot be as the hardware number of revolutions is as stated 16 384 see the Singleturn resolution 113 114 registers When this happens the value is not accepted WARNING If you have set the preset every time you change the value next to the Counts per revolution 101 102 registers then you must check the value in the Preset value 105 106 register...

Страница 55: ... per revolution 101 102 Furthermore after having set a new value next to the Total Resolution 103 104 registers always check also the Counts per revolution 101 102 registers and make sure that the following condition is met Total Resolution 103 104 Number of physical revolutions see Number of revolutions 115 116 Counts per revolution 101 102 Let s suppose that the HM58 16 16384MT encoder is progra...

Страница 56: ...000 hex NOTE We suggest setting values which are a power of 2 2n 2 4 2048 4096 8192 to be set in the Counts per revolution 101 102 and Total Resolution 103 104 registers to avoid counting errors WARNING If Counts per revolution 101 102 and or Total Resolution 103 104 values change the Preset value 105 106 must be updated in accordance with the new resolution A new preset operation is also required...

Страница 57: ...e same as Preset value 105 106 0 and Offset value 127 128 0 When you set the Preset value 105 106 and then execute the Perform counting preset command the system saves the current encoder position in the Offset value 127 128 registers It follows that the transmitted value and the Preset value 105 106 are the same as read position Offset value 127 128 0 in other words the value set next to the Pres...

Страница 58: ...isters define the engineering unit for the velocity value see the Speed value 3 4 registers on page 68 0 steps s number of steps per second 1 rpm revolutions per minute Default 0 min 0 max 1 Operating parameters 109 110 108 109 Unsigned16 rw Bit Function bit 0 bit 1 0 Scaling function disabled enabled 1 Code sequence CW clockwise CCW counter clockwise 2 31 not used Default values are highlighted i...

Страница 59: ...her the position value output by the encoder increases count up information when the encoder shaft rotates clockwise 0 CW or counter clockwise 1 CCW If the bit 1 Code sequence 0 the absolute position value increases when the encoder shaft rotates clockwise on the contrary if the bit 1 Code sequence 1 the absolute position value increases when the encoder shaft rotates counter clockwise CW and CCW ...

Страница 60: ...Always save the new values after setting in order to store them in the non volatile memory permanently Should the power supply be turned off all data that has not been saved previously will be lost Restore default parameters bit 10 This function allows the operator to restore all parameters to default values default values are set at the factory by Lika Electronic engineers to allow the operator t...

Страница 61: ...en the bit must be switched back to logic level low 0 to make the function available again When the command is sent the current encoder position is saved temporarily in the Offset value 127 128 registers For any further information on the preset function and the meaning and use of the related registers and commands Preset value 105 106 Offset value 127 128 and Perform counting preset refer to page...

Страница 62: ...5536 for HM58 series Number of revolutions 115 116 114 115 Unsigned32 ro WARNING These registers are active only if the bit 0 Scaling function in the Operating parameters 109 110 registers is set to 0 otherwise they are ignored and the system uses the custom values Counts per revolution 101 102 and Total Resolution 103 104 to calculate the position information These registers are intended to show ...

Страница 63: ...in the Alarm registers 121 122 item The supported alarms are listed here afterwards Byte 0 Not used Byte 1 bits 8 11 Not used Machine data not valid bit 12 Setting data not valid bit 13 Flash memory error bit 14 bit 15 Not used Bytes 2 and 3 Not used Default 0000 7000h 00000 0000 0000 0000 0111 0000 0000 0000 alarms at bits 12 13 and 14 of the Alarm registers 121 122 item are supported Supported w...

Страница 64: ...ges are described here afterwards Byte 0 Not used Byte 1 bits 8 11 Not used Machine data not valid bit 12 One or more parameters are not valid set proper values to restore normal work condition See the list of the wrong parameters in the Wrong parameters list 125 126 registers Setting data not valid bit 13 This alarm message is currently disabled in this firmware version Flash memory error bit 14 ...

Страница 65: ...ror Alarm not active Alarm active 2 Preset value error Alarm not active Alarm active 3 Offset value error Alarm not active Alarm active 4 31 not used Byte 0 Counts per revolution error bit 0 Wrong data has been set next to the Counts per revolution 101 102 registers Set proper values to restore the normal work condition Total resolution error bit 1 Wrong data has been set next to the Total Resolut...

