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List of abbreviations

Table below contains a list of abbreviations (in alphabetical order) which may be used in this guide to
describe the POWERLINK interface.

ACL

Access Control List

ARP

Address Resolution Protocol

ASnd

Asynchronous Send (POWERLINK frame type)

CAN

Controller Area Network

CiA

CAN in Automation

POWERLINK Controlled Node

DCF

Device Configuration File

Exception Achnowledge (flag in POWERLINK frame)

EIA

Electronic Industries Association

EMC

Electro Magnetic Compatibility

Exception New (flag in POWERLINK frame)

EPL

Ethernet POWERLINK

EPSG

Ethernet POWERLINK Standardisation Group

ICMP

Internet Control Message Protocol

Identifier

IEC

International Electrotechnical Comission

IEEE

Institute of Electrical and Electronic Engineers

Internet Protocol

MAC

Media Access Control

MIB

Management Information Base

POWERLINK Managing Node

Multiplexed Slot (flag in POWERLINK frame)

MSS

Maximum Segment Size

MTU

Maximum Transmission Unit

NAT

Network Address Translation

NIL

Not in List (Basic Data Type)

NMT

Network Management

PDO

Process Data Object

Priority (bit field in POWERLINK frame)

PReq

PollRequest (POWERLINK frame type)

Содержание POWERLINK EM58 PL

Страница 1: ...al Time Ethernet RTE and deterministic communication Suitable for the following models EM58 EM58S PL PLA EMC58 EMC59 EMC60 PL PLA HS58 HS58S PL PLA HSC58 HSC59 HSC60 PL PLA HM58 HM58S PL PLA HMC58 HMC59 HMC60 PL PLA General Contents Safety summary 21 Identification 23 Mounting instructions 24 Electrical connections 29 Quick reference 36 POWERLINK interface 61 Default parameters list 104 Lika Elect...

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: ...wer supply connector Figure 2 30 4 3 P1 Port 1 and P2 Port 2 connectors Figure 2 30 4 4 Network configuration cables hubs switches Recommendations 31 4 5 Ground connection 31 4 6 Connection of the shield 31 4 7 MAC address and IP address 32 4 8 POWERLINK Node ID DIP A 32 4 9 Diagnostic LEDs Figure 2 33 5 Quick reference 36 5 1 Before starting 36 5 1 1 Network identity 36 5 1 2 Network and communic...

Страница 4: ...ous Period 65 6 8 2 Asynchronous Period 65 6 8 3 Idle Period 66 6 9 CN Node NMT States 66 6 9 1 NMT_CS_NOT_ACTIVE 67 6 9 2 NMT_CS_PRE_OPERATIONAL_1 67 6 9 3 NMT_CS_PRE_OPERATIONAL_2 67 6 9 4 NMT_CS_READY_TO_OPERATE 68 6 9 5 NMT_CS_OPERATIONAL 68 6 9 6 NMT_CS_STOPPED 68 6 9 7 NMT_CS_BASIC_ETHERNET 69 6 10 XDD file 69 6 11 Communication objects 70 6 11 1 NMT Network Management 70 6 11 2 PDO objects ...

Страница 5: ..._AU64 ObjectMapping 79 1C0B 00 DLL_CNLossSoC_REC 80 1C0B 01 DLL_CNLossSoC_REC CumulativeCnt_U32 80 1C0B 02 DLL_CNLossSoC_REC ThresholdCnt_U32 80 1C0B 03 DLL_CNLossSoC_REC Threshold_U32 80 1C0FB 00 DLL_CNCRCError_REC 80 1C0FB 01 DLL_CNCRCError_REC CumulativeCnt_U32 81 1C0FB 02 DLL_CNCRCError_REC ThresholdCnt_U32 81 1C0FB 03 DLL_CNCRCError_REC Threshold_U32 81 1C14 DLL_CNLossOfSocTolerance_U32 81 1F...

Страница 6: ...ge in measuring units 94 6003 Preset value 96 6004 Position value 97 6030 Speed value 97 6500 Operating status 98 Code sequence 98 Scaling function 98 6501 Singleturn resolution 98 6502 Number of revolutions 99 6503 Alarms 99 Machine data not valid 99 Setting data not valid 100 Flash memory error 100 6504 Supported alarms 100 6506 Supported warnings 100 6507 Profile and software version 100 6508 O...

Страница 7: ...aceGroup_0h_REC InterfaceOperSt ate_U8 77 1030 08 NMT_InterfaceGroup_0h_REC InterfaceAdmin State_U8 78 1030 09 NMT_InterfaceGroup_0h_REC Valid_BOOL 78 1300 SDO_SequLayerTimeout_U32 78 1800 00 PDO_TxCommParam_00h_REC 78 1800 01 PDO_TxCommParam_00h_REC NodeID_U8 78 1800 02 PDO_TxCommParam_00h_REC MappingVersio n_U8 78 1A00 00 PDO_TxMappParam_00h_AU64 79 1A00 01 PDO_TxMappParam_00h_AU64 ObjectMappin ...

