Datalogic AMT58-PB Series User manual

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Datalogic Automation S.r.l.
Via Lavino, 265
40050 - Monte S. Pietro
Bologna - Italy
© 2014 Datalogic Automation S.r.l.  ALL RIGHTS RESERVED.  Protected to the fullest extent under U.S. and
international laws. Copying, or altering of this document is prohibited without express written consent from
Datalogic Automation S.r.l.
Datalogic and the Datalogic logo are registered trademarks of Datalogic S.p.A. in many countries, including the
U.S.A. and the E.U.
All brand and product names mentioned herein are for identification purposes only and may be trademarks or
registered trademarks of their respective owners.
Datalogic shall not be liable for technical or editorial errors or omissions contained herein, nor for incidental or
consequential damages resulting from the use of this material.
07/05/14
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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 Installation using fixing clamps (optional kit code ST-58-KIT).........................................4
3.1.3 Installation using a mounting bell (code ST-58-FLNG)...................................................5
3.2 Hollow shaft encoders.........................................................................................................6
3.2.1 AMT58-H15....................................................................................................................6
4 - Electrical connections............................................................................................................................6
4.1 Connection cap...................................................................................................................7
4.2 Ground connection..............................................................................................................8
4.3 Connection cap with PGs (Figure 1) ...................................................................................8
4.4 Connection cap with M12 connectors (Figure 1).................................................................9
4.5 Connection of the shield....................................................................................................10
4.6 Node address: DIPA (Figure 1) ........................................................................................10
4.7 Baud rate ..........................................................................................................................11
4.8 Bus termination (Figure 1).................................................................................................12
4.9 Diagnostic LEDs (Figure 1)...............................................................................................13
5 - Quick reference....................................................................................................................................14
5.1 Configuring the encoder via Siemens STEP7...................................................................14
5.1.1 Importing GSD file........................................................................................................14
5.1.2 Adding a node to the project.........................................................................................16
5.1.3 Encoder configuration parameters ...............................................................................17
5.2 Reading the diagnostic information...................................................................................25
5.3 Setting the Preset value....................................................................................................27
6 - Profibus interface.................................................................................................................................28
6.1 GSD file.............................................................................................................................28
6.2 Classes of the Device profile.............................................................................................29
6.3 Operating modes...............................................................................................................29
6.4 DDLM_Set_Prm................................................................................................................31
6.4.1 Byte 10 - Operating parameters...................................................................................31
Code sequence..................................................................................................................32
Class 2 functionality ...........................................................................................................32
Scaling function..................................................................................................................32
6.4.2 Bytes 11 - 12 ................................................................................................................33
Counts per revolution.........................................................................................................33
6.4.3 Bytes 13 … 16..............................................................................................................34
Total resolution...................................................................................................................34
6.5 DDLM_Chk_Cfg................................................................................................................37
6.6 DDLM_Data_Exchange.....................................................................................................38
Position ..............................................................................................................................38
Preset.................................................................................................................................38
6.7 DDLM_Slave_Diag............................................................................................................40
6.8 "Red zone"........................................................................................................................41
7 – Default parameters list..........................................................................................................43
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Subject index
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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.
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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.
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AMT58x-PB Profibus®
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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 2004/108/EC 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.
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AMT58x-PB Profibus®
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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 the maximum
reliability over time of the mechanical parts, we recommend a
flexible coupling to be installed to connect the encoder and the
installation 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 the fixing plate into which an anti-rotation pin has to be
inserted.
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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 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.
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AMT58x-PB Profibus®
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3 - Mounting instructions
WARNING
Installation has to be carried out by qualified personnel only, with
power supply disconnected and mechanical parts compulsorily in
stop.
Never force the rotation of the shaft manually, it could cause
irreparable damage!
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 Installation using fixing clamps (optional kit code ST-58-KIT)
a [mm] b [mm] c [mm] d [mm]
AMT58 36 H7 - 67 -
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AMT58x-PB Profibus®
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3.1.3 Installation using a flange (code ST-58-FLNG)
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AMT58x-PB Profibus®
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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).
