Azbil K1G Series User manual

Thank you for purchasing an Azbil
Corporation product.
This manual contains information for
ensuring the correct use of this product.
It also provides necessary information
for installation, maintenance, and
troubleshooting.
This manual should be read by those who
design and maintain equipment that uses
this product. Be sure to keep this manual
nearby for handy reference.
K1G Series High-Accuracy
Position Sensor
User’s Manual
for
EtherCAT Communication
No. CP-SP-1419E

NOTICE
Be sure that the user receives this manual before the product is used.
Copying or duplicating this user’s manual in part or in whole is forbidden.
The information and specifications in this manual are subject to change
without notice.
Considerable effort has been made to ensure that this manual is free from
inaccuracies and omissions. If you should find an error or omission, please
contact the azbil Group.
In no event is Azbil Corporation liable to anyone for any indirect, special or
consequential damages as a result of using this product.
© 2017 Azbil Corporation All Rights Reserved.
EtherCAT® is a registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany.

i
Conventions Used in This Manual
In describing the product, this manual uses the icons and conventions listed below.
Handling Precautions:
Handling Precautions indicate items that the user should pay attention to when handling
the K1G Series High-Accuracy Position Sensor.
Note: Notes indicate information that might benefit the user.
This indicates the item or page that the user is requested to refer to.

ii
The Role of This Manual
A total of six different manuals are available for the K1G Series High-Accuracy Position Sensor. Read them as neces-
sary for your specific requirements. If a manual you require is not available, contact the azbil Group or its dealer.
K1G Series High-Accuracy Position Sensor User’s Manual
for EtherCAT Communication Manual No. CP-SP-1419E
This manual. This manual describes K1G series EtherCAT communication specifications
only. Before starting to use this product, please refer to K1G Series High-Accuracy Position
Sensor User's Manual (CP-SP-1385E) or K1G Series High-Accuracy Position Sensor Global
Model User's Manual (CP-SP-1397E), depending on the type of your controller.
K1G Series High-Accuracy Position Sensor User's Manual
Manual No. CP-SP-1385E
K1G Series High-Accuracy Position Sensor Global Model User's Manual
Manual No. CP-SP-1397E
This manual describes the hardware and all functions of the K1G. Personnel in
charge of the design, manufacture, operation, or maintenance of equipment that
incorporates this device, or the design of communication software for your equip-
ment that uses this device's serial communication function, should read this man-
ual thoroughly.
K1G-C04E / K1G-C04EG High-Accuracy Position Sensor Controller
User’s Manual Manual No. CP-UM-5910JE
Personnel in charge of the design or configuration of equipment that incorporates
this device should read this manual thoroughly. The manual covers safety precau-
tions, installation, wiring, and primary specifications.
K1G Series High-Accuracy Position Sensor Head User’s Manual
Manual No. CP-UM-5784JE
Personnel in charge of the design or manufacture of equipment that incorporates
the sensor heads should read this manual thoroughly. The manual covers safety
precautions, installation, wiring, and primary specifications.
Handling Precautions for the SZ-D01 Configuration Tool for K1G Series
High-Accuracy Position Sensors Manual No. CP-UM-5785JE
Personnel who use the configuration tool for K1G sensors should read this
manual. The manual covers safety precautions, installation, and wiring.
Handling Precautions for K1G Series High-Accuracy Position Sensor Junction Cables
Manual No. CP-UM-5787JE
Personnel in charge of the design or manufacture of equipment that incorporates
the cables should read this document thoroughly. The manual covers safety
precautions.