Страница 66: ...5 106 Offset value 127 128 and Perform counting preset refer to page 56 Default 0 DSC Firmware Version 129 130 128 129 Unsigned32 ro These registers are meant to show the firmware version of the DSC Digital Signal Controller The meaning of the 32 bits in the registers is as follows Word MS Word LS Word bit 31 16 15 0 msb lsb msb Lsb Major version Minor version For example the value 0001 0001 hex i...

Страница 67: ...the value 0001 0001 hex in hexadecimal notation corresponds to the binary representation 0000 0000 0000 0001 0000 0000 0000 0001 and has to be interpreted as hardware version 1 1 MAN EM58_HS58_HM58 MT E 1 1 odt Programming parameters 67 of 104 ...

Страница 68: ...function code For any information refer to page 52 Speed value 3 4 002 003 Signed32 ro This attribute shows the current output speed value detected by the position encoder and calculated every 100 ms The value can be expressed in either steps per second or revolutions per minute according to the setting next the Speed format 107 108 registers on page 58 The Speed value 3 4 input registers are also...

Страница 69: ...nction refer to the Scaling function parameter on page 58 Code sequence bit 1 It shows whether the code sequence see the bit 1 Code sequence of the Operating parameters 109 110 registers is currently set to clockwise CW or counter clockwise CCW If the bit is 0 the output encoder position value has been set to increase count up information when the encoder shaft rotates clockwise if the bit is 1 th...

Страница 70: ...Status word 5 6 input registers are also available as holding registers at the address 98 99 and accessible by using the 03 Read Holding Registers function code For any information refer to page 53 MAN EM58_HS58_HM58 MT E 1 1 odt Programming parameters 70 of 104 ...

Страница 71: ...esponse message has two fields that differentiate it from a normal response FUNCTION CODE FIELD in a normal response the Server echoes the function code of the original request in the function code field of the response All function codes have a most significant bit msb of 0 their values are all below 80 hexadecimal In an exception response the Server sets the msb of the function code to 1 This ma...

Страница 72: ...l with Exception Code 0x02 Illegal Data Address since it attempts to operate on registers 96 97 98 99 and 100 and there is no register with address 100 03 ILLEGAL DATA VALUE A value contained in the query data field is not an allowable value for server This indicates a fault in the structure of the remainder of a complex request such as that the implied length is incorrect It specifically does NOT...

Страница 73: ...ecialized use in conjunction with gateways indicates that the gateway was unable to allocate an internal communication path from the input port to the output port for processing the request Usually means that the gateway is misconfigured or overloaded 0B GATEWAY TARGET DEVICE FAILED TO RESPOND Specialized use in conjunction with gateways indicates that no response was obtained from the target devi...

Страница 74: ...tion between the web browser and the web server running on the device it is perfectly fitted also for remote access scenarios Before opening the MODBUS TCP IP encoder web server please ascertain that the following requirements are fully satisfied the encoder is connected to the network the encoder has valid IP address the PC is connected to the network a web browser Internet Explorer Mozilla Firef...

Страница 75: ...to in the example 192 168 1 10 this is the default IP address set at Lika see on page 28 in the address bar of your web browser and confirm by pressing ENTER Figure 3 Opening the web server 2 as soon as the connection is established the web server Home page will appear on the screen Figure 4 Web server Home page MAN EM58_HS58_HM58 MT E 1 1 odt Integrated web server 75 of 104 ...

Страница 76: ...in the bar are freely accessible except the Upgrade firmware page that is protected and requires a password to allow access These commands allow to enter specific pages where information and diagnostics on the connected encoder as well as useful functions can be achieved They are described in the following sections 8 3 Encoder position and speed Press the Encoder Position Speed command in the left...

Страница 77: ...ommand to move back to the Web server Home page 8 3 1 Specific notes on using Internet Explorer The following options must be set properly on Internet Explorer in order to get the Encoder position and speed page to be continuously updated Open the Settings menu open the Internet Options property sheet in the General tabbed page press the Setting button available in the History Browsing section und...

Страница 78: ...parameters they can be either read write or read only access parameters For a complete description of the Holding registers please refer to the 7 1 1 Holding Register parameters section on page 51 NOTE The parameters are made up of two 16 bit registers except the Watchdog Value ms which is a single 16 bit register see the Watchdog timeout 82 register on page 52 For such reason only the start addre...