Страница 8: ...01 A Alarms 99 C CFM_VerifyConfiguration_REC 76 CFM_VerifyConfiguration_REC ConfDate_U32 76 CFM_VerifyConfiguration_REC ConfTime_U32 76 Code sequence 91 98 D DLL_CNCRCError_REC 80 DLL_CNCRCError_REC CumulativeCnt_U32 81 DLL_CNCRCError_REC Threshold_U32 81 DLL_CNCRCError_REC ThresholdCnt_U32 81 DLL_CNLossOfSocTolerance_U32 81 DLL_CNLossSoC_REC 80 DLL_CNLossSoC_REC CumulativeCnt_U32 80 DLL_CNLossSoC...

Страница 9: ..._ManufactHwVers_VS 75 NMT_ManufactSwVers_VS 75 NMT_MultiplCycleAssign_AU8 89 NMT_MultiplCycleAssign_AU8 CycleNo 89 NMT_NodeAssignment_AU32 81 NMT_NodeAssignment_AU32 NodeAssignment 82 NMT_PResPayloadLimitList_AU16 85 NMT_PResPayloadLimitList_AU16 PResPayloadLi mit 86 NMT_ResetCmd_U8 89 Number of revolutions 99 O Offset value 101 Operating parameters 91 Operating status 98 Operating time 101 P PDO_...

Страница 10: ...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 11: ...ake it easier to read the text this guide can be divided into some main sections In the first section from chapter 1 to chapter 4 general information concerning the safety the mechanical installation and the electrical connection In the second section chapter 5 information on how to install and configure the encoder under the Automation Studio development environment as well as tips for setting up...

Страница 12: ... requests and will subsequently grant the network access to one node after the other Refer also to page 65 Asynchronous Period The Asynchronous Period is the second part of the POWERLINK cycle starting with a Start of Asynchronous SoA frame Refer to page 65 Asynchronous Scheduling The MN s asynchronous scheduler decides when a requested asynchronous data transfer will happen Basic Ethernet Mode Ba...

Страница 13: ...etwork In the context of internet protocols A Domain is a part of the internet name space which is supported by the Domain Name System DNS Encoder Profile POWERLINK integrates with CANopen Profiles DS301 CANopen Application Layer and Communication Profile and DS406 Device Profile for Encoders for device interoperability The DS406 Device Profile for Encoders is intended to define a standard applica...

Страница 14: ...turer ID and are provided by IEE standard authority the last three bytes represent a consecutive number of the manufacturer Refer to page 32 Managing Node MN A node capable to manage the SCNM mechanism in a POWERLINK network Refer to page 63 Media Access Control MAC One of the sub layers of the Data Link Layer in the POWERLINK reference model that controls who gets access to the medium to send a m...

Страница 15: ...ronisation Protocol for Networked Measurement and Control Systems Process Data Object PDO Object for isochronous data exchange between POWERLINK nodes Profile Profiles define application specific functionality to ensure the openness of POWERLINK is utilized consistently Profiles can cover simple devices such as encoders by defining how signals are used and how they are physically connected However...

Страница 16: ...rk access of any of the networked nodes thus providing deterministic communication via Legacy Ethernet Refer to page 61 Source NAT S NAT S NAT Source Network Address Translation changes the source address of the IP ICMP packet StatusRequest A StatusRequest frame is a special SoA frame used to poll the status of a node StatusResponse A StatusResponse frame is transmitted by a CN upon assignment of ...

Страница 17: ... Tree topology Refer to page 61 Transmission rate Data transfer rate in bps Refer to page 62 ...

Страница 18: ...ic Compatibility EN Exception New flag in POWERLINK frame EPL Ethernet POWERLINK EPSG Ethernet POWERLINK Standardisation Group ICMP Internet Control Message Protocol ID Identifier IEC International Electrotechnical Comission IEEE Institute of Electrical and Electronic Engineers IP Internet Protocol MAC Media Access Control MIB Management Information Base MN POWERLINK Managing Node MS Multiplexed S...

Страница 19: ...NK frame SCNM Slot Communication Network Management SDO Service Data Object SNMP Simple Network Management Protocol SoA Start of Asynchronous POWERLINK frame type SoC Start of Cyclic POWERLINK frame type TCP Transmission Control Protocol TIA Telecommunications Industry Association TPDO Transmit Process Data Object UDP User Datagram Protocol VPN Virtual Private Network XDC XML device configuration ...

Страница 20: ...6 EPSG Draft Standard 302 B EPSG DS 302 B Ethernet POWERLINK Part B Multiple ASnd Version 1 0 0 7 EPSG Draft Standard 302 C EPSG DS 302 C Ethernet POWERLINK Part C PollResponse Chaining Version 1 0 0 8 EPSG Draft Standard 302 D EPSG WDP 302 D Ethernet POWERLINK Part D Multiple PReq PRes Version 1 0 0 9 EPSG Draft Standard 302 E EPSG WDP 302 E Ethernet POWERLINK Part E Dynamic Node Allocation Versi...

Страница 21: ...tion on page 29 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 whenev...

Страница 22: ... 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 diam...

Страница 23: ...er 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 connections ...

Страница 24: ...echnical 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 a ...

Страница 25: ...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 PL E 1 1 odt Mounting instructions 25 of 108 ...

Страница 26: ...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 A min 8 mm max 18 mm MAN EM58_HS58_HM58 PL E 1 1 odt Mounting instructions 26 of 108 ...

Страница 27: ...leeve 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 A min 8 mm max 18 mm MAN EM58_HS58_HM58 PL E 1 1 odt Mounting instructions 27 of 108 ...

