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Related Manuals for Datalogic AMT58*-PN Series
Summary of Contents for Datalogic AMT58*-PN Series
- Page 2 40012 Calderara di Reno Bologna - Italy © 2014 - 2017 Datalogic S.p.A. and/or its affiliates ALL RIGHTS RESERVED. Without limiting the rights under copyright, no part of this documentation may be reproduced, stored in or introduced into a retrieval system, or transmitted in any form or by any means, or for any purpose, without the express written permission of Datalogic S.p.A.
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Page 3: Table Of Contents
5.5 Resetting the parameters to default factory values ............. 32 6. Profinet interface ......................37 6.1 A brief introduction to Profinet ..................37 6.2 Profinet encoders from Datalogic Automation s.r.l............38 6.2.1 Overview of the encoder profiles ................39 6.3 Application Class definition ..................39 6.3.1 Application Class 3 .................... - Page 4 8. Cyclic Data Exchange–Standard signals ............... 44 G1_XIST1 ......................... 45 G1_XIST2 ......................... 46 G1_XIST3 ......................... 47 STW2_ENC ........................47 Control by PLC ........................47 ZSW2_ENC ........................48 Control requested ......................48 G1_STW ........................... 49 Home position mode ......................49 Request set/shift of home position ..................49 Request absolute value cyclically ..................
- Page 5 11. Real time class communication ..................71 11.1 Real-time classes in PROFINET IO ................71 11.2 Real-Time class 2 (RT2) – Not synchronized ............71 11.3 Real-Time class 3 (IRT_TOP) (RT3) ................. 73 11.3.1 Setting an isochronous communication .............. 74 11.4 OB61 .........................
- Page 6 Subject Index Acknowledging a sensor error ....52 NIST_A ..........52 Activate parking sensor......51 NIST_B ..........52 Alarm channel control ......61 P61001 – IP of station ......56 Class 4 functionality ....... 60 P65000 – Preset value ......57 Code sequence ........
- Page 7 Table of figures Figure 1 - Connectors and diagnostic LEDs ................ 7 Figure 2 - Installing the GSDML file ................... 12 Figure 3 - Selecting the GSDML file .................. 13 Figure 4 - GSDML file installation ..................13 Figure 5 - Scrolling through Profinet families and categories ..........
- Page 8 Figure 47 - OB61 ....................... 85 Figure 48 - Process Image Partition .................. 86 Figure 49 - Assigning the IO device to a sync domain ............89 Figure 50 - Domain management dialog box ..............90 Figure 51 - Sync domain details dialog box ...............
- Page 9 In this guide, to make it easier to understand and read the text the following typographic and iconographic conventions are used: parameters and objects of both Datalogic Automation s.r.l. device and interface are coloured in ORANGE; alarms are coloured in RED;...
- Page 10 Preliminary information This guide is designed to provide the most complete information the operator needs to correctly and safely install and operate the following encoders fitted with Profinet interface: AMT58…PN (DAP 1 : multiturn encoder 13 +14 bits) To make it easier to read the text, this guide can be divided into some main sections. In the first section (from chapter 1 to chapter 4) general information concerning the safety, the mechanical installation and the electrical connection.
- Page 11 Glossary of Profinet terms PROFINET IO, like many other networking systems, has a set of unique terminology. Table below contains a few of the technical terms used in this guide to describe the PROFINET IO interface. Sometimes they also refer more specifically to the S7 programming environment.
- Page 12 The profile is a supplement to the PROFIdrive profile, so it is mandatory to read the PROFIdrive profile before implementing the encoder profile. Profinet encoders from Datalogic Automation s.r.l.comply with the Encoder Profile Specifications V4.1 version 3.162. See also “Profile“.
- Page 13 Synchronized transmission procedure for the cyclic exchange of IRT data between PROFINET devices. A reserved bandwidth within the send clock is available for the IRT IO data. The reserved bandwidth ensures that the IRT data can be transmitted at reserved, synchronized intervals whilst remaining uninfluenced even by other greater network loads (e.g.
- Page 14 Submodule A component of a module that is plugged into a subslot. A submodule is real or virtual. Subslot A group of one or more channels. Subslots can be real or virtual. Sync domain All PROFINET devices that are to be synchronized via PROFINET IO with IRT must belong to a sync domain.
- Page 15 List of abbreviations Table below contains a list of abbreviations (in alphabetical order) which may be used in this guide to describe the PROFINET IO interface. Sometimes they also refer more specifically to the S7 programming environment. Application Relation Application Process Identifier C-LS Controller’s Sign-Of-Life Communication Relation...
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Page 17: Safety Summary
Datalogic Automation s.r.l. assumes no liability for the customer's failure to comply with these requirements. Electrical safety ... - Page 18 AMT58x-PN ProfiNET® Mechanical safety Install the device following strictly the information in the section 3 “Mechanical installation; mechanical installation has to be carried out with stationary mechanical parts; do not disassemble the unit; do not tool the unit or its shaft; ...