iii
Contents
Conventions Used in This Manual
The Role of This Manual
Chapter 1. EtherCAT Communication 1-1
1-1 Overview 1-1
1-2 EtherCAT Communication Specifications 1-2
1-3 Appearance and Details 1-3
 Communication connector pins 1-5
 ECAT ID setting switches 1-5
 LED indicators 1-6
1-4 Displays 1-7
 EtherCAT communication status check display 1-7
 EtherCAT status display 1-8
 Link status display 1-8
Chapter 2. Object Dictionary 2-1
2-1 Default PDO mapping 2-2
2-2 Communication Area 2-3
2-3 Manufacturer Specific Area 2-5
 Input Area (0x3000 to 0x30FF) 2-5
 Output object (0x3100 to 0x31FF) 2-9
Chapter 3. ESI File 3-1
APPENDIX App-1
APP-1 Specifications Compliance App-1
APP-2 Terminology App-2

1-1
Chapter 1. ETHERCAT COMMUNICATION
1-1 Overview
EtherCAT®is an Ethernet-based real-time fieldbus system proposed and developed by Beckhoff Automation GmbH,
Germany. Since it is based on Ethernet, general-purpose Ethernet cables can be used to establish a network.
EtherCAT®is a registered trademark and the patented technology is licensed from Beckhoff Automation GmbH,
Germany.

1-2
Chapter 1. ETHERCAT COMMUNICATION
1-2 EtherCAT Communication Specifications
Item Description
Communication standard IEC 61158 Type12 (EtherCAT)
Physical layer 100BASE-TX, IEEE802.3
Connector RJ-45 × 2 (IN, OUT)
Communication medium STP cable with Cat. 5e or higher*1
Communication distance 20 meters between nodes
Process data communication Process data objects (PDOs) can be configured.*2
Process data communication cycle 250 μs min. (depends on the settings of the master device)
Mailbox communication CoE
Synchronization method Freerun only (distributed clocks is not supported.)
LED indicators RUN, ERR, Link/Activity × 2
Node address The address can be specified by using the configured station alias or explicit device
identification.
*1. Use of a double-shielded STP cable is recommended in an environment with a large amount of electromagnetic noise
(e.g., FA equipment).
*2. PDOs to map can be selected by the master device. Accordingly, communication traffic can be reduced as needed.

1-3
Chapter 1. ETHERCAT COMMUNICATION
1-3 Appearance and Details
K1G-C04
Run Ch1 Ch2 Ch3 Ch4
Hold
Max
Min
Run
DO 1 2 3 4 5 6 7 8
Enter
Back
Para
Ch Select
A B
Front
1 2 3 4 DI
Back
Number Name Description
1 Operation and channel indicators
Run Ch1 Ch2 Ch3 Ch4
Lit to indicate which channel's measured
value is displayed on display 1.
Lit while the state is “Run.”
Lit while the controller is operating properly.
2 Display 1* Displays the measured value.
3 Auxiliary display* Displays the setting that is being checked or changed.
4 Display 2* Displays the measured value.
5 Status indicators Indicate the operating status of the channel selected for display 1.
Lit when the status of the measured value is "Hold."
Lit when the digital input (DI) max. value hold function is used.
Lit when the digital input (DI) min. value hold function is used.
6 Sensor connection indicators Indicate channel(s) to which sensor heads are connected.
7 Digital input/output indicator Indicates digital I/O status.
The indicator is lit when digital I/O is on.
* The status of EtherCAT communication and the node address can be checked on these displays.
Hold
Max
Min
DO 12345678
1 2 3 4 DI

1-4
Chapter 1. ETHERCAT COMMUNICATION
Number Name Description
8 Key functions
Run
Para
Enter
Back
ChSelect
A
B
Used for changing a value, etc., during setting
Used for switching between Run and Ready
Used for switching to the display for changing settings
Used for finalizing settings
Used for cancellation
Used for switching between channels
Used for tuning
Cancels EPS filtering.
9 Sensor head cable connector Connects the included sensor head cable and controller.
10 Terminals Used for wiring of the power and input/output signal wires.
11 ECAT ID setting switches Use these switches to specify an ECAT ID as a two-digit hexadecimal
number.
12 RJ45 connector (ECAT OUT) Connects to the network cable.
13 RJ45 connector (ECAT IN)
14 EtherCAT RUN/ERROR LEDs Displays the status of EtherCAT communication and errors.
Run Enter
Back
Para
ChSelect
A B

