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Appendix| EtherCAT Documentation

combiSENSOR 6430

A 2.2

CoE – Object Directory

The CoE object directory (CANopen over EtherCAT) contains all the configuration data of the sensor. The
objects in CoE object directory can be accessed using the SDO services. Each object is addressed using a
16-bit index.

A 2.2.1

Communication Specific Standard Objects (CiA DS-301)

Overview

Index (h) Name

Description

1000

Device type

1001

Error register

1008

Device name

Manufacturer device name

1009

Hardware version

100A

Software version

1018

Identity

Device identification

1A00

TxPDO Mapping

1C00

Sync. manager type

1C13

TxPDO assign

Object 1000h: Device type

1000

VAR

Device type

0x00200000

Unsigned32

Provides information about the used device profile and the device type.

Object 1001h: Error register

1001

VAR

Error register

0x00

Unsigned8

Object 1008h: Manufacturer device name

1008

VAR

Device name

DT6230

Visible String

Содержание combiSENSOR 64x0

Страница 1: ...Instruction Manual combiSENSOR 64x0...

Страница 2: ...MICRO EPSILON MESSTECHNIK GmbH Co KG K nigbacher Stra e 15 94496 Ortenburg Germany Tel 49 0 8542 168 0 Fax 49 0 8542 168 90 e mail info micro epsilon de www micro epsilon com...

Страница 3: ...2 Structure 13 2 2 1 Sensor 13 2 2 2 Sensor Cable 14 2 2 3 KSS64x0 Controller 14 2 3 Technical Data 15 3 Delivery 16 3 1 Unpacking Included in Delivery 16 3 2 Storage 16 4 Installation and Assembly 17...

Страница 4: ...ging Type AVT 39 6 4 5 Filter Averaging Number AVN 39 6 4 6 Thickness Measurement THM 40 6 4 7 Thickness Zeroing THZ 40 6 4 8 Channel Status CHS 40 6 4 9 Status STS 41 6 4 10 Version VER 41 6 4 11 Eth...

Страница 5: ...mmissioning Disposal 56 Appendix A 1 Accessories 57 A 2 EtherCAT Documentation 58 A 2 1 Preamble 58 A 2 1 1 Structure of EtherCAT Frames 58 A 2 1 2 EtherCAT Services 59 A 2 1 3 Addressing and FMMUs 60...

Страница 6: ...combiSENSOR 64x0...

Страница 7: ...Disconnect the power supply before touching the sensor surface Danger of injury through static discharge Connect the power supply and the display output device in accordance with the safety regulation...

Страница 8: ...tenburg Germany The measuring system is designed for use in industrial environments and meets the requirements 1 4 Intended Use The combiSENSOR 64x0 measuring system is designed for use in industrial...

Страница 9: ...C 50 to 140 F Humidity 5 95 non condensing Ambient pressure Atmospheric pressure Storage temperature Sensor 10 100 C 14 to 212 F Sensor cable 10 85 C 14 to 185 F Controller 10 75 C 14 to 167 F The sp...

Страница 10: ...ollowing controller 2 1 1 Capacitive Principle The principle of capacitive distance measurement is based on the parallel plate capacitor If a constant AC current Ic flows through the sensor capacitor...

Страница 11: ...o the distance of the target from the sensor A compensation technique reduces temperature dependent measuring errors to a minimum i If the material of the counter electrode is changed the measuring sy...

Страница 12: ...ckness measurement The thickness of the insulator is calculated from the following factors max working distance capacitive dis placement signal A and the dielectric constant of the insulator T S eddy...

Страница 13: ...ing affected by the materials in the measuring gap and is therefore determined by the distance between the sen sor and the ground electrode 2 2 Structure The non contact single channel measuring sys t...

Страница 14: ...ble in a protected area A damaged cable can not be repaired The sensor cable is not suitable for cable carriers Minimum bending radius 20 mm once 80 mm permanently i Switch off the power supply of the...

Страница 15: ...sensor temperature signal not scaled Ethernet capacitive eddy current differential and internal temperature signal 24 Bit EtherCAT capacitive eddy current differential and internal temperature signal...