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Page 19: Identification
Information is listed in the delivery document too. Please always quote the ordering code, the serial number and the MAC address when reaching Datalogic Automation s.r.l. purchasing spare parts or needing assistance. For any information on the technical characteristics of the product... -
Page 20: Mechanical Installation
AMT58x-PN ProfiNET® 3. Mechanical installation WARNING Installation and maintenance operations have to be carried out by qualified personnel only, with power supply disconnected. Shaft and mechanical components must be in stop. For any information on the mechanical data and the electrical characteristics of the encoder please refer to the technical catalogue. -
Page 21: Installation Using A Flange (Code St-58-Flng)
AMT58x-PN ProfiNET® 3.1.3 Installation using a flange (code ST-58-FLNG) -
Page 22: Hollow Shaft Encoders
AMT58x-PN ProfiNET® 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;... -
Page 23: Electrical Connections
AMT58x-PN ProfiNET® 4. Electrical connections WARNING Power supply must be turned off before performing any electrical connection! Never force manually the rotation of the shaft not to cause permanent damages! For any information on the mechanical and electrical characteristics of the encoder please refer to the technical catalogue. Figure 1 - Connectors and diagnostic LEDs 4.1 PWR Power supply connector (Fig.1) M12 4-pin male connector with A coding is used for power supply. -
Page 24: P1 Port 1 And P2 Port 2 Connectors (Fig.1)
Datalogic's EC- pre-assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device. Datalogic's E- connectors have a plastic gland, thus grounding is not possible. If metal connectors are used, connect the cable shield properly as recommended by the manufacturer. -
Page 25: Diagnostic Leds (Fig.1)
AMT58x-PN ProfiNET® 4.5 Diagnostic LEDs (Fig.1) Six LEDs located in the cap of the encoder (see Figure 1) are meant to show visually the operating or fault status of the encoder and the Profinet interface. The meaning of each LED is explained in the following tables. -
Page 26: Getting Started
AMT58x-PN ProfiNET® 5. Getting started 5.1 Configuring the encoder with Siemens SIMATIC STEP 7 In this manual some screenshots are shown to explain how to install and configure the encoder in a supervisor. In the specific example the development environment is STEP 7 V5.5 + SP1 with SIEMENS PLC CPU 315-2 PN / DP. -
Page 27: Encoder Installation Under Step 7 Environment
As the name suggests, the GSD file is a language- independent XML file (Extensible Markup Language). Profinet encoders from Datalogic Automation s.r.l. are supplied with their own GSDML file: AMT58-xxx-13x14-PN. See the enclosed documentation or click www.datalogic.com to get the GSDML file. -
Page 28: Installing The Gsdml File
AMT58x-PN ProfiNET® 5.3.2 Installing the GSDML file In the menu bar of the HW Config window, press Options and then Install GSD File … command. Figure 2 - Installing the GSDML file... -
Page 29: Figure 3 - Selecting The Gsdml File
AMT58x-PN ProfiNET® The Install GSD Files dialog box will appear. Press the Browse ... button to choose the folder where the GSDML file is located. Please make sure that the bitmap file representing the encoder is located in the same folder as the GSDML file. Select the file and press the Install button to install it. -
Page 30: Figure 5 - Scrolling Through Profinet Families And Categories
AMT58x-PN ProfiNET® Figure 5 - Scrolling through Profinet families and categories... -
Page 31: Inserting The Module In The Profinet-Io System
Now we need to install the module of the desired model. For instance, we want to configure the AMT58 model. In the right pane open the Datalogic directory and then choose the MULTITURN directory. Drag the required module AMT58 to the window on the left and drop it on the PROFINET-IO system. -
Page 32: Figure 8 - Adding The Standard Telegram
AMT58x-PN ProfiNET® Now we need to choose the data length and the type of data that should be sent to and from the IO controller, thus we need to install a Standard Telegram. Four types of telegrams with different characteristics are available: Standard Telegram 81, Standard Telegram 82, Standard Telegram 83 and Standard Telegram 84. -
Page 33: Device Name And Ip Address At Delivery
NOTE An IO Device does not have a device name when delivered. By default, the device name of Datalogic's Profinet encoders is set to a blank string. The device names must satisfy DNS (Domain Name System) conventions: ... - Page 34 AMT58x-PN ProfiNET® Steps for system startup Controller Device Checking of device name Assignment of IP address Connection establishment Data exchange Startup response...
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Page 35: Figure 9 - Assigning The Device Name
AMT58x-PN ProfiNET® Mode 1 Enter the Properties dialog box by double clicking the encoder icon in the HW Config window and set the device name in the Device name field. Check that the Assign IP address via IO controller check box is selected if you want the IP address being assigned by the IO controller;... -
Page 36: Figure 10 - Assigning The Ip Address
AMT58x-PN ProfiNET® Press the Ethernet... button in the Node in PROFINET IO system group if you want to assign an IP address different from the one suggested by the system. Figure 10 - Assigning the IP address... -
Page 37: Figure 11 - Downloading Data To The Plc
AMT58x-PN ProfiNET® Download data to the PLC pressing the Download button in the Toolbar. Figure 11 - Downloading data to the PLC... -
Page 38: Figure 12 - Assigning The Device Name
AMT58x-PN ProfiNET® Now press PLC, Ethernet and then Assign Device Name... command in the menu bar of the HW Config window. Figure 12 - Assigning the device name... -
Page 39: Figure 13 - Confirming The Device Name
AMT58x-PN ProfiNET® Choose the device you need to change the name in the Device name drop box and then press the Assign name button. Figure 13 - Confirming the device name... -
Page 40: Figure 14 - Edit Ethernet Node Dialog Box