Страница 28: ...e fixing plate 7 fix the collar 3 to the encoder shaft apply some threadlocker to the screw 3 A min 8 mm max 18 mm 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 availability of custom made ...

Страница 29: ...ess it NOTE Be careful not to damage the internal components when you perform this operation To remove the connection cap loosen the two screws 1 Please be careful with the internal connector Always replace the connection cap at the end of the operation Take care in re connecting the internal connector Tighten the screws 1 using a tightening torque of approx 2 5 Nm WARNING You are required to chec...

Страница 30: ...n female connectors with D coding are used for Ethernet connection through port 1 and port 2 Description Pin Tx Data 1 Rx Data 2 Tx Data 3 Rx Data 4 The Ethernet interface supports 100 Mbit s half duplex operation P1 PORT 1 and P2 PORT 2 M12 connectors have pin out in compliance with the POWERLINK standard Therefore you can use standard POWERLINK cables commercially available P1 PORT 1 and P2 PORT...

Страница 31: ...n kits please refer to the product datasheet Accessories list 4 5 Ground connection To minimize noise connect properly the shield and or the connector housing and or the frame to ground Connect properly the cable shield to ground on user s side Lika s EC pre assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device Lika ...

Страница 32: ...formation on the IP address refer to the 4 8 POWERLINK Node ID DIP A section on page 32 4 8 POWERLINK Node ID DIP A WARNING Power supply must be turned off before performing this operation The POWERLINK Node ID cannot be set via software The private class C Net ID 192 168 100 0 is used in the POWERLINK network A class C network provides 254 1 254 IP addresses which match the number of valid POWERL...

Страница 33: ... invalid address or any value greater than 239 the address will be forced to the default value DIP A Set the POWERLINK node ID in binary value ON 1 OFF 0 bit 1 LSB 2 3 4 5 6 7 8 MSB 20 21 22 23 24 25 26 27 EXAMPLE Set the node ID 25 2510 0001 10012 binary value bit 1 2 3 4 5 6 7 8 20 21 22 23 24 25 26 27 ON OFF OFF ON ON OFF OFF OFF Set the node ID 55 5510 0011 01112 binary value bit 1 2 3 4 5 6 7...

Страница 34: ...ork communication is in Basic Ethernet Mode see NMT_CS_BASIC_ETHERNET no POWERLINK traffic see on page 69 SINGLE FLASH green The device is in Pre Operational 1 state see NMT_CS_PRE_OPERATIONAL_1 see on page 67 asynchronous communication and no PDO exchange DOUBLE FLASH green The device is in Pre Operational 2 state see NMT_CS_PRE_OPERATIONAL_2 see on page 67 asynchronous and synchronous communicat...

Страница 35: ... Network State Error LED red It shows the current state of the network OFF No error is currently active ON If the MS Status LED is green a non fatal error has occurred If the MS Status LED is red a fatal error has occurred LED Description L A Link Activity LED for port 2 P2 green It shows the state and the activity of the physical link port 2 P2 BLINKING Activity on port 2 P2 ON Port 2 P2 link act...

Страница 36: ...ntity settings Identity Name Vendor ID Object 1018 01 NMT_IdentityObject_REC VendorID_U32 Setting 0000 0012Eh Identity Name Device Type Object 1000 NMT_DeviceType_U32 Setting 0001 0196h HS58 series 0002 0196h EM58 HM58 series Identity Name Product Code Object 1018 02 NMT_IdentityObject_REC ProductCode_U32 Setting 1000h HM58 series 1001h EM58 series 1002h HS58 series Identity Name Manufacturer Devi...

Страница 37: ...f charge This program is designed to make your own project planning programming communication and diagnostics with the Automation Studio V 4 1 development environment user friendly and reliable For instance it allows to execute the following functions setting the Preset value and execute it saving the parameters download the default parameters refer to page 52 and following You can find it in the ...

Страница 38: ...s HS58 series and HM58 series They are 0000012E_Lika_EM13_16384_EthernetPOWERLINK xdd it is intended for installation of EM58 series encoders 0000012E_Lika shows the Vendor ID expressed in hexadecimal notation and name EM is the encoder series 13 is the physical singleturn resolution of the encoder expressed in bits 16384 is the number of physical revolutions of the multiturn versions 0000012E_Lik...

Страница 39: ... through the folders and search for the directory where the XDD file is located Please make sure that the lika bmp bitmap file representing the encoder is located in the same folder as the XDD file Select the file corresponding to the encoder to be installed please check the order code and press the Open button to install it Figure 4 Selecting the XDD file MAN EM58_HS58_HM58 PL E 1 1 odt Quick ref...

Страница 40: ...ight corner in the snapshot above see Figure 5 NOTE To display the Hardware hwl System Designer window in the main page double click the Hardware hwl item in the Configuration View window To display the Toolbox Hardware Catalog window in the main page right click in the Hardware hwl System Designer window and press the Add Hardware Module command Figure 6 Adding an hardware module MAN EM58_HS58_HM...

Страница 41: ...d in the Model Number window 2 Or check the Powerlink option in the Network Type section of the Toolbox Hardware Catalog window and then scroll through the list of the installed Powerlink devices in the Model Number window Select the required Lika CN device in the Model Number window for instance the Lika Electronic HM16_16384 Ethernet POWERLINK module a preview will appear in the Properties windo...