Страница 16: ...mounting on DIN rail mounting plates for wall fastening Carefully remove the components of the measuring system from the packaging and ensure that the goods are forwarded in such a way that no damage...

Страница 17: ...not be repaired 4 2 Sensor When assembling make sure that the polished sensor surface is not scratched i The target must not touch the sensor surface Comply with the working distance 30 1 18 KSH5 5 20...

Страница 18: ...fers maximum reliability because the sensor is clamped around its cylindrical housing It is absolutely necessary in difficult installation environments for example on machines production plants et cet...

Страница 19: ...the sensor to the controller by the sensor cable The connection is made by simple plugging The connector locks automatically The tight fit can be checked by pulling the connector housing cable bushing...

Страница 20: ...Assembly combiSENSOR 64x0 4 4 Controller 125 4 92 90 3 54 75 2 95 KSS6430 DL6430 Fig 9 Dimensional drawing controller with basic unit demodulator module and housing cover Dimensions in mm inches not t...

Страница 21: ...1 97 2x M 4 Mounting hole M4 for wall fastening respectively mounting on DIN rail Fig 10 Dimensional drawing housing cover Dimensions in mm inches not to scale The controller is mounted using mountin...

Страница 22: ...tion Earthing Make sure you have a sufficient grounding of the measuring object for example connect it with the sen sor or the supply ground If necessary use the ground connection on the housing cover...

Страница 23: ...nnections 4 6 1 Connectivity Options The power supply and the signal output are located at the front side of the controller PC Ethernet EtherCAT SPS PS 2020 DDxx KC1 Sensor LAN cable with RJ 45 connec...

Страница 24: ...ft long pre assembled power supply and trigger cable View on solder pin side 4 pole ODU female cable connector Power supply input on controller 4 pole male cable connector 4 6 3 Analog Output The sign...

Страница 25: ...t cable It is supplied as an optional acces sory PIN Assignment and color code PIN Color Assignment 1 white Differential signal eddy current capacitive signal or thickness signal 0 10 V 2 grey Capacit...

Страница 26: ...for approximately 15 min Fig 12 Change Ethernet EtherCAT basic module KSS6420 A switch between Ethernet and EtherCAT is possible via a hardware switch see Fig 12 or via software on the basic unit KSS6...

Страница 27: ...rical trigger signal or command Here only the digital output is affected Triggering release by Trigger input pin 3 and pin 4 on 4 pole power supply connector see Chap 4 6 2 or Software command GMD see...

Страница 28: ...data rate individual measu ring values are transmitted twice because internally no new measuring values of the AD converter are active The duration of the pulse must be at least 5 s U I t D 0 t Fig 1...

Страница 29: ...controller is delivered ex factory without measurement averaging 5 4 2 Moving Average The definable number N for successive measurements window width is used to calculate the arithmetic average Mmov a...

Страница 30: ...measurements For this the incoming values are sorted after each measurement Then the average value is provided as the median value If an even value is selected for the average number N middle both mea...

Страница 31: ...ils on the enclosed CD or on the Internet www micro epsilon de software Standard applications MEDAQlib 6 1 Hardware Interface The data logging of all channels is synchronous Connect the combiSENSOR 64...

Страница 32: ...ernet Interface combiSENSOR 64x0 Define the following address in the properties of the LAN connection IP address 169 254 168 1 Subnet mask 255 255 0 0 Select Properties Select Internet Protocol TCP IP...

Страница 33: ...menu Settings Digital Interfaces Ethernet settings to set a new IP address activate DHCP or change the data port by using software commands see Chap 6 4 by using the SensorFinder software If you acti...

Страница 34: ...field which channel available Two bits per channel are used 00 Channel is not available 01 channel available The low est channel is on the most low order bit Thereby determining the number of channel...

Страница 35: ...value 7FFFFF16 Measurement 2500 m Channel number 0 Differential signal eddy current capacitive signal or Thickness signal 1 Capacitive signal 2 Eddy current signal 3 Sensor temperature signal By defa...

