Datalogic AMT58 Series Instruction Manual
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Datalogic AMT58 Series Instruction Manual

Ethercat absolute encoders
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  • Page 1 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 2 All brand and product names mentioned herein are for identification purposes only and may be trademarks or registered trademarks of their respective owners. Datalogic shall not be liable for technical or editorial errors or omissions contained herein, nor for incidental or consequential damages resulting from the use of this material.

  • Page 3: Table Of Contents

    INDEX 1 - Safety summary ......................1   Safety ..........................1   Electrical safety ......................1   Mechanical safety ......................2   2 - Identification ........................ 3   3 - Mechanical installation ....................4   3.1 Solid shaft encoders ....................4  ...
  • Page 4 Standard objects ......................45   1000-00 Device type ....................45   1008-00 Manufacturer Device Name ................45   1009-00 Hardware version ................... 45   100A-00 Software version .................... 46   1010-01 Store parameters ................... 46   1011-01 Restore default parameters ................46  ...
  • Page 5 Subject Index 1  C  1000-00 Device type ......45 Calc and Copy time ........ 48 1008-00 Manufacturer Device Name ..45 Code sequence ........ 49; 53 1009-00 Hardware version ..... 45 Cycle time ..........48 100A-00 Software version ...... 46 D ...
  • Page 6 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; ...
  • Page 7 Preliminary information This guide is designed to describe the technical characteristics, installation and use of the EtherCAT 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.

  • Page 8: Safety Summary

     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 ...

  • Page 9: Mechanical Safety

    AMT58x-EC EtherCAT® 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 encoder;  do not tool the encoder or its shaft; ...

  • Page 10: Identification

    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.

  • Page 11: Mechanical Installation

    AMT58x-EC EtherCAT® 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. 3.1 Solid shaft encoders  Mount the flexible coupling 1 on the encoder shaft; ...

  • Page 12: Installation Using A Mounting Bell (Code St-58-Flng)

    AMT58x-EC EtherCAT® 3.1.3 Installation using a flange (code ST-58-FLNG) Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

  • Page 13: Hollow Shaft Encoders

    AMT58x-EC EtherCAT® 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 14: Electrical Connections

    AMT58x-EC EtherCAT® 4 - Electrical connections WARNING Power supply must be turned off before performing any electrical connection! Do not remove the connection cap of the encoder. Damage may be caused to internal components. 4.1 M12 connectors The connection cap is fitted with three M12 connectors with pin-out in compliance with the EtherCAT®...

  • Page 15: Ground Connection

    AMT58x-EC EtherCAT® 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.

  • Page 16: Quick Reference (Twincat)

    AMT58x-EC EtherCAT® 5 - Quick reference (TwinCAT) 5.1 System configuration using TwinCAT software system from Beckhoff 5.1.1 Setting the Network Card Launch TwinCAT System Manager. In the left pane of the main window extend the devices tree and select the I/O Devices item; right-click the I/O Devices item and then press the Append Device...
  • Page 17 AMT58x-EC EtherCAT® If a network card has been already installed properly, the following window will appear showing the list of the installed devices. Select the network card you want to use and then confirm the choice pressing the OK button. If there are no network cards installed, you must install one before proceeding.

  • Page 18: Add New I/O Modules (Boxes)

    AMT58x-EC EtherCAT® The Installation of TwinCAT RT – Ethernet Adapter window will appear. Now select Compatible Devices item and choose the network card you want to install; finally press the Install button to confirm your choice. 5.1.2 Add new I/O modules (Boxes) If devices are connected to the network and switched ON, right-click the Device 1 (EtherCAT) item in the left pane of the TwinCAT System Manager main window and press the Scan Boxes...
  • Page 19 AMT58x-EC EtherCAT® At the end of the process some information will be listed in the right page as in Figure here below. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 20 If devices are not already connected to the network it is necessary to use the XML file supplied with the encoder: AMT58-xxx-13x14-EC (see Datalogic website). At the same address you can also download the most recent files to update both the firmware and the EEProm of the encoder.
  • Page 21 AMT58x-EC EtherCAT® Right-click the Device 1 (EtherCAT) item in the left pane of the TwinCAT System Manager main window and press the Append Box... command. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 22 AMT58x-EC EtherCAT® In the Insert EtherCAT Device window that appears select Datalogic S.p.a and then EtherCAT Encoder items; now choose from the list the encoder you want to install:  AMT58-ECAT Press the OK button to confirm your choice. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