Страница 79: ...or complete information on the preset function please refer to the Preset value 105 106 registers on page 56 A 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 operator about the awkwardness of the operation thus he is required to confirm the procedure before continuing Figure 7 Entering the Set Encoder...

Страница 80: ...eset page The Preset value that is currently set in the encoder see the Preset value 105 106 registers on page 56 will be displayed in the READ box To change the Preset enter a suitable value in the WRITE box and then press the Set Preset Value button to confirm The value has to be set in decimal notation MAN EM58_HS58_HM58 MT E 1 1 odt Integrated web server 80 of 104 ...

Страница 81: ...ating the preset value when the encoder is in stop NOTE At each confirmation of the Preset setting and activation a message will appears in the No Command sent line It informs whether the operation has been accomplished properly or an error occurred Press the Homepage command to move back to the Web server Home page 8 6 Setting the registers Press the Set Registers command in the left navigation b...

Страница 82: ...n to proceed otherwise press the EXIT button to exit the procedure The Set Registers cancelled message will appear on the screen Press the OK button to move back to the Web server Home page Figure 11 Register setting operation aborted MAN EM58_HS58_HM58 MT E 1 1 odt Integrated web server 82 of 104 ...

Страница 83: ...LE The Counts per revolution 101 102 registers are currently set to 8192 see the READ box in the first line of the Figure above To change the set value enter a suitable value in the corresponding WRITE box of the same line and then press the COUNTS PER REV button to confirm NOTE Please note that after pressing the button between the boxes the set value is saved temporarily in the registers To save...

Страница 84: ...oder is set incorrectly and you are not able to resume the proper operation For more information refer to the Restore default parameters command in the Control Word 111 112 registers on page 60 WARNING The execution of this command causes all parameters which have been set previously to be overwritten NOTE At each confirmation of the set registers a message will appears in the No Command sent line...

Страница 85: ...he user himself This allows Lika Electronic to make new improved firmware programs available during the lifetime of the product Typical reasons for the release of new firmware programs are the necessity to make corrections improve and even add new functionalities to the device The firmware upgrading program consists of a single file having BIN extension It is released by Lika Electronic Technical ...

Страница 86: ...ws 1 Press the Upgrade Firmware command in the left navigation bar of the Web server Home page to enter the Firmware Upgrade page 2 As soon as you press the Upgrade Firmware command a warning message Are you sure you want to update the flash appears on the screen it warns the operator about the awkwardness of the operation thus he is required to confirm the procedure before continuing Figure 13 En...

Страница 87: ...me page Figure 14 Firmware upgrade operation aborted 4 If you confirm the procedure the Firmware Upgrade page will appear on the screen the operator is requested to submit a password before starting the firmware upgrade procedure 5 In the Password text box type the password LIKA all uppercase letters and then press the Send Request button Figure 15 Firmware Upgrade page MAN EM58_HS58_HM58 MT E 1 1...

Страница 88: ...e encoder 9 Now you must launch the SW_ETH_REVX_Y EXE executable file to continue with the procedure X and Y indicate the version of the firmware upgrading program REV1_0 is the version 1 0 10 Launch the SW_ETH_REVX_Y EXE executable file provided by Lika Electronic the following page will appear Figure 16 Firmware upgrade executable file 11 Type the encoder IP address in the Remote IP Address box ...

Страница 89: ... to the relevant labels in the page File Name File Dimension byte File Date hour Please check the file properties and ascertain that you are installing the correct upgrade file WARNING Before installation always ascertain that the firmware program is compatible with the hardware and software of the device Never turn the power supply off during the flash upgrade operation 14 Press the Send File but...

Страница 90: ...own in the page while upgrading the firmware Figure 18 Updating the firmware 16 As soon as the operation is carried out successfully the FILE SENT CORRECTLY message appears on the screen Figure 19 Firmware upgrade process accomplished MAN EM58_HS58_HM58 MT E 1 1 odt Integrated web server 90 of 104 ...

Страница 91: ...uration Press the Network Configuration command in the left navigation bar of the Web server Home page to enter the Network Configuration page This page allows the operator to configure the TCP IP properties that is how the encoder communicates with other devices in the network For further information on the network communication parameters please refer to the 4 5 Setting the IP address and the ne...

