Datalogic AMT58 16x14 CB Series User manual

Datalogic S.r.l.
Via S. Vitalino 13
40012 Calderara di Reno
Bologna - Italy
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modifications and improvements without prior notification.
16/06/17

INDEX
1.Safety summary.......................................................................................................1
2.Identification.............................................................................................................3
3.Mounting instructions...............................................................................................4
3.1 Solid shaft encoders ................................................................................................4
3.1.1 Customary installation........................................................................................4
3.1.2 Fissaggio con graffe (codice ST-58-KIT) ...........................................................4
3.2 Hollow shaft encoders..............................................................................................6
3.2.1 AMT58-H15........................................................................................................6
4.Electrical connections..............................................................................................7
4.1 Connection cap........................................................................................................7
4.2 Ground connection...................................................................................................8
4.3 Connection cap with PG gland.................................................................................8
4.4 Connection cap with M12 connectors .....................................................................9
4.5 Connection of the shield ........................................................................................10
4.6 Bus termination resistance.....................................................................................10
4.7 Baud rate...............................................................................................................10
4.8 Node number: DIP A..............................................................................................11
4.9 Diagnostic LEDs ....................................................................................................12
5.Quick reference......................................................................................................13
5.1 STEP7 configuration..............................................................................................13
5.1.1 Importing GSD file............................................................................................13
5.1.2 Adding a node to the project............................................................................14
5.1.3 Encoder configuration parameters...................................................................14
5.2 Reading diagnostic information...........................................................................16
5.3 Setting the Preset value......................................................................................18
5.4 Set node number via BUS .....................................................................................19
6.Profibus® interface ................................................................................................20
6.1 GSD file .................................................................................................................20
6.2 Classes of the Device profile .................................................................................20
6.3 Modes of operation................................................................................................21
6.4 DDLM_Set_Prm.....................................................................................................22
6.4.1 Byte 10 - Operating parameters.......................................................................23
Code sequence......................................................................................................23
Class 2 functionality...............................................................................................24
Scaling function control..........................................................................................24
Diagnostic type ......................................................................................................24
Exchange type.......................................................................................................24
6.4.2 Bytes 11…14 ...................................................................................................25
Counts per revolution.............................................................................................25
6.4.3 Bytes 15…18 ...................................................................................................26
Total resolution ......................................................................................................26
Velocity measure unit.............................................................................................28
6.5 DDLM_Chk_Cfg.....................................................................................................28
6.6 DDLM_Data_Exchange.........................................................................................28
Position value ........................................................................................................28
Position and velocity values...................................................................................29
Preset value...........................................................................................................29
6.7 DDLM_Slave_Diag .............................................................................................31
6.8 Set_Slave_Address (service SAP55)..................................................................33
6.9 "Red Zone".............................................................................................................34

Subject index
C
Class 2 functionality...............................24
Code sequence......................................23
Counts per revolution.............................25
D
Diagnostic type......................................24
E
Exchange type.......................................24
P
Position and velocity values...................29
Position value ........................................28
Preset value...........................................29
S
Scaling function control..........................24
T
Total resolution ......................................26
V
Velocity measure unit.............................28

Typographic and iconographic conventions
In this guide, to make it easier to understand and read the text the following typographic
and iconographic conventions are used:
parameters and objects both of the device and the interface are coloured in
ORANGE;
alarms are coloured in RED;
states are coloured in FUCSIA.
When scrolling through the text some icons can be found on the side of the page: they are
expressly designed to highlight the parts of the text which are of great interest and
significance for the user. Sometimes they are used to warn against dangers or potential
sources of danger arising from the use of the device. You are advised to follow strictly the
instructions given in this guide in order to guarantee the safety of the user and ensure the
performance of the device. In this guide the following symbols are used:
This icon, followed by the word WARNING, is meant 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 icon, followed by the word NOTE, is meant to highlight the parts of
the text where important notes needful for a correct and reliable use of
the device can be found. User must pay attention to them! Failure to
comply with instructions could cause the equipment to be set wrongly:
hence a faulty and improper working of the device could be the
consequence.
This icon is meant to highlight the parts of the text where suggestions
useful for making it easier to set the device and optimize performance
and reliability can be found. Sometimes this symbol is followed by the
word EXAMPLE when instructions for setting parameters are
accompanied by examples to clarify the explanation.

