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.
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.
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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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AMT58x-CB CANopen®
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 -
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AMT58x-CB CANopen®
5
3.1.3 Installation using a flange (code ST-58-FLNG)
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AMT58x-CB CANopen®
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).
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AMT58x-CB CANopen®
7
4. Electrical connections
WARNING
Power supply must be turned off before performing any electrical
connection!
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 (CC-CB 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!
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AMT58x-CB CANopen®
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
The connection cap is fitted with two PG9 cable glands for bus-IN,
bus-OUT and supply voltage connections. The bus cables can be
connected directly to the terminal connectors in front of each cable
gland. It is recommended to use CANbus certificated cables.
Core diameter should not exceed Ø 1,5 mm (0.06 inches).
Clamp Description
- 0 VDC
Supply voltage
+ +10VDC +30VDC
Supply voltage
G CAN GND 1
L CAN Low
H CAN High
PG CAN Shield 2
1CAN GND is the 0V reference of CAN signals, it is not connected to
0VDC supply voltage.
2Connect cable shield to cable gland.
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AMT58x-CB CANopen®
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4.4 Connection cap with M12 connectors
The connection cap has two M12 connectors with pin-out in
compliance with CANopen® standard. Therefore you can use
standard CAN cables commercially available.
M12 connector
A coding
(frontal side)
male
(BUS IN) female (BUS OUT)
M12 Description
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.
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AMT58x-CB CANopen®
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4.6 RT Bus termination
WARNING
Power supply must be turned off before performing this operation!
A bus termination resistance is provided in the connection cap and
has to be activated as line termination in the last device of the
transmission line.
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 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 CANopen®
interface.
GREEN LED Description
ON Encoder is in Operational state
Single flash Encoder is in Stopped state
Blinking Encoder is in Pre-Operational state
RED LED Description
ON The CAN controller is switched off
Double flash Node guarding error
Single flash Max. number of warning errors
Blinking Generic error or Flash memory error
OFF No error
During initialization, device carries out a hardware test to check LEDs
operation. Both LEDs light up.
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AMT58x-CB CANopen®
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4.8 Baud rate: DIP A
WARNING
Power supply must be turned off before performing this operation!
Transmission rate can be set either via hardware or via software.
If DIP A bit 4 = ”OFF” the bit rate is set through object 3000-00 Baud
rate in the “Object Dictionary” and can be modified using SDO
messages.
If DIP A bit 4 = ”ON” the bit rate is set by DIP A.
DIP A:
Set binary value of transmission rate considering that: ON=1, OFF=0.
bit 1 LSB 2 3 MSB 4
2
0
2
1
2
2
ON/OFF
Available baud rate values:
Decimal value Binary value Baud rate
0 000 20 Kbit/s
1 001 50 Kbit/s
2 010 100 Kbit/s
3 011 125 Kbit/s
4 100 250 Kbit/s
5 101 500 Kbit/s (default)
6 110 800 Kbit/s
7 111 1000 Kbit/s
Example
Set 250Kbit/s:
410 = 1002 (binary value, see table above)
bit 1 2 3 4
2
0
2
1
2
2
2
3
OFF OFF ON ON
Set 500Kbit/s:
510 = 1012 (binary value, see table above)
bit 1 2 3 4
2
0
2
1
2
2
2
3
ON OFF ON ON
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AMT58x-CB CANopen®
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4.9 Node number: DIP B
WARNING
Power supply must be turned off before performing this operation!
Node number can be set both via hardware or via software.
Allowed node addresses range between 1 and 127.
The default value is 1.
If all bits of DIP B are ”OFF” node number is set through object 3001-
00 Node-ID of the “Object Dictionary” and can be modified using
SDO messages.
If one bit at least of DIP B is set to “ON” the node number is set
through DIP B.
DIP B:
Set the node number in binary value: 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
WARNING
If baud rate and node number are set via software, master device
has to detect the baud rate of the slave (scanning of baud rate) when
the encoder is being installed. Once communication has been
activated new baud rate and node number values can be set (objects
3000-00 Baud rate and 3001-00 Node-ID). After having set new
values, transmit a Reset node command and then save parameters
(object 1010-01 Store parameters).To avoid conflict between
Slaves, this operation has to be carried out when one only device is
connected to the network.
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AMT58x-CB CANopen®
13
5. Quick reference
5.1 Hardware resolution
WARNING
Make sure the physical resolution of the encoder matches the set
resolution.
Different resolutions may be set if the encoder and the connection
cap have been ordered / supplied separately.
Examples
AMT58 12/4096 6501-00 Hardware counts per revolution = 4096,
6502-00 Hardware number of turns = 4096.
AMT58 13/4096 6501-00 Hardware counts per revolution = 8192,
6502-00 Hardware number of turns = 4096.
6501-00 Hardware counts per revolution object is described on
page 40.
6502-00 Hardware number of turns object is described on page 36.
If the hardware resolution does not match the ordering code (see
encoder label) then it is compulsory to set the hardware resolution
(for any information on reading the hardware resolution refer to
section “5.2 Using the default settings”).
Please note that the parameters 6001-00 Counts per revolution
and 6002-00 Total resolution refer to the scaling function, anyway
the unit can run properly only if the hardware resolution is set
correctly.
5.1.1 Procedure to set hardware resolution
ID = node identifier.
Step 1 - Access to the configuration (object 3002h)
NOTE
To avoid unintentional access, this object is not listed in the EDS file.
Master Encoder
COB-ID Cmd Index Sub Process data
600+ID 23 02 30 00 41 4B 49 4C
Encoder Master
COB-ID Cmd Index Sub Process data
580+ID 60 02 30 00 00 00 00 00
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