Страница 42: ...gure 8 Installed module To link the MN device to the CN device move the cursor over the MN icon a small circle will appear on the icon drag it a blue line will appear and drop it onto the small circle that is shown when you move the cursor over the CN icon as shown in the snapshot below see Figure 9 Figure 9 Adding the module to the network MAN EM58_HS58_HM58 PL E 1 1 odt Quick reference 42 of 108...

Страница 43: ...LINK Node ID DIP A section on page 32 Enter the Physical View window by pressing the Physical View tab Figure 10 Physical View window Scroll through the tree of the installed devices extend the PLK Powerlink group and select the module for instance Lika_Electronic_HM16 Right click the Lika_Electronic_HM16 module in the list and then press the Change Node Number command Figure 11 Setting the node a...

Страница 44: ... Area and the Standardised Device Profile Area The objects are all described in the XDD file The Communication Profile Area at indexes from 1000h to 1FFFh contains the communication specific parameters for the POWERLINK network These entries are common to all devices The Communication Profile Area objects comply with the CiA Draft Standard Proposal 301 CANopen Application layer and communication p...

Страница 45: ...ndard 406 CANopen Device profile for encoders Refer to the 6 12 3 Standardised Device Profile Area objects DS 406 section on page 91 Right click the Lika encoder icon and press the Configuration button to enter the encoder Configuration window Figure 13 Entering the Configuration window In the Configuration window all the implemented objects are listed Figure 14 Configuration window MAN EM58_HS58_...

Страница 46: ... and the Standardised Device Profile Area objects are found In the Powerlink Parameters group we suggest setting the following items to ON Verify Device Type the Device Type compliance is checked on boot Verify VendorID the VendorID compliance is checked on boot Verify ProductCode the Product Code compliance is checked on boot This is useful to avoid mismatch errors See the Figure 15 Figure 15 Mis...

Страница 47: ...st download the new values to the encoder to make them effective To do this you must press the Build button in the Toolbar Figure 16 Downloading the parameter values As soon as the download is complete the Transfer Project message appears on the display Figure 17 Download completed MAN EM58_HS58_HM58 PL E 1 1 odt Quick reference 47 of 108 ...

Страница 48: ...he control node and overwrite the values currently saved To avoid transferring a value and overwriting the parameter stored in the encoder memory the Init value line under the entry in the Device Specific Parameters group has to be kept blank In the example shown in Figure 18 the 6003 Preset value next to the Init value line is blank thus it is not transferred to the encoder during the initialisat...

Страница 49: ...You can display the I O Mapping window also by scrolling through the tree of the installed devices in the Physical View window extending the PLK Powerlink group and selecting the Lika module for instance Lika_Electronic_HM16 Right click the Lika_Electronic_HM16 module in the list and then press the I O Mapping command Now press the Monitor button in the Toolbar to activate the Monitor mode and sta...

Страница 50: ...tor mode the background of the windows becomes grey Figure 21 Monitoring the device The 6004 Position value and the 6030 Speed value objects are displayed in the I O Mapping window and can be monitored MAN EM58_HS58_HM58 PL E 1 1 odt Quick reference 50 of 108 ...

Страница 51: ...ic manner within a guaranteed cycle time The Cycle Time is the time between two consecutive Start of Cyclic SoC frames i e repeating process The Cycle Time includes the time for data transmission and some idle time before the beginning of the next cycle See the 1006 NMT_CycleLen_U32 object on page 74 MAN EM58_HS58_HM58 PL E 1 1 odt Quick reference 51 of 108 ...

Страница 52: ...SDO when the encoder is in operational state NMT_CS_OPERATIONAL and then execute the Store parameters function see the Store parameters function on page 92 You can set and execute the preset also by using the Preset sample task provided by Lika Electronic AsEPL Sample Task using the AsEPL library available in Automation Studio To open the Preset sample task you must enter the Logical View window b...

Страница 53: ...pvm Watch window The background of the windows becomes grey Figure 24 Activating the Monitor mode Enter the preset value next to the PresetValue entry 50 in the sample shown in the snapshot see Figure 24 Set the value 1 TRUE next to the ExecutePreset entry see Figure 24 and then set it again to 0 FALSE MAN EM58_HS58_HM58 PL E 1 1 odt Quick reference 53 of 108 ...

Страница 54: ... executing the preset command you are required to save the parameters in order to store on memory the calculated offset If you do not save the new offset value at next power up the system will calculate the encoder position using the offset value previously saved To save the parameters refer to the following 5 4 10 Parameters storing program section on page 55 MAN EM58_HS58_HM58 PL E 1 1 odt Quick...

Страница 55: ...ugh the tree of the available EPLs extend the Source directory and select the Save AsEPL Sample Task Right click the Save AsEPL Sample Task in the list press the Open command first and then the Watch command The Save pvm Watch window will be displayed Activate the Monitor mode by pressing the Monitor button in the Toolbar The background of the windows becomes grey Set the value 1 TRUE next to the ...

Страница 56: ... also by using the Restore sample task provided by Lika Electronic AsEPL Sample Task using the AsEPL library available in Automation Studio To open the Restore sample task you must enter the Logical View window by pressing the Logical View tab Scroll through the tree of the available EPLs extend the Source directory and select the Restore AsEPL Sample Task Right click the Restore AsEPL Sample Task...