AMT58x-PN ProfiNET® Mode 2 As explained for the Mode 1, first of all enter the Properties dialog box by double clicking the encoder icon in the HW Config window and set the device name in the Device name field. Then press PLC, Ethernet and then Edit Ethernet node command in the menu bar of the HW Config window. -
Page 41: Figure 15 - Edit Ethernet Node Confirmation
AMT58x-PN ProfiNET® The following confirmation message will appear on the screen. Figure 15 - Edit Ethernet Node confirmation After completing the operation, we can easily check the entered Device Name. To do this press again the Browse... button in the Edit Ethernet node page to find all the nodes connected to the network. -
Page 42: Checking The Device Name
AMT58x-PN ProfiNET® 5.3.6 Checking the device name After completing the operation, we recommend the Device Name to be checked. To do this press PLC, Ethernet and then Verify Device Name... command in the menu bar of the HW Config window. Figure 17 - Verifying device name In the Verify Device Name dialog box, check that the encoder is listed properly with correct Device name and status. -
Page 43: Setting The Ip Address
AMT58x-PN ProfiNET® 5.3.7 Setting the IP address To help with configuration you are required only once to assign an IP address. When configuring the PROFINET IO controller in the HW Config window, STEP 7 opens a dialog for selecting the IP address and the Ethernet subnetwork. -
Page 44: Figure 20 - Browsing The Network
AMT58x-PN ProfiNET® If you want to change both the IP address and the subnet mask you can also proceed as follows. Press PLC, Ethernet and then Edit Ethernet node command in the menu bar of the HW Config window. Press the Browse... button to find all the nodes connected to the network. -
Page 45: Figure 21 - Assigning Ip Configuration
AMT58x-PN ProfiNET® In the Set IP configuration group, enter the required IP address in the IP address field; enter the required subnet mask in the Subnet mask field below. Press the Assign IP configuration button to confirm. Figure 21 - Assigning IP configuration The following confirmation message will appear on the screen. -
Page 46: Setting The Parameters: Parameter Access Point
AMT58x-PN ProfiNET® Figure 23 - Browsing the network The new IP address has been assigned. 5.4 Setting the parameters: Parameter Access Point Double click the Parameter Access Point slot 1.1 of the module to open the dialog box where the encoder parameters are listed. Figure 24 - Entering the Parameter Access Point dialog box... -
Page 47: Figure 25 - Parameter Access Point Properties
AMT58x-PN ProfiNET® The Properties – Parameter Access Point property sheet will appear. Enter the Parameters tabbed page to display the complete list of the parameters available for the Profinet encoder. The encoder specific parameters implemented by the manufacturer are shown in the table. The parameters data is transferred to the encoder using 0xBF00 data record at each system boot up. -
Page 48: Resetting The Parameters To Default Factory Values
5.5 Resetting the parameters to default factory values Default values are provided to each parameter of the device and are preset at the factory by Datalogic Automation s.r.l. engineers. The first time you install the encoder, it will operate using the default values. -
Page 49: Figure 28 - Restoring Default Values
AMT58x-PN ProfiNET® NOTE The complete list of machine data and relevant default parameters preset by Datalogic Automation s.r.l. engineers is available on page 130. When you need to restore the default values proceed as follows. Press PLC, Ethernet and then Edit Ethernet node command in the menu bar of the HW Config window. -
Page 50: Figure 29 - Reset To Factory Settings
AMT58x-PN ProfiNET® The Edit Ethernet Node dialog box will show the identification parameters of the chosen device. Now press the Reset button in the Reset to factory settings box below in the dialog box. Figure 29 - Reset to factory settings You will be requested to confirm the operation. -
Page 51: Figure 31 - Reset Second Confirmation Message
AMT58x-PN ProfiNET® If the device is online and an application relation (AR) is currently established, a second message will appear on the screen. Again you will be requested to confirm the operation by pressing the YES button. Figure 31 - Reset second confirmation message Press the OK button to close the message. -
Page 52: Figure 33 - Checking Data After Reset
AMT58x-PN ProfiNET® When the operation is carried out, browse the network by pressing the Browse... button in the Edit Ethernet Node dialog box to find all the nodes connected to the network. The LIKA ROTACOD device type will provide the value 0.0.0.0 under the IP address item and a blank string under the Name item. -
Page 53: Profinet Interface
AMT58x-PN ProfiNET® 6. Profinet interface 6.1 A brief introduction to Profinet PROFINET IO is the open industrial network devised for automation applications and built on the Ethernet application layer (TCP/IP and IT standards). For PROFINET IO the layers 1 through 7a of the ISO/OSI (Open Systems Interconnection) reference model are exclusively based... -
Page 54: Profinet Encoders From Datalogic Automation S.r.l
AMT58x-PN ProfiNET® 6.2 Profinet encoders from Datalogic Automation s.r.l. PROFINET encoders from Datalogic Automation s.r.l. fully comply with the encoder profile specifications V4.1 version 3.162, the encoder profile is based on the PROFIdrive profile. For any information on the encoder profile please refer to the following document: ENCODER PROFILE. -
Page 55: Overview Of The Encoder Profiles
Encoder with scaling, preset, isochronous mode and base mode parameter access. A Class 4 configured encoder fully supports all functionalities according to the encoder profile V4.1. Datalogic Automation encoders fulfill the requirements of CLASS 4 6.4 Encoder Object model The Figure shows the general Encoder Object (EO) architecture. - Page 56 AMT58x-PN ProfiNET® The parameters are administered in the Parameter Data Base. To access EO parameters, Acyclic Data Exchange service is used. For periodic transportation of control values to the EO and actual values from the EO, the Cyclic Data Exchange service is used. Exception situations out of the Measuring Task and the General State Machine may be signaled by the Alarm Mechanism to the controlling device.