Страница 36: ...rs are selectable Moving average Arithmetic average only each nth value will be output Median Dynamic Noise Rejection The setting for the averaging applies to all channels 6 4 Commands All commands ar...

Страница 37: ...time in s This is active from then STI Set Sample Time Command STIn CR Example STI1200 CR Response STIn mOK CRLF Example STI1200 960OK CRLF Index n designated new sample time in s TARGET m new sample...

Страница 38: ...t values without interruption and with the adjusted data rate TRG Command TRGn CR Response TRGnOK CRLF Index n 0 Continuous transmission default setting n 1 Triggermode 1 rising edge n 2 Triggermode 2...

Страница 39: ...average outputs only each nth measuring value n 3 Median n 4 Dynamic noise rejection Request averaging type Request averaging type Command AVT CR Response AVT nOK CRLF 6 4 5 Filter Averaging Number A...

Страница 40: ...orking distance of the sensor 5000 m and offset 10 23 m Delete function THM0 CR Instead of the thickness value the controller outputs the difference signal eddy minus capa 6 4 7 Thickness Zeroing THZ...

Страница 41: ...t software version VER Command VER CR Response VERDT6400 V1 2a 8010079 CRLF 6 4 11 Ethernet Settings IPS Changes the IP settings of the controller IPS Command IPSm IPAddress SubnetAddress GatewayAddre...

Страница 42: ...w inter face is activated after a restart of the controller IFC Command IFCm CR Example IFC1 CR Response IFCmOK CRLF Index m 0 Ethernet m 1 EtherCAT Request Command IFC Response IFC mOK CRLF 6 4 13 Qu...

Страница 43: ...Channel number 1 4 ANO Article number NAM Name SNO Serial number OFS Offset RNG Max working distance UNT Unit e g m DTY Data type of measuring value 1 measuring value as INT 0 no measuring value 6 4...

Страница 44: ...6 4 18 Logout for Web Interface LGO Changes the user level for the web interface on user Command LGO CR Response LGOOK CRLF 6 4 19 Change Password PWD Changes the password of the device required for t...

Страница 45: ...the current settings of the controller and the peripherals Operation is only possible while there is an Ethernet connection to the controller 6 5 1 Requirements You need a web browser with HTML5 suppo...

Страница 46: ...until Windows has estab lished a network connection Connection with limited con nectivity Now start the Sensor Finder program You will find this program on the provided CD Click the button Start Scan...

Страница 47: ...ied immediately in the controller after pressing the Submit button Fig 19 First interactive web page after calling the IP address Parallel operation with web interface and Telnet commands is possible...

Страница 48: ...Password protection is not en abled as a factory setting After the controller has been configured you should enable password protection i A firmware update will not change the custom password User can...

Страница 49: ...Value All passwords are case sensitive Numbers are allowed but special characters are not permitted User level at restart User Professional Defines the user level that is enabled when the sensor star...

Страница 50: ...known The offset can be optionally added to the result In order to scale the result the maximum working distance of the combiSENSOR e g 5000 m must be entered The thickness value can be calculated as...

Страница 51: ...Clicking onto this button permanently stores the values in the controller Subsequently the controller calculates based on the new values Calculate dielec tric constant r Difference signal without tar...

Страница 52: ...ue output alternatively Off Controller sends measuring values continuously 6 5 5 Data Rate Data Rate 2 6 5 21 10 42 15 63 26 04 31 25 52 08 62 5 104 2 520 83 1041 67 2083 33 3906 25 Sa s Instructs the...

Страница 53: ...Subnet mask Value Default Gateway Value DHCP Host Name Value Port settings Data port Value MAC address Value UUID Value Ethernet EtherCAT Operating mode after start Ethernet EtherCAT 6 6 Firmware Upda...

Страница 54: ...content of the previously selected data is transmitted The displacement values are transmitted as 32 bit Float values 7 2 Change Interface You can not change directly to the EtherCAT interface through...

Страница 55: ...aning Clean with a damp cloth then rub the sensor surface dry Changing the target or very long operating times can lead to slight reductions in the operating quality long term errors These can be elim...