Страница 57: ...iagnose the system by means of a standard web browser from any location Intranet or Internet It only requires a web browser and a TCP IP connection to the controller It can be used for hardware analysis for detection of configuration or hardware problems on the target system analysis of system configuration and runtime parameters e g configured IP address etc software analysis software modules and...

Страница 58: ...r command Figure 27 Entering the System Diagnostics Manager The first page of B R System Diagnostics Manager will appear in your predefined web browser Figure 28 System Diagnostics Manager Press either the buttons in the left navigation bar or the graphic figures to enter the specific pages MAN EM58_HS58_HM58 PL E 1 1 odt Quick reference 58 of 108 ...

Страница 59: ...8 POWERLINK Press the Hardware button in the left navigation bar to collect some diagnostic information on the Lika module Figure 29 Hardware diagnostic page MAN EM58_HS58_HM58 PL E 1 1 odt Quick reference 59 of 108 ...

Страница 60: ...the Logger Monitor window press Open in the menu bar of the main page and then the Logger command Figure 30 Entering the Logger Monitor The SL1 Logger window will be displayed Figure 31 Logger entries In the highlighted logger entry the SDO abort code is shown in the Binary Data column 6090031h abort code Value of parameter written too high for the complete list of the SDO abort codes see on page ...

Страница 61: ...act which is compliant with the Industrial Automation Open Network Alliance IAONA real time class 4 highest performance recommendations it is able to cope with communication cycles in the order of hundreds of microseconds ensuring at the same time jitters below 1 µs Also the EPL application layer is based on the popular and settled CANopen standard practitioners often refer to EPL as CANopen over ...

Страница 62: ...ee IEEE 802 3 Half Duplex transmission mode is used POWERLINK uses Ethernet as it is without any modifications Hence any advancement in Ethernet Technology can be exploited e g Gigabit Ethernet To increase noise immunity only S FTP or SF FTP cables must be used CAT 5 The maximum cable length 100 meters predefined by Ethernet 100Base TX must be compulsorily fulfilled EPL recommends the use of hubs ...

Страница 63: ...ently i e not as a response to a received message Controlled Nodes are only allowed to send when requested to by the MN The Controlled Nodes are accessed cyclically by the MN Unicast data are sent from the MN to each configured CN frame PReq which then publishes its data via multicast to all other nodes frame PRes All available nodes in the network are configured on the MN Only one active MN is pe...

Страница 64: ... Message types 6 7 1 Start of Cycle SoC Start of Cycle SoC ID 01h is a broadcast frame sent by the MN to begin the POWERLINK cycle see the 6 8 POWERLINK Cycle section on page 65 To maintain a fixed cycle time the SoC frame is issued on a precise periodic basis keeping jitter on it as low as possible this also serves to the purpose of providing time synchronisation for all the devices 6 7 2 PollReq...

Страница 65: ...by the MN At the beginning of a POWERLINK cycle the MN sends a SoC Start of Cycle see on page 64 frame to all nodes via Ethernet multicast The send and receive time of this frame is the basis for the common timing of all the nodes Only the SoC frame is generated on a periodic basis The generation of all other frames is event controlled with additional time monitoring per node The MN starts the iso...

Страница 66: ...A to the end of the asynchronous response If no asynchronous response is allowed for any node the asynchronous phase is terminated by the end of SoA 6 8 3 Idle Period After both the SoA and the acyclic frames have been transmitted the Idle Period is entered All the nodes wait for the new cycle to start i e to receive a new SoC frame from the MN 6 9 CN Node NMT States After the Initialization NMT S...

Страница 67: ...if the MN is not in NMT_CS_PRE_OPERATIONAL_1 or leaves NMT_CS_PRE_OPERATIONAL_1 before the CN has completed its configuration The transition from NMT_CS_PRE_OPERATIONAL_1 to the following state is triggered by a SoC frame being received There is no PDO communication in NMT_CS_PRE_OPERATIONAL_1 6 9 3 NMT_CS_PRE_OPERATIONAL_2 In the state NMT_CS_PRE_OPERATIONAL_2 the CN waits for the configuration t...

Страница 68: ...yncInvite commands via SoA If not invited by the MN there is no Ethernet frame transmission allowed at the NMT_CS_OPERATIONAL state The PDO data received from the MN via PReq and from other CNs and the MN via PRes shall be interpreted if selected by the CN application The transition from NMT_CS_OPERATIONAL to NMT_CS_PRE_OPERATIONAL_2 is triggered by the reception of NMT state command NMTEnterPreOp...

Страница 69: ...The functionality of a POWERLINK device is always described in a XDD file XML Device Description file The Device Description File provides information about the device basic communication and functional properties It must be installed in the MN device The file name is primarily built up as follows 0xVendorID_ProductName xdd e g 0000012E_Lika_EM13_16384 POWERLINK encoders from Lika Electronic are s...

Страница 70: ...rom the Object Dictionary of a remote device in the asynchronous phase 6 11 1 NMT Network Management POWERLINK Network Management NMT is node oriented and follows a Master Slave relationship The function of the NMT Master is carried out by the MN NMT State Command Services The MN uses NMT State Command Services to control the CN state machine s see the 6 9 CN Node NMT States section on page 66 NMT...

Страница 71: ...tween the different nodes in the network Based on these relations the payload of the Transmit PDO frames TPDOs and the Receive PDO frames RPDOs is defined The PDO mapping can be unchangeable static mapping or configurable dynamic mapping Mapping tables The PDO Mapping itself is configured in the form of mapping tables in the Object Dictionary on each node in the network It consists of PDO Communic...