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Page 57: Encoder Object Architecture
AMT58x-PN ProfiNET® 6.5 Encoder object architecture The Figure shows the general architecture and the mapping of the Encoder Object (EO) architectural elements to Communication Objects of the Peripheral Device for PROFINET IO. General with PROFINET IO the EO is mapped exactly to one Module/Slot. Slot 0 is exclusively reserved for Device representative purpose and therefore shall not used for any Encoder module. -
Page 58: Profinet Io Data Description
AMT58x-PN ProfiNET® 7. PROFINET IO data description 7.1 Telegrams A telegram is a rigidly defined bit stream carrying data. In each telegram the data length and the type of data which is sent to and from the IO controller is specified. PROFINET interface devices communicate and stay in sync by sending each other telegrams. -
Page 59: Standard Telegram 83
AMT58x-PN ProfiNET® 7.1.3 Standard Telegram 83 The Standard Telegram 83 uses 4 bytes to output data from the IO controller to the encoder and 16 bytes to input data from the encoder to the IO controller. Output data CONTROLLER => DEVICE 2 bytes 2 bytes IO Data... -
Page 60: Cyclic Data Exchange–Standard Signals
AMT58x-PN ProfiNET® 8. Cyclic Data Exchange–Standard signals IO data is transferred via the Cyclic Data Exchange. A series of standard signals are defined to configure the IO data. In the following table the standard signals are summarily described. Abbreviatio Length Significance Data type (bits) -
Page 61: G1_Xist1
AMT58x-PN ProfiNET® 8.1 List of the available standard signals G1_XIST1 [Unsigned, 32 bits] It is defined as Sensor 1 position actual value 1. This signal is the actual (real) absolute position of the encoder expressed in binary notation. Format definition: ... -
Page 62: G1_Xist2
AMT58x-PN ProfiNET® M M M M M M M M M M M M S S S S S S S S S S S S S Absolute position value in G1_XIST1 M M M M M M M M M M M M S S S S S S S S S S S S S Absolute position value in G1_XIST2 G1_XIST2 [Unsigned, 32 bits]... -
Page 63: G1_Xist3
AMT58x-PN ProfiNET® G1_XIST3 [Unsigned, 64 bits] It is defined as Sensor 1 position actual value 3. This 64-bit position value is intended to support the encoders having a measuring length which exceeds 32 bits G1_XIST3 has the following format: binary format; ... -
Page 64: Zsw2_Enc
AMT58x-PN ProfiNET® ZSW2_ENC [Unsigned, 16 bits] It is defined as Encoder status word 2. The encoder status word 2 ZSW2_ENC includes the Control by PLC mechanism from PROFIdrive ZSW1 and the Slave Sign-Of-Life mechanism from PROFIdrive ZSW2. Meaning 0 … 2 Reserved Not used 4 …... -
Page 65: G1_Stw
AMT58x-PN ProfiNET® G1_STW [Unsigned, 16 bits] It is defined as Sensor 1 control word. This control word controls the functionality of major encoder functions. Meaning 0 … 7 Not used 8 … 10 Reserved Home position mode Request set/shift of home position Request absolute value cyclically Activate parking sensor Acknowledging a sensor error... - Page 66 AMT58x-PN ProfiNET® Bit 12 Bit 11 Action Normal operating mode. The encoder will make no change in the output value. Preset mode absolute The encoder reads the current position value and calculates an internal offset value from the preset value P65000 –Preset value and the read position value.
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Page 67: Request Absolute Value Cyclically
AMT58x-PN ProfiNET® NOTE Refer also to the index P65000 – Preset value on page 85; to G1_XIST1 preset control on page 88; and to the section “14.2 Preset diagram” on page115. EXAMPLE An example of setting the Preset value is provided on page 106. Request absolute value cyclically Bit 13 Significance... -
Page 68: Acknowledging A Sensor Error
AMT58x-PN ProfiNET® Acknowledging a sensor error Bit 15 Significance Comment =1 : Acknowledging a Request acknowledge sensor error sensor error (bit 15 Sensor error of G1_ZSW) G1_ZSW [Unsigned, 16 bits] It is defined as Sensor 1 status word. This status word defines the states, acknowledgments and error messages of the encoder and its main functions. -
Page 69: Acyclic Data Exchange
AMT58x-PN ProfiNET® 9. Acyclic Data Exchange In addition to the Cyclic Data Exchange (see the section “Cyclic Data Exchange – Standard signals”), the Acyclic Data Exchange gives the possibility to read and write parameters over the non real time channel. -
Page 70: Index 0Xaff0: Identification & Maintenance (I&M) Functions
AMT58x-PN ProfiNET® 9.1 Index 0xAFF0: Identification & Maintenance (I&M) functions Profinet encoders from Datalogic Automation only implement I&M 0 Module (IM0). IM0 is accessible with record 0xAFF0 and provides general information on the device such as vendor ID, order ID, serial number, etc. -
Page 71: P975 – Encoder Object Identification
AMT58x-PN ProfiNET® It is used to save the current local parameters on a non volatile memory. Write “1” to save the parameters. The encoder confirms save by writing “0” on this parameter. Index Meaning Value Access Save on non volatile memory variable P975 –... -
Page 72: P979 – Sensor Format
AMT58x-PN ProfiNET® P979 – Sensor format [Array , unsigned16, RO] [0 … 5] Index Meaning Value Access Header 0x0000501 Sensor type 0x8000000 Sensor Resolution variable Shift factor for G1_XIST1 Shift factor for G1_XIST2 Determinable resolutions variable P980 – Number list of defined parameter [Array , unsigned16, RO] [0 …... -
Page 73: Index 0Xb02E : Supported Encoder Specific Parameters
AMT58x-PN ProfiNET® 9.3 Index 0xB02E : supported encoder specific parameters P65000 – Preset value [Unsigned32, RW] Preset function is meant to assign a desired value to a known physical position of the system. The chosen physical position will get the value set next to this index and all the previous and following mechanical positions will get a value according to it. - Page 74 AMT58x-PN ProfiNET® Operating status table values Meaning Code sequence Class 4 functionality G1_XIST1 preset control Scaling function control Alarm channel control Compatibility mode Reserved to the encoder manufacturer 8-31 Reserved for future use Faults table Meaning 0 … 3 Not used Commissioning diagnostic Memory error 6 …...
