Datalogic AMT58 Series User manual
Datalogic Automation S.r.l.
Via Lavino, 265
40050 - Monte S. Pietro
Bologna - Italy
© 2014 Datalogic Automation S.r.l. TUTTI I DIRITTI RISERVATI. Protetto nei limiti massimi consentiti dalla legge
degli Stati Uniti d'America e internazionale. Sono vietate la copia o le modifiche di questo documento senza la previa
autorizzazione scritta da parte di Datalogic Automation S.r.l.
Datalogic and the Datalogic logo are registered trademarks di Datalogic S.p.A. in many countries, including the U.S.A.
and the E.U.
Tutti i marchi e i nomi di prodotti qui citati servono al solo scopo di identificazione e possono essere marchi o marchi
registrati dei propri rispettivi proprietari.
Datalogic non risponde di eventuali errori tecnici o tipografici o di omissioni qui contenuti, né di danni accidentali o
conseguenti dall'uso di questo materiale.
19/05/14
INDEX
1.Norme di sicurezza..................................................................................................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
3.1.3 Installation using a flange (code ST-58-FLNG)..................................................5
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 PGs.........................................................................................8
4.4 Connection cap with M12 connectors......................................................................9
4.5 Connection of the shield ..........................................................................................9
4.6 Baud rate: DIP A....................................................................................................10
4.7 Node address: DIP B.............................................................................................11
4.8 Diagnostic LEDS....................................................................................................12
4.9 Bus termination......................................................................................................12
5.Quick reference (using RSNetWorx)......................................................................13
5.1 Import EDS file.......................................................................................................13
5.2 Adding a node to the project..................................................................................14
5.3 Encoder parameters configuration.........................................................................15
5.4 Save parameter with RSNetWorx..........................................................................18
5.5 Using scanner module...........................................................................................19
5.6 Encoder parameters ..............................................................................................22
1 Position...............................................................................................................22
2 Position sensor type............................................................................................22
3 Counting direction...............................................................................................22
4 Scaling function control.......................................................................................22
5 Measuring units/rev.............................................................................................22
6 Total measuring range........................................................................................23
7 Preset value........................................................................................................23
8 Physical resolution/revolution .............................................................................23
9 Physical number of revolutions...........................................................................23
10 Alarms...............................................................................................................23
11 Supported alarms..............................................................................................24
12 Offset value.......................................................................................................24
13 Velocity value....................................................................................................24
14 Velocity format..................................................................................................24
15 Dip switch .........................................................................................................24
16 Data Tx in Poll mode.........................................................................................24
17 Data Tx in COS/Cyclic mode ............................................................................25
18 Alarm flags........................................................................................................25
19 Delta for COS....................................................................................................25
20 Auto-save parameters.......................................................................................25
6.DeviceNet interface................................................................................................26
6.1 EDS file..................................................................................................................26
6.2 Communication messages.....................................................................................26
6.3 I/O Messages (Msg group 1) .................................................................................28
6.4 Explicit Messages (Msg group 2)...........................................................................29
6.4.1 Duplicate MAC-ID check..................................................................................30
6.4.2 Error messages................................................................................................31
6.4.3 Explicit Messages Connection.........................................................................33
6.4.4 Message data transfer.....................................................................................34
6.5 Object dictionary....................................................................................................35
6.5.1 Class 01h: Identity Object................................................................................35
01-01-01 Vendor-ID...............................................................................................36
01-01-02 Device type.............................................................................................36
01-01-03 Product code ..........................................................................................36
01-01-04 Revision..................................................................................................36
01-01-05 Status .....................................................................................................36
01-01-06 Serial number.........................................................................................37
01-01-07 Product name.........................................................................................37
6.5.2 Class 03h: DeviceNet Object...........................................................................38
03-01-01 Node Address.........................................................................................38