Страница 72: ...evice profile is the Object Dictionary The Object Dictionary is essentially a grouping of objects accessible via the network in an ordered pre defined fashion Each object within the dictionary is addressed using a 16 bit index The Object Dictionary can contain a maximum of 65 536 entries The user related objects are grouped in three main areas the Communication Profile Area the Manufacturer Specif...

Страница 73: ...use entries from 6000h to 9FFFh to describe the device parameters and the device functionality The Standardised Device Profile Area objects comply with the CiA Draft Standard 406 CANopen Device profile for encoders Refer to the 6 12 3 Standardised Device Profile Area objects DS 406 section on page 91 In the following pages the objects implemented are listed and described as follows Index subIndex ...

Страница 74: ...rrent 2 Voltage 3 Temperature 4 Communication error 5 Device profile specific 6 Reserved always 0 7 Manufacturer specific If a generic error occurs the bit 0 will be set to 1 If a specific error occurs the corresponding bit except 6 will be set to 1 Default 00h 1006 NMT_CycleLen_U32 Unsigned32 rw This object defines the communication cycle time interval expressed in µs This period defines the SYNC...

Страница 75: ...POWERLINK vendor ID is equal to the CANopen vendor ID Default 0000 012Eh 1018 02 NMT_IdentityObject_REC ProductCode_U32 Unsigned32 const The manufacturer specific product code identifies a specific device version Default 0000 1000h HM58 series 0000 1001h EM58 series 0000 1002h HS58 series 1018 03 NMT_IdentityObject_REC RevisionNo_U32 Unsigned32 const The manufacturer specific revision number consi...

Страница 76: ...CFM_VerifyConfiguration_REC ConfTime_U32 Unsigned32 rw It holds the local configuration time It contains the number of milliseconds ms since midnight Default 0 min 0 max FFFF FFFFh 1030 00 NMT_InterfaceGroup_0h_REC Unsigned8 const The following objects are used to configure and retrieve parameters of the network interfaces physical or virtual via SDO This sub Index contains the number of entries D...

Страница 77: ... protocol stack Default 6 ethernet csmacd 1030 04 NMT_InterfaceGroup_0h_REC InterfaceMtu_U16 Unsigned16 const It contains the size of the largest datagram that can be sent received on the interface specified in bytes Default 1500 min 0 max 65535 1030 05 NMT_InterfaceGroup_0h_REC InterfacePhysAddress_OSTR Octet_String const This object contains the MAC address of the Ethernet device assigned at pro...

Страница 78: ...5000 min 100 max FFFF FFFFh 1800 00 PDO_TxCommParam_00h_REC Unsigned8 const These indices describe the communication attributes of the TPDO channels Mapping version and address information are provided As a CN has only one TPDO channel only the first index PDO_TxCommParam_XXh_REC is implemented on a CN This sub Index contains the number of entries Default 2 1800 01 PDO_TxCommParam_00h_REC NodeID_U...

Страница 79: ...bject to the according TPDO The entries are interpreted according to the following table all values in hex Length bit Offset bit res Sub Index Index LLLL OOOO rr ss IIII e g 0020 0000 00 00 6004 Map 20h 32bit starting at offset 0 to 6004 Position value object Default 0020 0000 0000 6004h 1A00 02 PDO_TxMappParam_00h_AU64 ObjectMapping Unsigned64 ro It describes the mapping of the 6030 Speed value o...

Страница 80: ...a Loss of SoC error symptom occurs and decremented by 1 at every cycle without reoccurance of the error Its value monitors the quality of network in relation to the Loss of SoC error occurrence Default 0 1C0B 03 DLL_CNLossSoC_REC Threshold_U32 Unsigned32 rw Every time 1C0B 02 DLL_CNLossSoC_REC ThresholdCnt_U32 reaches the threshold a defined action proceeds and 1C0B 02 DLL_CNLossSoC_REC ThresholdC...

Страница 81: ...me 1C0FB 02 DLL_CNCRCError_REC ThresholdCnt_U32 reaches the threshold a defined action proceeds and 1C0FB 02 DLL_CNCRCError_REC ThresholdCnt_U32 is reset to 0 Threshold Counting can be deactivated by setting 1C0FB 03 DLL_CNCRCError_REC Threshold_U32 to 0 If Threshold Counting is deactivated no error reaction will occur Default 15 min 0 max FFFF FFFFh 1C14 DLL_CNLossOfSocTolerance_U32 Unsigned32 rw...

Страница 82: ...e NMTResetCommunication or NMTResetConfiguration commands independent of its state Hence no checking of its state needs to be performed prior to NMT Reset Communication 1 MN must not send any of the reset commands listed above to this node if it notices that the CN is in NMT_CS_OPERATIONAL state 5 0 Application software version verification for this node is not required 1 Application software vers...

Страница 83: ...Isochronous_BOOL 1 SDO by UDP IP Device supports Device does not support SDO communication via UDP IP frames D_SDO_SupportUdpIp_BOOL 2 SDO by Asnd Device supports Device does not support SDO communication via POWERLINK Asnd frames D_SDO_SupportASnd_BOOL 3 SDO by PDO Device supports Device does not support SDO communication via container embedded in PDO communication D_SDO_SupportPDO_BOOL 4 NMT Inf...