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Page 75: Index 0Xbf00 : User Parameter Data
AMT58x-PN ProfiNET® 9.4 Index 0xBF00 : user parameter data The 31-byte user parameter data listed in the table below is sent to the encoder in the start-up phase using the data record 0xBF00. User Data Parameter Data Type Default Comment Octet Number Code sequence... -
Page 76: Class 4 Functionality
AMT58x-PN ProfiNET® Class 4 functionality For any information on the implemented Application Classes refer to the section “6.3 Application Class definition” on page 64. If it is enabled, Code sequence, G1_XIST1 preset control Scaling function control affect the position value in G1_XIST1, G1_XIST2 and G1_XIST3. -
Page 77: Scaling Function Control
AMT58x-PN ProfiNET® Scaling function control This parameter enables / disables the Scaling function. When this parameter is disabled, the device uses the hardware singleturn and multiturn resolutions; when it is enabled, the device uses the resolutions set next to the parameters Measuring units / Revolution Total measuring range. -
Page 78: Compatibility Mode
AMT58x-PN ProfiNET® Compatibility mode This parameter defines whether the encoder has to run in a mode compatible with Version 3.1 of the Encoder Profile. See the table below for an overview of the functions affected when the compatibility mode is enabled. Attribute Meaning Value... -
Page 79: Measuring Units / Revolution
AMT58x-PN ProfiNET® Measuring units / Revolution It is used to program a user specific resolution per each revolution (singleturn resolution). Allowed values are equal to or lower than the hardware counts per revolution (physical singleturn resolution). We suggest setting values that are a power of 2 (1, 2, 4, … 2048, 4096, …). -
Page 80: Maximum Master Sign-Of-Life Failures
AMT58x-PN ProfiNET® There is no functionality of this parameter if the Scaling function control parameter is disabled. EXAMPLE The HM58 PT Profinet encoder has a singleturn resolution of 16 bits (65536 cpr) and a multiturn resolution of 14 bits (16384 revolutions); the permissible value for the Measuring units / Revolution will be... -
Page 81: Velocity Measuring Units
AMT58x-PN ProfiNET® Velocity measuring units This parameter defines the coding of the velocity measuring units used to configure the signals NIST_A and NIST_B. Standard telegram 81 has no velocity information included and the encoder does not use the velocity measuring unit information in this case. Standard telegrams 82, 83 and 84 include velocity output and need a declaration of the velocity measuring unit. -
Page 82: Red Zone
AMT58x-PN ProfiNET® 9.5 "Red Zone" The so-called “Red Zone” problem occurs when the Number of revolutions (i.e. the Total measuring range Measuring units / Revolution) is not a power of 2. When this problem arises, the device must operate within the “red zone”... - Page 83 AMT58x-PN ProfiNET® It follows that for 189267968 positions (1073741824 - 442236928 * 2 = 189267968), i.e. for 11552 revolutions, the encoder will work within the limits of the so-called “red zone”. After position 189267968 (i.e. at the end of the “red zone”) a position error (namely, a “jump” in the position count) would happen as the following position would be “0”.
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Page 84: Diagnostics And Alarms
AMT58x-PN ProfiNET® 10. Diagnostics and Alarms Diagnostics data is always transferred acyclically using Record Data communication over the non real time channel. A PN-IO controller can request diagnostic data from the PN-IO device using RDO (Record Data Object) services. Alarm data is transmitted from the IO device to the IO controller via the RT channel. -
Page 85: Acyclic Diagnosis Parameter
AMT58x-PN ProfiNET® 10.1 Acyclic diagnosis parameter With the Acyclic parameter P65001 – Operating status the current status of the Encoder Faults and Warnings as well as the support of the individual Fault and Warning bits can be read from the encoder. For detailed information on the parameter P65001 –... -
Page 86: Use Of The Channelerrortype
AMT58x-PN ProfiNET® 10.2.1 Use of the ChannelErrorType For Profinet the encoder faults and warnings are mapped to the ChannelErrorTypes defined in the PROFIdrive profile, see the tables below. This means that there are no specific codes defined for standalone encoders and a PROFINET controller will interpret the errors from an encoder in the same ways as an error coming from a drive. -
Page 87: Real Time Class Communication
AMT58x-PN ProfiNET® 11. Real time class communication Within PROFINET IO, process data and alarms are always transmitted in real time. Real-Time for PROFINET (RT) is based on the definitions of IEEE and IEC for high-performance data exchange of I/O data. RT communication constitutes the basis for data exchange in PROFINET IO. -
Page 88: Figure 34 - Setting The Not Synchronized Role Of The Io Controller
AMT58x-PN ProfiNET® 11.2.1 Setting an anisochronous communication To configure the IO controller (Figure 34) double click the PN-IO slot X2 to open the PN-IO properties dialog box. The Properties – PN-IO property sheet will appear. Enter the Synchronization tabbed page and select the Not synchronized value in the drop-down menu of the Synchronization role item. -
Page 89: Figure 35 - Setting The Not Synchronized Role Of The Io Device
AMT58x-PN ProfiNET® To configure the IO device (Figure 35) double click the Interface slot X1 of the module to open the interface properties dialog box. The Properties – Interface property sheet will appear. Enter the Synchronization tabbed page and select the Not synchronized value in the drop-down menu of the Synchronization role item. -