Страница 56: ...not covered by the liability for material defects Repairs are carried out exclu sively by MICRO EPSILON Further claims can not be made Claims arising from the purchase contract remain unaffected In pa...

Страница 57: ...dix Accessories combiSENSOR 6430 Appendix A 1 Accessories SCACx 5 Signal output cable analog x m long PS2020 Power supply for mounting on DIN rail input 230 VAC 115 VAC output 24 VDC 2 5 A L W H 120 x...

Страница 58: ...ge the data Further information can be obtained from Technology Group www ethercat org or Beckhoff GmbH www beckhoff com A 2 1 Preamble A 2 1 1 Structure of EtherCAT Frames The transfer of data occurs...

Страница 59: ...ss read Reading of a physical area with fixed addressing FPWR Configured address write Writing of a physical area with fixed addressing FPRW Configured address read write Reading and writing of a phys...

Страница 60: ...t wide addresses is imple mented via the field bus Memory Management Units FMMUs The configuration of the slave FMMUs is implemented by the master The FMMU configuration contains a start address of th...

Страница 61: ...ed for the mailbox communication In the Pre Operational state communication via the mailbox is possible and it can access the object directory and its objects In this state no process data communicati...

Страница 62: ...e used to transmit data from the master to the slaves outputs not used in the combiSENSOR 64x0 The PDO mapping defines which application objects measurement data are transmitted into a PDO The combiSE...

Страница 63: ...ype Device type 1001 Error register Error register 1008 Device name Manufacturer device name 1009 Hardware version Hardware version 100A Software version Software version 1018 Identity Device identifi...

Страница 64: ...uct code 0x003EDE73 Unsigned32 ro 3 VAR Revision 0x00010000 Unsigned32 ro 4 VAR Serial number 0x009A4435 Unsigned32 ro The article number is deposit in the product code the serial number of the sensor...

Страница 65: ...Name Description 2010 Controller info Controller information 2020 Channel 1 Info Information and settings of channel 1 2021 Channel 2 Info Information and settings of channel 2 2022 Channel 3 Info Inf...

Страница 66: ...R Article No xxxxxxx Unsigned32 ro 4 VAR Option No xxx Unsigned32 ro 5 VAR Firmware version xxx Visible String ro Object 2020h Channel information 2020 RECORD Channel 1 info ro Subindices 0 VAR Number...

Страница 67: ...g number 2 Enum rw 4 VAR Trigger Off Enum rw Object 2100h Controller interface 2100 RECORD Controller Interface ro Subindices 0 VAR Number of entries 7 Unsigned8 ro 1 VAR Ethernet EtherCAT EtherCAT En...

Страница 68: ...00h for example the thickness functions as these are not defined in the COE objects Object 6020h Measuring values 6020 RECORD Measuring values ro Subindices 0 VAR Number of entries 11 Unsigned8 ro 3 V...

Страница 69: ...IO EtherCAT for TwinCATV2 xx or TwinCAT 3 1 Config IO Ether CAT for TwinCAT V3 xx before the measuring device can be configured via EtherCAT EtherCAT Slave information files are XML files which speci...

Страница 70: ...T Documentation combiSENSOR 6430 Confirm with OK The window Scan for boxes EtherCAT Slaves appears Confirm with Ja The combiSENSOR 64x0 is now listed in the Solution explorer Now confirm the window Ac...

Страница 71: ...mbiSENSOR 6430 The current status should be at least PREOP SAFEOP or OP on the Online side Example for a complete object directory subject to change without prior notice On the Process data side the P...

Страница 72: ...Page 72 Appendix EtherCAT Documentation combiSENSOR 6430 The selected measuring values are transmitted as process data in the status SAFEOP and OP...

Страница 73: ......

Страница 74: ...N MESSTECHNIK GmbH Co KG K nigbacher Str 15 94496 Ortenburg Germany Tel 49 0 8542 168 0 Fax 49 0 8542 168 90 info micro epsilon de www micro epsilon com X9751369 A041058MSC X9751369 A04 MICRO EPSILON...

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