Datalogic Profibus AMT58 13x12 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.  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.
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and the E.U.
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conseguenti dall'uso di questo materiale.
07/05/14
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INDEX
1.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
3.1.3 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..............................................................................................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 RT Bus termination................................................................................................10
4.7 Diagnostic LEDs ....................................................................................................10
4.9 Node number: DIP B..............................................................................................12
5.Quick reference......................................................................................................13
5.1 Hardware resolution...............................................................................................13
5.1.1 Procedure to set hardware resolution..............................................................13
5.2 Using the default settings.......................................................................................15
6.CANopen® interface..............................................................................................16
6.1 EDS file..................................................................................................................16
6.2 Operation states.....................................................................................................16
6.2.1 Initialization state .............................................................................................17
6.2.2 Pre-operational state........................................................................................17
6.2.3 Operational state..............................................................................................17
6.2.4 Stopped state...................................................................................................17
6.3 Communication objects..........................................................................................18
6.3.1 Pre-defined connection set ..............................................................................18
6.4 NMT objects...........................................................................................................19
6.5 Boot-up objects......................................................................................................19
PDO1 Cyclic mode: cyclic transmission.................................................................20
PDO2 and PDO3 SYNC mode: synchronous transmission...................................20
PDO4 Cyclic mode: cyclic transmission.................................................................20
6.7 SDO objects...........................................................................................................21
6.7.1 Command ........................................................................................................22
6.8 Object dictionary....................................................................................................23
6.8.1 Standard objects (DS 301)...............................................................................23
1000-00 Device type..............................................................................................23
1001-00 Error register............................................................................................23
1003 Pre-defined error field...................................................................................23
1005-00 COB_ID SYNC message.........................................................................23
1008-00 Name of device manufacturer..................................................................24
1009-00 Hardware version.....................................................................................24
100A-00 Software version......................................................................................24
100C-00 Guard time ..............................................................................................24
100D-00 Life time factor.........................................................................................24
1011-01 Restore default parameters .....................................................................25
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1015-00 Inhibit time EMCY....................................................................................26
1018 Identification object.......................................................................................26
1800 PDO1 parameters.........................................................................................26
1802 PDO3 parameters.........................................................................................27
1803 PDO4 parameters.........................................................................................28
1A00-01 PDO1 mapping parameter.......................................................................28
1A01-01 PDO2 mapping parameter.......................................................................28
1A02-01 PDO3 mapping parameter.......................................................................28
1A03-01 PDO4 mapping parameter.......................................................................28
2104-00 Limit switch min. ......................................................................................29
2105-00 Limit switch max. .....................................................................................29
3000-00 Baud rate.................................................................................................29
3001-00 Node-ID ...................................................................................................31
3005-00 Velocity format.........................................................................................31
3006-00 Velocity value...........................................................................................31
6000-00 Operating parameters..............................................................................32
Code sequence......................................................................................................32
Scaling function......................................................................................................32
Limit switch min......................................................................................................32
Limit switch max.....................................................................................................32
6001-00 Counts per revolution...............................................................................32
6002-00 Total resolution........................................................................................33
6003-00 Preset value.............................................................................................34
6200-00 Cyclic time ...............................................................................................35
6500-00 Operating states ......................................................................................35
Code sequence......................................................................................................35
Scaling function......................................................................................................35
Limit switch min......................................................................................................36
Current operating state..........................................................................................36
6501-00 Hardware counts per revolution...............................................................36
6502-00 Hardware number of turns.......................................................................36
6504-00 Supported alarms ....................................................................................36
6506-00 Supported warnings.................................................................................36
6507-00 Profile and software version.....................................................................36
6508-00 Operating time.........................................................................................37
6509-00 Offset value..............................................................................................37
650A-01 Manufacturer offset value........................................................................37
650B-00 Serial number..........................................................................................37
6.9 Warning objects.....................................................................................................38
6.10 Emergency objects ..............................................................................................38
7.Setting-up ..............................................................................................................40
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Subject index
1
1000-00 Device type..............................23
1001-00 Error register............................23
1003 Pre-defined error field...................23
1005-00 COB_ID SYNC message.........23
1008-00 Name of device manufacturer..24
1009-00 Hardware version.....................24
100A-00 Software version......................24
100C-00 Guard time ..............................24
100D-00 Life time factor.........................24
1010-01 Store parameters.....................25
1011-01 Restore default parameters.....25
1014-00 COB-ID EMCY.........................26
1015-00 Inhibit time EMCY....................26
1018 Identification object.......................26
1800 PDO1 parameters.........................26
1801 PDO2 parameters.........................27
1802 PDO3 parameters.........................27
1803 PDO4 parameters.........................28
1A00-01 PDO1 mapping parameter ......28
1A01-01 PDO2 mapping parameter ......28
1A02-01 PDO3 mapping parameter ......28
1A03-01 PDO4 mapping parameter ......28
2
2104-00 Limit switch min. ......................29
2105-00 Limit switch max. .....................29
3
3000-00 Baud rate.................................29
3001-00 Node-ID...................................31
3005-00 Velocity format.........................31
3006-00 Velocity value...........................31
6
6000-00 Operating parameters..............32
6001-00 Counts per revolution...............32
6002-00 Total resolution........................33
6003-00 Preset value.............................34
6004-00 Position value ..........................35
6200-00 Cyclic time ...............................35
6500-00 Operating states ......................35
6501-00 Hardware counts per revolution
............................................................36
6502-00 Hardware number of turns.......36
6504-00 Supported alarms ....................36
6506-00 Supported warnings.................36
6507-00 Profile and software version.....36
6508-00 Operating time.........................37
6509-00 Offset value..............................37
650A-01 Manufacturer offset value........37
650B-00 Serial number..........................37
C
COB-ID of PDO1....................................26
COB-ID of PDO4....................................28
COB-ID of the PDO2..............................27
COB-ID of the PDO3..............................27
Code sequence................................32; 35
Current operating state..........................36
F
Flash memory error................................38
I
Initialization............................................17
L
Last error occurred.................................23
Limit switch max.....................................32
Limit switch min................................32; 36
N
Node guarding error...............................38
Number of current errors........................23
O
Operational............................................17
P
Pre-operational ......................................17
Previous errors occurred........................23
Product number .....................................26
R
Revision number....................................26
S
Scaling function ...............................32; 35
Stopped .................................................17
T
Transmission type......................26; 27; 28
V
Vendor number......................................26
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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
CANopen encoders of the AMT58 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 CANopen Interface, both general and specific information is
given on the CANopen interface.
In this section the interface features and the objects implemented in the unit are fully
described.
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AMT58x-CB CANopen®
1
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;
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 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-CB CANopen®
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.
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AMT58x-CB CANopen®
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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