Page 90: Figure 36 - Setting The Sync Master Role Of The Io Controller
AMT58x-PN ProfiNET® 11.3.1 Setting an isochronous communication To activate the real-time class 3 both the IO controller and the IO device must be configured. To do this proceed as follows. To configure the IO controller (Figure 36) double click the PN-IO slot X2 to open the PN-IO properties dialog box. -
Page 91: Figure 37 - Setting The Sync Slave Role Of The Io Device
AMT58x-PN ProfiNET® To configure the IO device (Figure 35) double click the Interface slot X1 of the module to open the interface properties dialog box. The Properties – Interface property sheet will appear. Enter the Synchronization tabbed page and select the Sync slave value in the drop-down menu of the Synchronization role item;... -
Page 92: Figure 38 - Cpu Property Sheet
AMT58x-PN ProfiNET® Now double click the CPU slot 2 in the CPU configuration table to open the CPU properties dialog box. The Properties – CPU 315 ... property sheet will appear. Enter the Synchronous Cycle Interrupts tabbed page and press the Details button. Figure 38 - CPU property sheet... -
Page 93: Figure 39 - Pip Of Ob61
AMT58x-PN ProfiNET® The OB61 dialog box will appear on the screen. Set the value “1” next to the Process image partition(s) item. Confirm pressing the OK button. NOTE For more information on PIPs (Process Image Partitions) refer to the section “11.5 PIP (Process Image Partition)”. Figure 39 - PIP of OB61... -
Page 94: Figure 40 - Ob61: Assigning Io Device In Isochronous Mode
AMT58x-PN ProfiNET® Now set the encoder in isochronous mode. To do this double click the Interface slot X1 of the module to open the interface properties dialog box. The Properties – Interface property sheet will appear. Enter the IO cycle tabbed page and select the OB61 value in the drop-down menu of the Assign IO device in isochronous mode item. -
Page 95: Figure 41 - Standard Telegram As Isochronous Submodule
AMT58x-PN ProfiNET® Press the Isochronous Mode Modules / Submodules … button below in the Properties – Interface property sheet and enter the Isochronous Modules / Submodules dialog box. Check that an isochronous submodule has been installed (Standard Telegram 83 in the example). Confirm pressing the OK button. Figure 41 - Standard Telegram as isochronous submodule... -
Page 96: Figure 42 - Setting Pip For Standard Telegram Ios
AMT58x-PN ProfiNET® Double click the Standard Telegram slot 1.2 of the module to open the telegrams properties dialog box. The Properties – Standard Telegram property sheet will appear. Enter the Addresses tabbed page and set the process image of the isochronous submodule as PIP 1. -
Page 97: Figure 43- Configuring The Io Controller Topology
AMT58x-PN ProfiNET® Now you need to set a connection between the port of the controller and the port of the encoder. Please check the specific configuration of your Profinet network. In the example the port 2 of the IO controller is connected to the port 1 of the IO device;... -
Page 98: Figure 44 - Configuring The Io Device Topology
AMT58x-PN ProfiNET® Then configure the IO device and set its port 1 to be connected to the port 2 of the IO controller. Double click the X1 P1 PORT 1 slot in the Device configuration table and open the Port 1 properties dialog box. The Properties –... -
Page 99: Figure 45 - Checking The Profinet Io Isochronous Mode
AMT58x-PN ProfiNET® Finally check the Profinet IO isochronous mode. Right click the 2 CPU slot in the CPU configuration table and press the PROFINET IO Isochronous mode command. Figure 45 - Checking the Profinet IO isochronous mode... -
Page 100: Figure 46 - Isochronous Mode Dialog Box
AMT58x-PN ProfiNET® The Isochronous Mode dialog box will appear on the screen. The installed Standard Telegram is the only submodule which provides IO data. In this page you can check which IO devices / modules / submodules have been set in isochronous mode with the IO controller. Figure 46 - Isochronous Mode dialog box... -
Page 101: Figure 47 - Ob61
AMT58x-PN ProfiNET® 11.4 OB61 WARNING Use of OBs requires both in-depth skills and specific expertise in SIMATIC STEP programming environment. detailed information please consult the STEP 7 Programmer's handbook and documentation. Organization blocks (OBs) form the interface between the CPU operating system and the user program. -
Page 102: Figure 48 - Process Image Partition
AMT58x-PN ProfiNET® 11.5 PIP (Process Image Partition) WARNING Use of PIPs requires both in-depth skills and specific expertise in SIMATIC STEP programming environment. detailed information please consult the STEP 7 Programmer's handbook and documentation. 11.5.1 Consistency PIPs (Process Image Partitions) are used to update the distributed IO device synchronously with the constant bus cycle time clock. -
Page 103: Sfc126 "Sync_Pi
AMT58x-PN ProfiNET® The assigned process image partitions must be updated in the synchronous cycle interrupt OB61 at the call of the functions SFC126 “SYNC_PI” and SFC127 “SYNC_PO”. The call of the function SFC126 “SYNC_PI” updates the process image partition input table; the call of the function SFC127 “SYNC_PO”... -
Page 104: Domain Management
AMT58x-PN ProfiNET® 11.6 Domain Management WARNING The configuration of the Sync domain requires both in-depth skills specific expertise SIMATIC STEP programming environment. For detailed information please consult the STEP 7 Programmer's handbook and documentation. In the case of PROFINET IO with IRT, a sync master transmits a synchronization message to which all sync slaves synchronize themselves. -
Page 105: Figure 49 - Assigning The Io Device To A Sync Domain