1-5
Chapter 1. ETHERCAT COMMUNICATION
Communication connector pins
The network ports of this device are used as follows.
Pin No. Signal Description
1 TX + Transmitted data (+)
2 TX - Transmitted data (-)
3 RX + Received data (+)
4 - 75 Ω terminating resistor connection
5 - 75 Ω terminating resistor connection
6 RX - Received data (-)
7 - 75 Ω terminating resistor connection
8 - 75 Ω terminating resistor connection
Use STP (shielded twisted pair) cables, Cat. 5e or higher. Either a straight cable or a
crossover cable can be used.
Connect the network cable from the master device to the IN port (RJ-45 connector)
of this device. Additionally, if this device has a slave on the downstream side, con-
nect the OUT port (RJ-45 connector) of this K1G to the IN port of the slave device
with a network cable.
Handling Precautions
•Do not use the EtherCAT communication network for other Ethernet
communications.
ECAT ID setting switches
Use these switches to specify an ECAT ID as a two-digit hexadecimal value. The
switches with ×10 and ×1 labels correspond to the 2nd and 1st digit of the hexa-
decimal number respectively. If no ECAT ID is used, set these rotary switches to the
“00” position.
The settings for the ECAT ID are read only when the power is turned on. If the
settings are changed during operation, the ECAT ID will not reflect the new set-
tings. A new ID set by the switches will be valid only after the power of the device is
turned off and back on.
Setting range: 00 to FF (decimal 0 to 255)
Factory default: 00
Example:
The above figure shows the following ECAT ID.
0x10 × 0x0C + 0x0C = 0xCC (204 in decimal)
⑧
Connector (jack) on this device
①

1-6
Chapter 1. ETHERCAT COMMUNICATION
LED indicators
LED indicators for EtherCAT are explained below.
Link/Activity LED: Green
Indicates the status of physical link and data communication at the EtherCAT com-
munication port.
Link/
ActivityLED
LED state Description
Off Link is not established.
On Link is established but no data is being communicated.
Blinking Link is established and data is being communicated.
EtherCAT RUN/ERROR LEDs
The RUN LED indicates the status of EtherCAT communication. The ERROR LED
indicates EtherCAT errors.
RUN LED: Green
LED state Description Remarks
Off Init state No communication is available.
Blinking The device is in the Pre-
Operational state.
Only mailbox communication is
available.
Single flash The device is in the Safe-
Operational state.
Process (input) data communication
and mailbox communication are
available.
On The device is in the Operational
state.
Process (input and output) data
communication and mailbox com-
munication are available.
ERROR LED: Red
LED state Description Remarks
Off No error There is no EtherCAT error, or the
device is not communicating.
Blinking
EtherCAT communication setting
error
Invalid configuration for EtherCAT
communication
Single flash Device operation error There is an application error in this
device.
Double flash Process data watchdog time-out
EtherCAT watchdog time-out
Sync Manager Watchdog timeout or
EtherCAT communication timeout
has occurred.
On PDI watchdog time-out There is a critical error in communi-
cation or application.
LED state Definition
Blinking 200 ms ON, 200 ms OFF
Single flash 200 ms ON, 1000 ms OFF
Double flash 200 ms ON, 200 ms OFF, 200 ms ON, 1000 ms OFF

1-7
Chapter 1. ETHERCAT COMMUNICATION
1-4 Displays
The status of EtherCAT communication and the node address can be shown on the displays of the controller. Set the
controller’s operation state to RUN and select the EtherCAT communication status check display
Note
• 4-2, “Changing the Display” in K1G Series High-Accuracy Position Sensor
User’s Manual (CP-SP-1385E) ,or K1G Series High-Accuracy Position Sensor
Global Model User’s Manual (CP-SP-1397E))
EtherCAT status display Link status display
■EtherCAT communication status check display
There are two modes for this display.
•EtherCAT status display
Display 1: Shows the measured process value from the selected channel.
Auxiliary display: Shows the status of EtherCAT communication.
Display 2: Shows the node address.
•Link status display
Display 1: Shows the measured process value from the selected channel.
Auxiliary display: Shows the link status of the RJ-45 IN connector.
Display 2: Shows the link status of the RJ-45 OUT connector.
To switch display modes, press or .