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AMT58x-PB Profibus®
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4 - Electrical connections
WARNING
Electrical connection has to be carried out by qualified personnel
only, with power supply disconnected and mechanical parts
compulsorily in stop.
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 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!
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AMT58x-PB Profibus®
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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 PGs (Figure 1)
Figure 1
Connection cap is fitted with three PG9 cable glands for bus-IN, bus-
OUT connections as well as 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 inch).
Terminal connector Description
- 0 VDC Supply voltage
+ +10VDC +30VDC Supply
voltage
B Profibus B (Red)
A Profibus A (Green)
PG Shield 1
1Connect the cable shield to cable gland.
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AMT58x-PB Profibus®
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4.4 Connection cap with M12 connectors (Figure 1)
Connection cap is fitted with three M12 connectors with pin-out in
compliance with the 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
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AMT58x-PB Profibus®
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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 Node address: DIPA (Figure 1)
WARNING
Power supply must be turned off before performing this operation!
The node address must be set
via hardware using the DIP A
dip-switches located inside the
connection cap.
Allowed addresses are from 0 to
125. The default value is 1.
The node address must be
entered also in the software
interface, please refer to section “5.1.2 Adding a node to the project”
on page 16.
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
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AMT58x-PB Profibus®
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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
NOTE
After having set the device address, please check the bus
termination switch position (see section “4.8 Bus termination (Figure
1)” on page 12).
4.7 Baud rate
The baud rate is set by the Master via software during the
configuration of the node (Slave).
This device supports the following baud rates (they are listed in the
.GSD file too):
9.6 kbit/s, 19.2 kbit/s, 93.75 kbit/s, 187.5 kbit/s, 500 kbit/s, 1.5 Mbit/s,
3 Mbit/s, 6 Mbit/s, 12 Mbit/s.
The following table shows the maximum transmission rates in
relation to permissible line length:
Baud rate [Kbit/s] 9,6 19,2 93,75 187,5 500 1500 12000
Max. cable length 1200 m
4000 ft 1200 m 4000 ft 1200 m 4000 ft
1000
m
3300 ft
400 m
1300 ft 200 m 660 ft 100 m 330 ft
To set the baud rate please refer also to section “5.1.2 Adding a node
to the project” on page 16.
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AMT58x-PB Profibus®
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4.8 Bus termination (Figure 1)
A bus termination resistance is provided inside
the connection cap. This has to be activated
as line termination on the last device in the
transmission line.
Use the RT Switch to activate or deactivate
the bus termination.
RT Description
1 = 2 = ON Activated: 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
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AMT58x-PB Profibus®
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4.9 Diagnostic LEDs (Figure 1)
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
Power supply is turned off or hardware
breakdown not recognized
OFF ON
Correct function (communication is on,
the device is sending / receiving
messages)
OFF Flashing
The encoder is operating within the
limits of the “Red Zone”, for any
information see section “6.8 "Red zone"”
ON Flashing Configuration parameters are not valid
ON OFF Transmission time-out error
Flashing ON Bus communication failure
Flashing Flashing Flash memory error, unrestorable error
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AMT58x-PB Profibus®
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5 - Quick reference
5.1 Configuring the encoder via Siemens STEP7
5.1.1 Importing GSD file
Profibus encoders are supplied with their own GSD file AMT58-xxx-
13x12-PB (see the enclosed documentation, if supplied, or click
Datalogic website).
WARNING
Install the AMT58_Vx.GSx in the AMT58 series multiturn encoders
GSD installation file is further available in both Italian (.GSI) and
English (.GSE) versions (texts and comments are in the supported
language).
WARNING
For AMT58 multiturn encoders the default value preset by Datalogic
in the Counts per revolution item of the AMT58-xxx-13x12-PB GSD
file is 4096 (12 bits); for this reason, if you have a 25-bit multiturn
encoder and you want to use the overall resolution, you must set the
Counts per revolution item to 8192 (13 bits). See EXAMPLE 2 on
page 20.
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