AMT58x-PN ProfiNET® To assign the IO device to a sync domain select and right-click the Profinet-IO system in the HW Config window. Press the PROFINET IO Domain Management… command in the shortcut menu. Figure 49 - Assigning the IO device to a sync domain... -
Page 106: Figure 50 - Domain Management Dialog Box
AMT58x-PN ProfiNET® The Domain Management dialog box will appear on the screen. Using the Domain management dialog box you can check the settings of the PROFINET IO system. The name of the sync domain is automatically assigned by STEP 7 with "syncdomain-default"... -
Page 107: Figure 51 - Sync Domain Details Dialog Box
AMT58x-PN ProfiNET® You have the option of establishing the reserved transmission bandwidth for IRT data as a proportion of the maximum reservable transmission bandwidth for cyclic user data communication. The proportion is specified in percent (%). In doing so, the maximum transmission bandwidth set by the system for cyclic data may not be exceeded by the reserved transmission bandwidth for IRT plus the transmission bandwidth that is required for the cyclic data in the free transmission bandwidth (RT... -
Page 108: Figure 52 - Entering The Topology Editor
AMT58x-PN ProfiNET® 11.7 Topology Editor Using the Topology Editor you can topologically configure your PROFINET IO system. The topology editor has a series of functions for setting, interconnecting and diagnosing the properties of all PROFINET devices including their ports. So it supports you in the following tasks: ... -
Page 109: Figure 53 - Topology Editor: Table View
AMT58x-PN ProfiNET® The Topology Editor dialog box will appear on the screen. As the PROFINET IO system has already been set up and the PROFINET devices connected (to connect the port of the IO controller and the port of the IO device see on page 109), they do not need to be first of all interconnected to a topology within the project. -
Page 110: Figure 54 - Topology Editor: Offline/Online Comparison
AMT58x-PN ProfiNET® The Offline/online comparison tabbed page lists the configured PROFINET devices with their interfaces and ports and the associated neighbor ports in the left box Configured topology (offline). The right box Detected topology (online) shows the online view of the PROFINET IO system with its interconnection for the runtime. -
Page 111: Figure 55 - Topology Editor: Graphic View
AMT58x-PN ProfiNET® The Graphic view tabbed page displays the PROFINET devices in the project and their interconnections. In the Miniature View in the top right section, you can use the slider to select the section of the PROFINET IO system and its enlargement factor. -
Page 112: Figure 56 - Message Monitoring
AMT58x-PN ProfiNET® 11.8 Message monitoring Below is an example of traffic between the IO controller and the IO device in IRT mode. Figure 56 - Message monitoring... -
Page 113: Figure 57 - Link Layer Discovery Protocol (Lldp)
AMT58x-PN ProfiNET® 12. Encoder replacement using LLDP LLDP (Link Layer Discovery Protocol) is a Layer 2 protocol that is used to detect the closest neighbors in the network. It enables a device to send information about itself and to save information received from neighboring devices, i.e. -
Page 114: Figure 58 - Base Mode Parameter Request And Response
AMT58x-PN ProfiNET® 13. Read & write records acyclic communication Figure 58 - Base mode parameter request and response... -
Page 115: Figure 59 - Sfb52
AMT58x-PN ProfiNET® 13.1 Example: reading and writing a parameter (Preset Value) 13.1.1 System Function Block 52 (SFB52) Figure 59 - SFB52 13.1.2 System Function Block 53 (SFB53) Figure 60 - SFB53... -
Page 116: Figure 61 - Db1
AMT58x-PN ProfiNET® 13.1.3 Data Block 1 (DB1) Figure 61 - DB1 13.1.4 Data Block 2 (DB2) Figure 62 - DB2... -
Page 117: Figure 63 - Db3
AMT58x-PN ProfiNET® 13.1.5 Data Block 3 (DB3) Figure 63 - DB3 13.1.6 Data Block 4 (DB4) Figure 64 - DB4... -
Page 118: Figure 65 - Ob1
AMT58x-PN ProfiNET® 13.1.7 Organization Block 1 (OB1) Figure 65 - OB1 13.1.8 Function 1 (FC1) Figure 66 - FC1... -
Page 119: Figure 67 - Fc1
AMT58x-PN ProfiNET® Figure 67 - FC1 13.1.9 Function 2 (FC2) Figure 68 - FC2... -
Page 120: Figure 69 - Acyclic Request Of Preset Value
AMT58x-PN ProfiNET® 13.1.10 Acyclic request of Preset See P65000 – Preset value on page 62. Figure 69 - Acyclic request of Preset value NOTE Please always ascertain that MD 108 Diag. Address of PAP is the same as the diagnostic address of Parameter Access Point in Slot 1.1. -
Page 121: Figure 70 - Monitoring A Variable
AMT58x-PN ProfiNET® 13.2 Monitoring a variable Below is an example of variable monitor in case of Telegram 83 and IRT communication. NOTE Controller Sign-Of-Life is active. Figure 70 - Monitoring a variable... -
Page 122: Figure 71 - Encoder State Machine
AMT58x-PN ProfiNET® 14. Encoder state machine NORMAL PARKING PRESET OPERATION (see on (see on page 109) page 109) (see on page 108) ALARM (see on page 111) Figure 71 - Encoder state machine... -
Page 123: Normal Operation Diagram
AMT58x-PN ProfiNET® 14.1 Normal operation diagram... -
Page 124: Preset Diagram
AMT58x-PN ProfiNET® 14.2 Preset diagram... -
Page 125: Parking Sensor Diagram
AMT58x-PN ProfiNET® 14.3 Parking sensor diagram... -
Page 126: Error Diagram
AMT58x-PN ProfiNET® 14.4 Error diagram 14.4.1 Acknowledgment of acknowledgeable sensor error... -
Page 127: Acknowledgment Of Not Acknowledgeable Sensor Error
AMT58x-PN ProfiNET® 14.4.2 Acknowledgment of not acknowledgeable sensor error... -
Page 128: Figure 72 - Opening The Web Server
AMT58x-PN ProfiNET® 15. Integrated web server Profinet encoders from Datalogic Automation integrate a web server. This web-based user interface is designed to deliver helpful information on the device that can be accessed through the Internet. In particular it makes monitoring and advanced maintenance of the encoder from every PC and even smart phones or tablet devices running a web browser possible. -