1-8
Chapter 1. ETHERCAT COMMUNICATION
■EtherCAT status display
The auxiliary display shows the status of EtherCAT communication. The display
corresponds to the behavior of the RUN LED.
Display Description
IN The device is in the Init state.
PO The device is in the Pre-Operational state.
SO The device is in the Safe-Operational state.
OP The device is in the Operational state.
EIN An error occurred in the Init state.
EPO An error occurred in the Pre-Operational state.
ESO An error occurred in the Safe-Operational state.
EOP An error occurred in the Operational state.
Display 2 shows the node address as a four-digit hexadecimal number.
Value range: 0h to FFFFh (decimal 0 to 65535)
When not connected to EtherCAT:0h
Handling Precautions
•The node address shown on this display is different from the ID specified by
the ECAT ID setting switches. For management of the EtherCAT network node
address, refer to the specifications of the master device.
■Link status display
The auxiliary display shows whether the link to the RJ-45 connector for ECAT IN is
established. The display corresponds to the behavior of the Link/Activity LED.
Display Description
-IN Link is not established.
LIN Link is established.
Display 2 shows whether the link to the RJ-45 connector for ECAT OUT is estab-
lished. The display corresponds to the behavior of the Link/Activity LED.
Display Description
-OvT Link is not established.
LOvT Link is established.

2-1
Chapter 2. OBJECT DICTIONARY
The general structure of the CoE object dictionary is as follows
(all the index numbers in the following tables are in hexadecimal notation).
Index Object dictionary area
0x0000 to 0x0FFF Data type area
0x1000 to 0x1FFF Communication area
0x2000 to 0x5FFF Manufacturer specific area
0x6000 to 0xFFFF Profile specific area
This device’s objects, such as measured value, are mapped to the manufacturer specific area. The profile specific area
is not used. Objects are mapped as follows in the manufacturer specific area.
Index Manufacturer specific area
0x2000 to 0x2FFF Not used
0x3000 to 0x30FF Input area
0x3100 to 0x31FF Output area
0x3300 to 0x5FFF Not used

2-2
Chapter 2. OBJECT DICTIONARY
2-1 Default PDO mapping
The default TxPDO mapping is as follows. All objects in the input area (0x3000 to 0x30FF) are mapped by default. It
is possible to change the mapping or delete the objects.
PDO index PDO
subindex
PDO entry
index
PDO entry
subindex Bit length Comment
0x1A00
0x01 0x3000 0x01 32 PV1
0x02 0x3000 0x02 32 PV2
0x03 0x3000 0x03 32 PV3
0x04 0x3000 0x04 32 PV4
0x05 0x3001 0x01 16 Event all
0x06 0x3001 0x02 16 Event 1
0x07 0x3001 0x03 16 Event 2
0x08 0x3001 0x04 16 Event 3
0x09 0x3001 0x05 16 Event 4
0x0A 0x3002 0x01 16 Digital input
0x0B 0x3002 0x02 16 Digital output
0x0C 0x3003 0x01 16 Controller status
0x0D 0x3003 0x02 16 Error status bit
0x0E 0x3003 0x03 16 Sensor head status 1
0x0F 0x3003 0x04 16 Sensor head status 2
0x10 0x3003 0x05 16 Sensor head status 3
0x11 0x3003 0x06 16 Sensor head status 4
The default RxPDO mapping is as follows. All objects in the output area (0x3100 to 0x31FF) are mapped by default.
It is possible to delete the objects.
PDO index PDO
subindex
PDO entry
index
PDO entry
subindex Bit length Comment
0x1600 0x01 0x3100 0x01 16 Digital input