Страница 84: ...ce supports Device does not support Routing Type 2 functions D_RT2_RT2Support_BOOL 14 SDO Read Write All by Index Device supports Device does not support SDO commands Read and Write All by Index D_SDO_CmdReadAllByIndex_BOOL D_SDO_CmdWriteAllByIndex_BOOL 15 SDO Read Write Multiple Parameter by Index Device supports Device does not support SDO commands Read and Write Multiple Parameter by Index D_SD...

Страница 85: ...EPL_MODE xxxx 1101 Super state NMT_CS_PRE_OPERATIONAL_1 0001 1101 NMT_CS_PRE_OPERATIONAL_2 0101 1101 NMT_CS_READY_TO_OPERATE 0110 1101 NMT_CS_OPERATIONAL 1111 1101 NMT_CS_STOPPED 0100 1101 NMT_CS_BASIC_ETHERNET 0001 1110 EXAMPLE 1F8C NMT_CurrNMTState_U8 25310 1111 11012 NMT_CS_OPERATIONAL state 1F8D 00 NMT_PResPayloadLimitList_AU16 Unsigned8 rw The following object s hold s a list of the expected ...

Страница 86: ...LINK Node ID DIP A section on page 32 By default the POWERLINK Node ID is set to 1 Default 1 min 1 max 254 1F93 02 NMT_EPLNodeID_REC NodeIDByHW_BOOL Boolean ro This sub Index displays the Node ID setup mode of the device It is set up during system initialisation TRUE 1 the device s POWERLINK Node ID is set up exclusively by HW FALSE 0 the device s POWERLINK Node ID is set up exclusively by SW Defa...

Страница 87: ...Unsigned32 const It provides the maximum time expressed in nanoseconds ns that is required by the CN to respond to PReq The value is set up by the device firmware during system initialisation Default 1000 min 0 max 4294967295 1F98 04 NMT_CycleTiming_REC PreqActPayloadLimit_U16 Unsigned16 rw It provides the configured PReq payload data slot size expressed in bytes expected by the CN The payload dat...

Страница 88: ...the complete Ethernet frame minus 14 bytes Ethernet header and 4 bytes checksum It is upper limited by the 1030 04 NMT_InterfaceGroup_0h_REC InterfaceMtu_U16 values of all devices in the segment This limit is 18 bytes less than the minimum InterfaceMTU_U16 value provided by any node in the segment AsyncMTU_U16 can grow up to C_DLL_MAX_ASYNC_MTU AsyncMTU_U16 is equal in all nodes of the segment Thi...

Страница 89: ...ject defines the POWERLINK cycle index in the multiplexed cycle when the respective node are accessed If the value is 0 the node is accessed continuously Default 0 min 0 max 255 1F9E NMT_ResetCmd_U8 Unsigned8 rw This is used to initiate the reset of a node Setting 1F9E NMT_ResetCmd_U8 to the NMT Command ID NMTResetNode NMTResetConfiguration NMTResetCommunication or NMTSwReset will trigger the node...

Страница 90: ...ed format Unsigned16 rw This attribute defines the engineering unit for the velocity value see the 6030 Speed value object on page 97 0 steps s number of steps per second 1 rpm revolutions per minute Default 0 min 0 max 255 MAN EM58_HS58_HM58 PL E 1 1 odt POWERLINK interface 90 of 108 ...

Страница 91: ...CW rotations are viewed from the shaft end WARNING Changing this value causes also the position calculated by the controller to be necessarily affected Therefore it is mandatory to execute a new preset and save the parameters after setting this parameter NOTE To know whether the Code sequence is currently set to CW or CCW you can read the bit 0 Code sequence of the 6500 Operating status object see...

Страница 92: ...ic engineers to allow the operator to run the device for standard operation in a safe mode Default parameters are restored at each rising edge of the bit in other words the default parameters uploading operation is performed each time this bit is switched from logic level low 0 to logic level high 1 The complete list of machine data and relevant default parameters preset by Lika Electronic enginee...

Страница 93: ... min 1 max 8192 for EM58 series 262144 min 1 max 262144 for HS58 series 65536 min 1 max 65536 for HM58 series WARNING When you set a new value next to the 6001 Measuring units per revolution object please always check also the 6002 Total measuring range in measuring units object value and be sure that the resulting number of revolutions complies with the physical number of revolutions of the devic...

Страница 94: ... 6001 Measuring units per revolution by the required Number of revolutions Allowed values are less than or equal to 6001 Measuring units per revolution 6502 Number of revolutions Default 134217728 min 1 max 134217728 for EM58 series 262144 min 1 max 262144 for HS58 series 1073741824 min 1 max 1073741824 for HM58 series WARNING When you set a new value next to the 6002 Total measuring range in meas...

Страница 95: ...tallation 2 048 counts rev 1 024 turns are required Enable the scaling function 6000 Operating parameters bit 2 Scaling function 1 Counts per revolution 6001 Measuring units per revolution 2 048 0000 0800h Total resolution 6002 Total measuring range in measuring units 2048 1024 2 097 152 0020 0000h NOTE We suggest setting values which are power of 2 2n 2 4 2048 4096 8192 to be set in the 6001 Meas...