Preliminary information
This guide is designed to describe the technical characteristics, installation and use of the
Profibus encoders of the AMT58-PB series. For any further information please refer to the
product datasheet.
To make it easier to read the text, this guide is 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.
In the second section, entitled Profibus Interface, both general and specific information is
given on the Profibus interface. In this section the interface features and the parameters
implemented in the unit are fully described.

AMT58x-PB Profibus®
1
1. Safety summary
Safety
Always adhere to the professional safety and accident prevention
regulations applicable to your country during device installation
and operation;
installation and maintenance operations have to be carried out by
qualified personnel only, with power supply disconnected and
stationary mechanical parts;
device must be used only for the purpose appropriate to its design:
use for purposes other than those for which it has been designed
could result in serious personal and/or the environment damage;
high current, voltage and moving mechanical parts can cause
serious or fatal injury;
warning ! Do not use in explosive or flammable areas;
failure to comply with these precautions or with specific warnings
elsewhere in this manual violates safety standards of design,
manufacture, and intended use of the equipment;
Datalogic Automation S.r.l. assumes no liability for the customer's
failure to comply with these requirements.
Electrical safety
Turn off power supply before connecting the device;
connect according to explanation in section “4 – electrical
connections”;
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 whenever
possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as far as possible from any capacitive or
inductive noise source, shield the device from noise source if
needed;
- to guarantee a correct working of the device, avoid using strong
magnets on or near by the unit;
- minimize noise by connecting the shield and/or the connector
housing and/or the frame to ground. Make sure that ground is not
affected by noise. The connection point to ground can be situated
both on the device side and on user’s side. The best solution to
minimize the interference must be carried out by the user.

AMT58x-PB Profibus®
2
Mechanical safety
Install the device following strictly the information in the section “3
– Mounting instructions”;
mechanical installation has to be carried out with stationary
mechanical parts;
do not disassemble the encoder;
do not tool the encoder or its shaft;
delicate electronic equipment: handle with care; do not subject the
device and the shaft to knocks or shocks;
respect 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 diameter has to respect the technical characteristics
specified in the purchase order and clamped by means of the
collar and, when requested, the anti-rotation pin.

AMT58x-PB Profibus®
3
2. Identification
Device can be identified through the ordering code and the serial
number printed on the label applied to its body. Information is listed
in the delivery document too.
Please always quote the ordering code and the serial number when
reaching contatta Datalogic Automation s.r.l. for purchasing spare
parts or needing assistance.
For any information on the technical characteristics of the product
refer to the technical catalogue.

AMT58x-PB Profibus®
4
3. Mounting instructions
WARNING
Installation has to be carried out by qualified personnel only, with
power supply disconnected and mechanical parts compulsorily in
stop.
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 [mm] b [mm] c [mm] d [mm]
AMT58 36 H7 48 - -
3.1.2 Fissaggio con graffe (codice ST-58-KIT)
a [mm] b [mm] c [mm] d [mm]
AMT58 36 H7 - 67 -

AMT58x-PB Profibus®
5
3.1.3 Installation using a flange (code ST-58-FLNG)

AMT58x-PB Profibus®
6
3.2 Hollow shaft encoders
3.2.1 AMT58-H15
Mount the encoder 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
cylindrical head screws 5;
fix the collar 3 to the encoder shaft (apply threadlocker to screw 3).

AMT58x-PB Profibus®
7
4. Electrical connections
4.1 Connection cap
WARNING
Do not remove or mount the connection cap with power supply
switched ON. Damage may be caused to internal components.
The terminal connectors for connecting the power supply and the
BUS IN and BUS OUT cables (BC-PB connection cap) as well as the
dip-switches meant to set the node ID and activate the termination
resistance are located inside the encoder connection cap. Thus you
must remove the connection cap to access any of them.
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 check that the encoder body and the connection
cap are at the same potential before replacing the connection cap!

AMT58x-PB Profibus®
8
4.2 Ground connection
Minimize noise by connecting the shield and/or the connector
housing and/or the frame to ground. Make sure that ground is not
affected by noise. The connection point to ground can be situated
both on the device side and on user’s side. The best solution to
minimize the interference must be carried out by the user. You are
advised to provide the ground connection as close as possible to the
encoder. We suggest using the ground point provided in the cap (see
Figure, use 1 TCEI M3 x 6 cylindrical head screw with 2 tooth lock
washers).
4.3 Connection cap with PG gland
BC-PB connection cap is fitted with three PG9 cable glands for bus-
IN and bus-OUT connections and power supply connection. The bus
cables can be connected directly to the terminal connectors located
in front of each cable gland.
We recommend Profibus-DP certificated cables to be used. Core
diameter should not exceed Ø 1,5 mm (0.06 inches).
Terminal connector Description
- 0 VDC Supply voltage
+ +10VDC +30VDC Supply voltage
G Profibus GND 1
B Profibus B (Red)
A Profibus A (Green)
PG Shield 2
1Profibus GND is the 0V reference of Profibus signals, it is not connected to
0VDC supply voltage.
2Connect the cable shield to cable gland.