2-3
Chapter 2. OBJECT DICTIONARY
2-2 Communication Area
The objects in the communication area (0x1000 to 0x1FFF) are described below.
• Items in the tables
Index SI Data type Access Value Comment
(Index_1) Object code Comment
(SI_1) (Data type_1) (Access_1) (Value_1) (Comment_1)
(SI_2) (Data type_2) (Access_2) (Value_2) (Comment_2)
Index: The object’s index in a four-digit hexadecimal number
SI: The object’s subindex in a two-digit hexadecimal number
For subindex 0x00, the object code is described instead.
Object code: The code of the object
Data type: The type of the object
Access: Read only (RO) or read and write (RW)
Value: Factory default setting
Comment: Object name or notes
Index SI Data type Access Value Comment
0x1000 VAR UDINT RO 0x00000000 Device type
0x1001 VAR USINT RO 0 Error register
0x1008 VAR V_STRING RO “K1G-C04E“ Device name
0x1009 VAR V_STRING RO n.a. Hardware version
0x100A VAR V_STRING RO n.a. Software version
0x1018 RECORD Identity object
0x01 UDINT RO 0x00000629 Vender ID
0x02 UDINT RO 0x00000003 Product code
0x03 UDINT RO 0x00000100 Revision number
0x04 UDINT RO 0x00000000 Serial number *1
0x10F1 RECORD Error settings（Not supported *2）
0x01 UDINT RO 0x00000001 Local error reaction
0x02 UINT RO 0x0004 Sync error counter limit
0x1600 RECODE RxPDO transmit PDO default mapping (1 max.)
0x01 UDINT RW 0x31000110 RxPDO 1st parameter
0x1A00 RECODE TxPDO transmit PDO default mapping (17 max.)
0x01 UDINT RW 0x30000120 TxPDO 1st parameter
0x02 UDINT RW 0x30000220 TxPDO 2nd parameter
0x03 UDINT RW 0x30000320 TxPDO 3rd parameter
0x04 UDINT RW 0x30000420 TxPDO 4th parameter
0x05 UDINT RW 0x30010110 TxPDO 5th parameter
0x06 UDINT RW 0x30010210 TxPDO 6th parameter
0x07 UDINT RW 0x30010310 TxPDO 7th parameter
0x08 UDINT RW 0x30010410 TxPDO 8th parameter
0x09 UDINT RW 0x30010510 TxPDO 9th parameter
0x0A UDINT RW 0x30020110 TxPDO 10th parameter
0x0B UDINT RW 0x30020210 TxPDO 11th parameter
0x0C UDINT RW 0x30030110 TxPDO 12th parameter
0x0D UDINT RW 0x30030210 TxPDO 13th parameter
0x0E UDINT RW 0x30030310 TxPDO 14th parameter
0x0F UDINT RW 0x30030410 TxPDO 15th parameter
0x10 UDINT RW 0x30030510 TxPDO 16th parameter
0x11 UDINT RW 0x30030610 TxPDO 17th parameter
0x1C00 ARRAY Sync manager type
0x01 USINT RO 0x01 Mailbox out
0x02 USINT RO 0x02 Mailbox in
0x03 USINT RO 0x03 Process output data
0x04 USINT RO 0x04 Process input data