Страница 92: ...re 20 Entering the Network Configuration page Press the OK button to proceed the Network Configuration page will appear on the screen Figure 21 Network Configuration page MAN EM58_HS58_HM58 MT E 1 1 odt Integrated web server 92 of 104 ...

Страница 93: ...he Save Settings button Should the power supply be turned off without saving data the values that have not been saved on the Flash EEProm will be lost WARNING After any setting please note down the configuration values to have access to the encoder and the Web server pages in the future If for any reason you are not able to communicate with the encoder and enter the Web server pages you must resto...

Страница 94: ...you must access the DIP A dip switch located inside the connection cap For complete information please refer to the 4 8 DIP A Resetting the network configuration parameters to the factory values section on page 30 Press the Homepage command to move back to the Web server Home page MAN EM58_HS58_HM58 MT E 1 1 odt Integrated web server 94 of 104 ...

Страница 95: ...h 00 Unit Identifier 03 03 Read Holding Registers function code 00 68 starting address Preset value 105 106 registers address 104 105 00 02 number of requested registers MBAP Header Response PDU in hexadecimal notation 00 01 00 00 00 07 00 03 04 00 00 05 DC where 00 01 Transaction Identifier 00 00 Protocol Identifier 00 07 Length 00 Unit Identifier 03 03 Read Holding Registers function code 04 num...

Страница 96: ...nt position 1 2 registers address 0 1 00 02 number of requested registers MBAP Header Response PDU in hexadecimal notation 00 01 00 00 00 07 00 04 04 00 00 2F F0 where 00 01 Transaction Identifier 00 00 Protocol Identifier 00 07 Length 00 Unit Identifier 04 04 Read Input Registers function code 04 number of bytes 2 bytes for each register 00 00 value of register 1 00 00 hex 0 dec 2F F0 value of re...

Страница 97: ...n code 00 51 address of the Watchdog timeout 82 register 51 hex 81 dec 00 0A value to be set in the register MBAP Header Response PDU in hexadecimal notation 00 01 00 00 00 06 00 06 00 51 00 0A where 00 01 Transaction Identifier 00 00 Protocol Identifier 00 06 Length 00 Unit Identifier 06 06 Write Single Register function code 00 51 address of the Watchdog timeout 82 register 51 hex 81 dec 00 0A v...

Страница 98: ...o be set in the register 101 00 00 hex 08 00 value to be set in the register 102 08 00 hex 00 00 08 00 hex 2048 dec 00 80 value to be set in the register 103 00 80 hex 00 00 value to be set in the register 104 00 00 hex 00 80 00 00 hex 8388608 dec MBAP Header Response PDU in hexadecimal notation 00 01 00 00 00 06 00 10 00 64 00 04 where 00 01 Transaction Identifier 00 00 Protocol Identifier 00 06 ...

Страница 99: ...ifier 10 16 Write Multiple Registers function code 00 6C starting address Operating parameters 109 110 registers address 108 109 00 02 number of requested registers 04 number of bytes 2 bytes for each register 00 00 value to be set in the register 109 00 00 hex 00 01 value to be set in the register 110 00 01 hex MBAP Header Response PDU in hexadecimal notation 00 01 00 00 00 06 00 10 00 6C 00 02 w...

Страница 100: ...1073741824 for EM58 series for HS58 series for HM58 series Preset value 105 106 0 Speed format 107 108 0 steps s Operating parameters 109 110 0000 0000 hex bit 0 Scaling function 0 bit 1 Code sequence 0 Singleturn resolution 113 114 8192 262144 65536 for EM58 series for HS58 series for HM58 series Number of revolutions 115 116 16384 1 16384 for EM58 series for HS58 series for HM58 series Supported...

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Страница 104: ...tage Limited Energy or Energy Source not exceeding 30 Vdc Refer to the order code for supply voltage rate Ce dispositif doit être alimenté par un circuit de Classe 2 ou à très basse tension ou bien en appliquant une tension maxi de 30Vcc Voir le code de commande pour la tension d alimentation Lika Electronic Via S Lorenzo 25 36010 Carrè VI Italy Tel 39 0445 806600 Fax 39 0445 806699 info lika biz ...

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