AMT58x-PB Profibus®
9
4.4 Connection cap with M12 connectors
BC-PB-C connection cap is fitted with three M12 connectors with pin-
out in compliance with Profibus standard. Therefore you can use
standard Profibus cables commercially available.
Power supply
M12 connector
A coding
(frontal side) male
Pin Function
1 +10VDC +30VDC
3 0 VDC GND
4
1
Shield
Case
1
Shield is also connected to pin 4 to allow the connection of the
shield even if the plug connector has a plastic case.
Profibus signals
M12 connector
B coding
(frontal side) male
(BUS IN) female (BUS OUT)
Pin Function
1 n.c.
2 Profibus A (Green)
3 n.c.
4 Profibus B (Red)
5 n.c.
Case Shield
n.c. = not connected

AMT58x-PB Profibus®
10
4.5 Connection of the shield
Disentangle and shorten the shielding 1 and then bend it over the
part 2; finally place the ring nut 3 of the connector. Be sure that the
shielding 1 is in tight contact with the ring nut 3.
4.6 Bus termination resistance
A bus termination resistance is provided in the connection cap. This
has to be activated as line termination in the last device.
Use RT Switch to activate or deactivate the bus termination.
RT Description
1 = 2 = ON
A
ctivated: if the encoder is the last device
in the transmission line
1 = 2 = OFF Deactivated: if the encoder is not the last
device in the transmission line
4.7 Baud rate
The baud rate is set by the Master via software during configuration
of the node (slave).
Supported baud rates are listed in the enclosed GSD file.

AMT58x-PB Profibus®
11
4.8 Node number: DIP A
WARNING
Power supply must be turned off before performing this operation!
The node number must be set via hardware using DIP A dip-
switches.
Allowed addresses are from 0 to 125. The default value is 1.
DIP A:
Turn the power supply off and set the node number in binary value;
consider that: ON=1, OFF=0
bit 1
LSB 2 3 4 5 6 7 MSB 8 not
used
2
0
2
1
2
2
2
3
2
4
2
5
2
6
Example
Set node number = 25:
2510 = 0001 10012 (binary value)
bit 1 2 3 4 5 6 7 8
2
0
2
1
2
2
2
3
2
4
2
5
2
6
ON OFF OFF ON ON OFF OFF OFF
Set node number = 55:
5510 = 0011 01112 (binary value)
bit 1 2 3 4 5 6 7 8
2
0
2
1
2
2
2
3
2
4
2
5
2
6
ON ON ON OFF ON ON OFF OFF

AMT58x-PB Profibus®
12
4.9 Diagnostic LEDs
Two LEDs located in the rear side of the connection cap are
designed to show the operating or fault status of the Profibus-DP
interface.
Fault (red) Power
(green) Event
OFF OFF No power supply or hardware fault
OFF ON Correct operation (correct communication)
OFF Flashing Red Zone, see section “6.9 Red Zone”
ON Flashing Configuration parameters not valid
ON OFF Transmission time-out error
Flashing ON Bus communication failure
Flashing Flashing Flash memory error

AMT58x-PB Profibus®
13
5. Quick reference
5.1 STEP7 configuration
5.1.1 Importing GSD file
Profibus encoders are supplied with their own GSD file AMT58-xxx-
16x14-FBUS-PB (see enclosed documentation or
www.datalogic.com).
In the menu bar of the HW Config window, press Options and then
Install New GSD… command.
Select the correct GSD file in the installation window and install it.

AMT58x-PB Profibus®
14
5.1.2 Adding a node to the project
In the left pane of the HW Config window, open the directory tree and
select AMT58 module to the window on the right and drop it on
“BUS”.
Then drag the desired submodule (Class 1, Class 2 or Class
2(+VEL) to the variables table in the bottom right; in this way you set
the class of the device (for further details see section “6.2 Classes of
the Device profile”
5.1.3 Encoder configuration parameters
To enter the Encoder configuration parameters window, select the
device in the bottom right of the HW Config window and right-click to
open the menu; then choose the Object Properties… command.