2-4
Chapter 2. OBJECT DICTIONARY
Index SI Data type Access Value Comment
0x1C12 RECODE Sync manager input PDO assignment (1 max.)
0x01 UINT RO 0x1600 Input to K1G-C04E(G)
0x1C13 RECODE Sync manager output PDO assignment (1 max.)
0x01 UINT RO 0x1A00 Output from K1G-C04E(G)
0x1C32 RECODE Sync manager parameter to sync ch2 (only Freerun is supported*3)
0x01 UINT RO 0x0000 Synchronization type
0x02 UDINT RO 0x00000000 Cycle time *4
0x04 UINT RO 0x0001 Only Freerun is supported.
0x05 UDINT RO 0x0003D090 Minimum cycle time
0x06 UDINT RO 0x00000000 Calc and copy time
0x08 UINT RW 0x0000 Get cycle time
0x09 UDINT RO 0x00000000 Delay time
0x0A UDINT RW 0x00000000 Sync0 cycle time
0x0B UINT RO 0x0000 SM-Event missed
0x0C UINT RO 0x0000 Cycle time too small
0x20 BOOL RO FALSE Sync error
0x1C33 RECODE Sync manager parameter to sync ch3 (only Freerun is supported)
0x01 UINT RO 0x0000 Synchronization type
0x02 UDINT RO 0x00000000 Cycle time *4
0x04 UINT RO 0x0001 Only Freerun is supported.
0x05 UDINT RO 0x0003D090 Minimum cycle time (250 μs)
0x06 UDINT RO 0x00000000 Calc and copy time
0x08 UINT RW 0x0000 Get cycle time
0x09 UDINT RO 0x00000000 Delay time
0x0A UDINT RW 0x00000000 Sync0 cycle time
0x0B UINT RO 0x0000 SM-Event missed
0x0C UINT RO 0x0000 Cycle time too small
0x20 BOOL RO FALSE Sync error
*1. Serial numbers are not used, so this is always “0.”
*2. An error settings object is defined, but functions related to it are not supported by this device.
*3. Only Freerun is supported as the synchronization mode.
*4. Cycle time is not supported.

2-5
Chapter 2. OBJECT DICTIONARY
2-3 Manufacturer Specific Area
Input Area (0x3000 to 0x30FF)
This area stores values measured by the K1G, and also operation results. Details on
individual objects are given below.
• Items in the tables
Index SI Data type Access rx/tx Comment
(Index_1) Object code Comment
(SI_1) (Data type_1) (Access_1) (rx_tx_1) (Comment_1)
(SI_2) (Data type_2) (Access_2) (rx_tx_2) (Comment_2)
Index: The object’s index in a four-digit hexadecimal number
SI: The object’s subindex in a two-digit hexadecimal number
For subindex 0x00, the object code is described instead.
Object code: The code of the object
Data type: The type of the object
Access: Read only (RO) or read and write (RW)
rx/tx: Indicates whether the object can be mapped to RxPDO (rx) or TxPDO (tx).
Comment: Object name or notes
Index SI Data type Access rx/tx Comment
0x3000
RECORD PV objects
0x01 DINT RO tx PV1
0x02 DINT RO tx PV2
0x03 DINT RO tx PV3
0x04 DINT RO tx PV4
◆PV1 to PV4
Values measured by the sensor.
A PV is a 32-bit integer in the ±99.9999 mm range in units of 0.1 μm.
Note that, for θ calculation, an integer for the angle in units of 0.0001 degrees is stored.

2-6
Chapter 2. OBJECT DICTIONARY
Index SI Data type Access rx/tx Comment
0x3001
RECORD Event objects
0x01 UINT RO tx Event all
0x02 UINT RO tx Event 1
0x03 UINT RO tx Event 2
0x04 UINT RO tx Event 3
0x05 UINT RO tx Event 4
◆Event 1 to Event 4
Event judgment results for sensor heads 1 to 4 and PV1 to PV4.
Information shown below is stored.
"Event all" stores the result of an OR calculation for Events 1 to 4.
Assignment Event occurrence status*
Bit 0 Pass event occurrence
Bit 1 Out event occurrence
Bit 2 High event occurrence
Bit 3 Low event occurrence
Bit 4 EPS event occurrence
Bit 5 Hold event occurrence
Bit 6 Smudge detection event occurrence
Bit 7 Output update event occurrence
Bit 8 Normal operation event occurrence
Bits 9–15 No assignment (always 0)
* Event occurred, 0: No event
4-5, “Using Digital Input (DI) and Digital Output (DO)”in K1G Series High-Accuracy Position Sensor User’s
Manual, No. CP-SP-1385E and in K1G Series High-Accuracy Position Sensor Global Model User’s Manual, No. CP-
SP-1397E (for the conditions for event occurrence)