Page 129: Figure 73 - Web Server Index Page
AMT58x-PN ProfiNET® as soon as the connection is established, the web server Index page will appear on the screen; Figure 73 - Web server Index page In the Index page some commands are available: they allow to enter specific pages where information and diagnostics on the connected encoder can be achieved. -
Page 130: Figure 75 - Firmware Upgrade Page
AMT58x-PN ProfiNET® Figure 75 - Firmware upgrade page For detailed information on the firmware upgrade please refer to the section “15.1 Firmware upgrade” on page 126. Figure 76 - Status & Alarms page... -
Page 131: Figure 77 - Encoder Parameters Page
AMT58x-PN ProfiNET® Figure 77 - Encoder Parameters page Parameters listed in the Encoder Parameters page are sent by the controller to the encoder during initialization (for further information refer to the section “9.4 Index 0xBF00 : user parameter data” on page 64). -
Page 132: Figure 79 - Encoder Specific Profile Parameters
AMT58x-PN ProfiNET® Figure 79 - Encoder Specific Profile Parameters page 1 Please note in this page the manufacturer ID in the second line and the software version in the fourth line (102 = 1.0.2, see on page 160). For further information on the parameters shown in this page refer to the sections “9.2 Index 0xB02E: supported PROFIdrive specific parameters”... -
Page 133: Figure 81 - Identification & Maintenance Page
AMT58x-PN ProfiNET® For further information on the parameters shown in this page refer to the sections “9.2 Index 0xB02E : supported PROFIdrive specific parameters” on page 59 and “9.3 Index 0xB02E : supported encoder specific parameters” . Figure 81 - Identification & Maintenance page Please note in this page the Vendor ID, the Order ID, the Serial number, the Hardware version and the Software version are listed. -
Page 134: Figure 82 - Change The Preset Value Page
AMT58x-PN ProfiNET® Figure 82 - Change the preset value page For detailed information on setting the preset value please refer to the section“15.2 Setting the preset value”. Figure 83 - Reserved area page... -
Page 135: Firmware Upgrade
Furthermore never turn off power during flash upgrade. In case of flash upgrade error, the program is lost irreversibly (there is not a bootloader) and the device must be sent back to Datalogic Automation for restoring. This operation allows to upgrade the unit firmware by downloading upgrading data to the flash memory. -
Page 136: Figure 84 - Opening The Web Server
AMT58x-PN ProfiNET® To upgrade the firmware program please proceed as follows: open the Profinet encoder web server by typing the IP address of the encoder you want to connect to in the address bar of your web browser and confirm; Figure 84 - Opening the web server press the Firmware upgrade command in the left navigation bar of the Index page to enter the Firmware upgrade page;... -
Page 137: Figure 86 - Confirming The Access To The Firmware Upgrade Page
AMT58x-PN ProfiNET® Figure 86 - Confirming the access to the Firmware upgrade page in the Password text box type the password Datalogic and then press the Submit button; Figure 87 - Firmware upgrade page a message will appear on the screen while the background color of the page will be changed to red;... -
Page 138: Figure 88 - Web Server Stopped
SELECT FILE button; once you press the button the Open dialogue box appears on the screen: open the folder where the firmware upgrading .BIN file released by Datalogic Automation is located, select the file and confirm; Figure 89 - Firmware upgrade executable file... -
Page 139: Figure 90 - Starting The Firmware Upgrade Operation
Never turn off power during flash upgrade. In case of flash upgrade error, the program is lost irreversibly (there is not a bootloader) and the device must be sent back to Datalogic Automation for restoring. -
Page 140: Figure 91 - Firmware Upgrade Operation Process
2 LED starts blinking red at 1 Hz while S1 Status 1 LED is OFF (see on page 9). In case of flash upgrade error, the program is lost irreversibly (there is not a bootloader) and the device must be sent back to Datalogic Automation for restoring. -
Page 141: Figure 92 - Opening The Web Server
AMT58x-PN ProfiNET® 15.2 Setting the preset value NOTE This page is designed to help you setting a Preset value easily. Please note it allows you just to enter and save the value, not to execute the preset. If you need to execute the preset you must set the bit 12 (Request set/shift of home position) of the G1_STW control word (see on page 52). -
Page 142: Figure 93 - Web Server Index Page
AMT58x-PN ProfiNET® press the Change the preset value command in the Index page to enter the Change the preset value page; Figure 93 - Web server Index page before entering the page you are requested to confirm the operation; press OK to continue; Figure 94 - Confirming the access to the Preset page... -
Page 143: Figure 95 - Changing The Preset Value
AMT58x-PN ProfiNET® in the page that appears you have to enter the desired preset value expressed in hexadecimal format; please enter the value without the 0x prefix. Press ENTER to confirm. In the example, the value 0x1000 hex (= 4096 dec) has been entered. -
Page 144: Default Parameters List
AMT58x-PN ProfiNET® 16. Default parameters list Parameters list Default value Code sequence Class 4 functionality G1_XIST1 preset control Scaling function control Alarm channel control Compatibility mode Measuring units /Revolution Hardware singleturn resolution Total measuring range Hardware multiturn resolution Maximum Master Sign-Of-Life failures Velocity measuring units...