Страница 96: ...reset function and the meaning and use of the related objects 6003 Preset value and 6509 Offset value The encoder position which is transmitted results from the following calculation Transmitted value read position it does not matter whether the position is physical or scaled 6003 Preset value 6509 Offset value If you never set the 6003 Preset value and you never performed the preset setting then ...

Страница 97: ...l measuring range in measuring units 1 WARNING Check the value in the 6003 Preset value object and perform the preset operation every time you set a new Code sequence or change the scaled values 6001 Measuring units per revolution and or 6002 Total measuring range in measuring units 6004 Position value Unsigned32 ro This object contains the position value the transmitted value is calculated consid...

Страница 98: ...nabled If the value is 0 the scaling function is disabled i e the system uses the resolution physical values 6501 Singleturn resolution and 6502 Number of revolutions to calculate the position information if the value is 1 the scaling function is enabled i e the system uses the custom values 6001 Measuring units per revolution and 6002 Total measuring range in measuring units to calculate the posi...

Страница 99: ... results from 6501 Singleturn resolution 6502 Number of revolutions If you want to set a custom number of turns see the 6001 Measuring units per revolution and 6002 Total measuring range in measuring units objects Default 16384 for EM58 series 1 for HS58 series 16384 for HM58 series 6503 Alarms Unsigned16 ro Bit Function bit 0 bit 1 0 11 not used 12 Machine data not valid Alarm not active Alarm ac...

Страница 100: ...he available alarm messages are listed in the 6503 Alarms object Default 7000h 0111 0000 0000 0000 alarms at bits 12 13 and 14 of the previous 6503 Alarms object are supported 6506 Supported warnings Unsigned16 ro This object contains the information on the warnings supported by the encoder No warnings are supported in this encoder Default 0 6507 Profile and software version Unsigned32 ro This obj...

Страница 101: ...is then used in the preset function in order to calculate the encoder position value to be transmitted To zero set the value in this object you must upload the factory default values see the Restore default parameters function on page 92 For any further information on the preset function and the meaning and use of the related objects refer to page 96 Default 0000 0000h 650B Serial number Unsigned3...

Страница 102: ...the object dictionary 0604 0041h Object cannot be mapped to the PDO 0604 0042h E_PDO_MAP_ OVERRUN The number and length of the objects to be mapped would exceed PDO length 0604 0043h General parameter incompatibility 0604 0044h E_NMT_INVALID _HEARTBEAT Invalid heartbeat declaration 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to an hardware error 0607 0010...

Страница 103: ... Object dictionary dynamic generation fails or no object dictionary is present e g object dictionary is generated from file and generation fails because of an file error 0800 0024h E_CFM_DATA_ SET_EMPTY EDS DCF or Concise DCF Data set empty The abort codes not listed here are reserved MAN EM58_HS58_HM58 PL E 1 1 odt POWERLINK interface 103 of 108 ...

Страница 104: ..._REC VendorID_ U32 0000 012E 1018 02 NMT_IdentityObject_REC ProductCo de_U32 0000 1000 HM58 series 0000 1001 EM58 series 0000 1002 HS58 series 1018 03 NMT_IdentityObject_REC RevisionNo _U32 0000 0001 1018 04 NMT_IdentityObject_REC SerialNo_U 32 FFFF FFFF 1020 01 CFM_VerifyConfiguration_REC Conf Date_U32 0000 0000 1020 02 CFM_VerifyConfiguration_REC ConfT ime_U32 0000 0000 1030 01 NMT_InterfaceGrou...

Страница 105: ...apping 0020 0000 0000 6004 1A00 02 PDO_TxMappParam_00h_AU64 Obje ctMapping 0020 0020 0000 6030 1C0B 01 DLL_CNLossSoC_REC CumulativeCnt _U32 0000 0000 1C0B 02 DLL_CNLossSoC_REC ThresholdCnt_ U32 0000 0000 1C0B 03 DLL_CNLossSoC_REC Threshold_U32 0000 000F 1C0FB 01 DLL_CNCRCError_REC CumulativeCn t_U32 0000 0000 1C0FB 02 DLL_CNCRCError_REC ThresholdCnt_ U32 0000 0000 1C0FB 03 DLL_CNCRCError_REC Thres...

Страница 106: ...ycleTiming_REC PresActPaylo adLimit_U16 0024 1F98 06 NMT_CycleTiming_REC AsndMaxLate ncy_U32 0000 03E8 1F98 07 NMT_CycleTiming_REC MultiplCycle Cnt_U8 00 1F98 08 NMT_CycleTiming_REC AsyncMTU_U 16 012C 1F99 NMT_CNBasicEthernetTimeout_U32 004C 4B40 1F9B 01 NMT_MultiplCycleAssign_AU8 Cycle No 00 1F9E NMT_ResetCmd_U8 FF String value Boolean value 7 2 Manufacturer Specific Profile Area objects Paramete...

Страница 107: ... HS58 series 4000 0000 HM58 series 6003 Preset value 0000 0000 6500 Operating status 0000 6501 Singleturn resolution 0000 2000 EM58 series 0004 0000 HS58 series 0001 0000 HM58 series 6502 Number of revolutions 0000 4000 EM58 series 0000 0001 HS58 series 0000 4000 HM58 series 6504 Supported alarms 7000 6506 Supported warnings 0000 6507 Profile and software version 0301 device dependent 6508 Operati...

Страница 108: ...rcuit or Low Voltage 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 80669...

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