  • Page 23: Synchronous With Sm3

    AMT58x-EC EtherCAT® 5.2 Setting the communication mode 5.2.1 Synchronous with SM3 In the left pane of the TwinCAT System Manager main window press the Box (AMT58-ECAT) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter DC page. Select the Synchronous with SM3 (Inputs) option in the Operation Mode box.

  • Page 24: Synchronous With Dc (Sync0)

    AMT58x-EC EtherCAT® 5.2.2 Synchronous with DC (SYNC0) In the left pane of the TwinCAT System Manager main window press the Box (AMT58-ECAT) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter DC page. Select the Synchronous with DC (SYNC0) option in the Operation Mode box.

  • Page 25: Process Data Objects

    AMT58x-EC EtherCAT® 5.3 Process Data Objects In the left pane of the TwinCAT System Manager main window press the Box (AMT58-ECAT) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the Process Data page.

  • Page 26: Coe Object Dictionary

    AMT58x-EC EtherCAT® 5.4 COE Object Dictionary In the left pane of the TwinCAT System Manager main window press the Box (AMT58-ECAT) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the CoE - Online page.

  • Page 27: Online Data

    AMT58x-EC EtherCAT® 5.5 Online Data In the left pane of the TwinCAT System Manager main window press the Box (AMT58-ECAT) item: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the Online page to check the encoder status. To display the encoder process data in real time, click the Safe-OP button if you want to display inputs only;...

  • Page 28: Eeprom Upgrade

    AMT58x-EC EtherCAT® 5.6 EEProm upgrade WARNING The EEProm upgrade process has to be accomplished by skilled and competent personnel. If the upgrade is not performed according to the instructions provided or a wrong or incompatible EEProm program is installed then the unit may not be updated correctly, in some cases preventing the unit from working.
  • Page 29 AMT58x-EC EtherCAT® 2. Press the Advanced Settings... button; the Advanced Settings page will appear; in the directory tree on the left expand the ESC Access directory, then expand the E2PROM directory, finally select the HEX Editor item. 3. Press the Read from File... button and select the .BIN file provided to upgrade the EEProm;...
  • Page 30 AMT58x-EC EtherCAT® NOTE In the .BIN file Hx is the hardware version of the encoder, while Sy is the software version. 4. Move back to the previous Advanced Settings page and press the Download button. Now wait until the EEProm writing process is carried out.
  • Page 31 AMT58x-EC EtherCAT® 6. In the left pane of the TwinCAT System Manager main window delete all the Box (AMT58-ECAT) items in the list. Select each box and then press the DEL key in the PC keyboard. Press OK to confirm. 7.
  • Page 32 AMT58x-EC EtherCAT® 8. At the end of the scanning process all the devices available in the network are listed as shown in the Figure here below. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

  • Page 33: Firmware Upgrade

    “user program”, is stored in the flash memory integrated inside the unit. Datalogic encoders are designed so that the firmware can be easily updated by the user himself. This allows Datalogic Automation s.r.l.
  • Page 34 AMT58x-EC EtherCAT® 1. In the left pane of the TwinCAT System Manager main window press the Box (AMT58-ECAT) item of the encoder you need to update: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the Online page. 2.
  • Page 35 AMT58x-EC EtherCAT® .EFW file provided to upgrade the firmware; please make sure you select the file of your own model you need to upgrade (for example: if you have to upgrade an H- series multiturn encoder then must select file ECATFW_AMT58_Hx_Sy.efw;...
  • Page 36 AMT58x-EC EtherCAT® 5. To check whether the firmware upgrade procedure has been completed successfully enter the Online page in the TwinCAT System Manager main window and press the Pre-Op button in the State Machine box; if everything is ok, the encoder enters PREOPERATIONAL state (the PREOP message appears next to the Current State item in the same box).