03-01-02 Baud rate................................................................................................38
03-01-03 Bus-off interrupt......................................................................................38
03-01-04 Bus-off counter.......................................................................................38
03-01-05 Allocation information .............................................................................38
6.5.3 Class 05h: Connection Object..........................................................................39
05-Inst-01 Connection status.................................................................................39
05-Inst-02 Instance type ........................................................................................39
05-Inst-03 TransportClass_trigger .........................................................................39
05-Inst-04 Produced connection ID........................................................................39
05-Inst-05 Consumed connection ID......................................................................39
05-Inst-06 Initial comm. Characteristics.................................................................39
05-Inst-07 Produced connection size.....................................................................41
05-Inst-08 Consumed connection size...................................................................41
05-Inst-09 Expected packet rate............................................................................41
05-Inst-0C Watchdog time-out action.....................................................................41
05-Inst-0D Produced connection path length.........................................................41
05-Inst-0E Produced connection path....................................................................41
05-Inst-0F Consumed connection path length .......................................................41
05-Inst-10 Consumed connection path..................................................................42
05-Inst-11 Production inhibit time...........................................................................42
6.5.4 Class 23h: Position Sensor Object...................................................................43
23-01-03 Position value.........................................................................................43
23-01-0B Device type ............................................................................................43
23-01-0C Code sequence......................................................................................43
23-01-0E Scaling function control..........................................................................43
23-01-10 Resolution per revolution........................................................................45
23-01-11 Total measuring range............................................................................45
23-01-13 Preset value............................................................................................46
23-01-14 Delta for COS.........................................................................................46
23-01-18 Velocity value .........................................................................................46
23-01-19 Velocity format........................................................................................46
23-01-2A Hardware counts per revolution .............................................................46
23-01-2B Hardware number of turns......................................................................46
23-01-2C Alarms....................................................................................................46
23-01-2D Supported alarms...................................................................................47
23-01-2E Alarm flags.............................................................................................47
23-01-33 Offset......................................................................................................47
23-01-65 Dip switch...............................................................................................47
23-01-66 Data Tx in Poll mode ..............................................................................47
23-01-67 Data Tx in COS/Cyclic mode..................................................................48
23-01-68 Auto-save parameters ............................................................................48
6.5.5 Class 2Bh: Acknowledge Handler Object ........................................................49
2B-01-01 Acknowledge timer.................................................................................49
2B-01-02 Retry Limit..............................................................................................49
2B-01-03 Connection Instance of COS..................................................................49
7 Setup ...........................................................................................................................50
7.1 Read and set parameters ......................................................................................50
7.1.1 Set 23-01-13 Preset value ...............................................................................51
7.1.2 Save parameter ...............................................................................................52
7.1.3 Close Master/Slave connection........................................................................52
7.2 Set Cyclic mode without velocity............................................................................53
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.
AMT58x-DN DeviceNET®
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1. Norme di sicurezza
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.
AMT58x-DN DeviceNET®
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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;
solid shaft: use a flexible coupling to connect the encoder to
motor shaft. Make sure the misalignment tolerances of the flexible
coupling are respected.
AMT58x-DN DeviceNET®
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.
AMT58x-DN DeviceNET®
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-DN DeviceNET®
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3.1.3 Installation using a flange (code ST-58-FLNG)
AMT58x-DN DeviceNET®
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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).
AMT58x-DN DeviceNET®
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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 (connection cap) as well as the dip-
switches meant to set the baud rate and 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-DN DeviceNET®
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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
The connection cap is fitted with two cable glands PG9 type for bus-
IN and bus-OUT connections. The bus cables can be connected
directly to the terminal connectors placed in front of each cable
gland.
We recommend DeviceNet 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 CAN GND 1
L CAN Low
H CAN High
PG CAN Shield 2
1
CAN GND is the 0V reference of CAN signals, it is not connected to 0VDC
supply voltage.
2Connect cable shield to cable gland.
DIP A DIP B
R
T
MS NS
AMT58x-DN DeviceNET®
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4.4 Connection cap with M12 connectors
BC-FD-C connection cap is fitted with two M12 connectors with pin-
out in compliance with DeviceNet standard.
Therefore you can use standard DeviceNet cables commercially
available.
M12 connector
A coding
(frontal side)
male
(BUS IN) female
(BUS OUT)
Pin Function
Case CAN Shield
1
1
2 +10VDC +30VDC Supply
voltage
3 0 VDC Supply voltage
4 CAN High
5 CAN Low
1
CAN Shield is also connected to pin 1 to allow the connection of
the shield even if the plug connector has a plastic case.
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.
AMT58x-DN DeviceNET®
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4.6 Baud rate: DIP A
WARNING
Power supply must be turned off before performing this operation!
Bit rate must be set using DIP A dip-switches:
Set binary value of transmission rate considering that: ON=1, OFF=0.
bit 1 2 3 4
2
1
2
0
OFF OFF
Baud rate values table:
Binary value Baud rate
00 125 Kbit/s
10 250 Kbit/s
01 500 Kbit/s (default)
NOTE
Bits 3 and 4 must be always set to OFF.
Examples
Set the baud rate to 250 Kbit/s:
10 (binary value, see table above)
bit 1 2 3 4
ON OFF OFF OFF
Set baud rate to 500 Kbit/s:
01 (binary value, see table above)
bit 1 2 3 4
OFF ON OFF OFF
AMT58x-DN DeviceNET®
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4.7 Node address: DIP B
WARNING
Power supply must be turned off before performing this operation!
The node number must be set via hardware using DIP B dip-
switches.
Allowed addresses range between 0 and 63. The default value is 1.
Set the node number in binary value: ON=1, OFF=0
bit 1
LSB 2 3 4 5 6
MSB 7
not
used
8
not
used
2
0
2
1
2
2
2
3
2
4
2
5
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
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
ON ON ON OFF ON ON OFF OFF
AMT58x-DN DeviceNET®
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4.8 Diagnostic LEDS
Two diagnostic LEDs located in the rear side of the connection cap
are designed to show the operating or fault status of the DeviceNet
interface and the system as well.
NS Led Network Status LED: this LED shows the status of the
communication network.
MS Led Module Status LED: this LED shows the status of the
device.
NS Led Description
OFF Not powered or not on-line
Red ON Encoder communication failure
Flashing red Connection time-out
Green ON Device on-line and connected
Flashing green Device on-line but not connected
Flashing green /
red Communication error
MS Led Description
OFF No power supply
Red ON Unrecoverable fault (see attribute on page 44)
Flashing red Recoverable fault, may need replacing (see
attribute on page 44)
Green ON Device operational
Flashing green Device on-line but not connected (standby)
Flashing green /
red Device self test
4.9 Bus termination
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 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
AMT58x-DN DeviceNET®
13
5.Quick reference (using RSNetWorx)
5.1 Import EDS file
DeviceNet encoders are supplied with their own EDS file AMT58-
xxx-16x14-FBUS-DN (see enclosed documentation or click
Datalogic website).
EDS file has to be installed on the Master device.
In this section the installation and configuration of the device using
Rockwell Automation's RSNetWorx program are described.
On the menu bar of the RSNetWorx window, select the Tools menu
and then press the EDS Wizard… command.
In the EDS Wizard window select Register an EDS file(s) option and
then press Next > button.
AMT58x-DN DeviceNET®
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Press the Browse... button to browse through the folders and select
the .eds file to be installed:
CD drive:\ROTACOD\DeviceNet\ AMT58-xxx-16x14-FBUS-DN if the
file is in the enclosed CD or a different path; finally press the Next >
button.
Then, follow the remaining steps to complete the EDS wizard.
5.2 Adding a node to the project
In the Hardware pane of the RSNetworx window, open the directory
tree and select \Generic Device; drag the “AMT58” module to the
Graph pane on the right.
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