  • Page 37: Ethercat® Interface

    AMT58x-EC EtherCAT® 6 - EtherCAT® interface 6.1 Basic Information on EtherCAT® Protocol EtherCAT protocol is designed to use the standard Ethernet dataframes for issuing data; in addition, and as regards the hardware, it is not necessary to install dedicated Masters for establishing and managing the EtherCAT communication because standard Ethernet network cards can be used.

  • Page 38: Data Transfer

    AMT58x-EC EtherCAT® 6.1.1 Data transfer Usually, in a data bus system, Master controller sends online a data request and then waits for data to be processed and sent back from each Slave node; this does not comply with a real-time system because Master receives data from Slaves in different moments and the whole system cannot be synchronized.

  • Page 39: Topology

    AMT58x-EC EtherCAT® 6.1.3 Topology Several topologies of connection are supported by EtherCAT networks: line, tree, daisy-chain, star, …). Furthermore EtherCAT networks can be configured in almost any topology in the same structure. The maximum length of the cable between two Slaves is 100 m;...

  • Page 40: Line Termination

    AMT58x-EC EtherCAT® 6.1.4 Line Termination EtherCAT network needs no line termination because the line is terminated automatically; in fact every Slave is able to detect the presence of downstream Slaves. An EtherCAT Slave is able to detect the presence of the signal in the outgoing line (Port 0) or in the return line (Port 1).

  • Page 41: Communication Mode

    (4 Gigabytes). 6.1.6 Communication mode Datalogic encoders with EtherCAT interface support the following operating modes:  FreeRun: asynchronous mode;  SM3 event: synchronous mode;...

  • Page 42: Freerun

    AMT58x-EC EtherCAT® FreeRun Asynchronous mode; encoder position is sampled directly from EtherCAT frame sent by the Master; position update is performed by an internal timer of the controller every 100 microseconds. Local Timer Local Timer 0x1C33:02 (Cycle Time) 0x1C33:06 (Calc & Copy) Input Latch This operating mode has a high sampling jitter (up to 100 microseconds) and can be chosen only when cycle times are quite...
  • Page 43 AMT58x-EC EtherCAT® Synchronous with SM3 In this mode data is sampled and then copied into Sync Manager buffer as soon as previous data was read from the Master (SM event); in this way new sampled data is synchronous with Master readings.

  • Page 44: Synchronous With Dc Sync0

    AMT58x-EC EtherCAT® Synchronous with DC SYNC0 In this operating mode data is sampled and then copied into Sync Manager buffer simultaneously at SYNC0 event generated by the ESC capture/compare unit. Time required for accomplishing these operations is set in object 1C33 Sync Manager input parameter;...

  • Page 45: Ethercat State Machine (Esm)

    AMT58x-EC EtherCAT® 6.1.7 EtherCAT State Machine (ESM) EtherCAT Slave is a state machine; communication and operating characteristics depend on the current state of the device:  INIT: it is the default state after power on; in this state there is not direct communication between Master and Slave on the Application Layer;...

  • Page 46: Slave Configuration

    AMT58x-EC EtherCAT® 6.1.8 Slave configuration The configuration of the Slave communication characteristics (Sync Manager configuration, addresses, synchronization modes, PDO mapping, …) can be made both using the XML file (EtherCat Slave Information - ESI) or loading data directly from EEPROM (Slave Information Interface SII).

  • Page 47: Timing And Synchronization

    AMT58x-EC EtherCAT® 6.1.9 Timing and Synchronization The main feature of EtherCAT is its almost ideal representation of a real-time system. Hence the Master has to synchronize all the Slaves at the same time in order to build a system where all nodes have the same reference time;...

  • Page 48: Canopen Over Ethercat (Coe)

    6.2.1 XML file EtherCAT® encoders are supplied with their own XML file AMT58- xxx-13x14-EC (see Datalogic website). At the same address you can also download the most recent files to update both the firmware and the EEProm of the encoder. For older versions of the files please contact Datalogic Automation s.r.l.
  • Page 49 AMT58x-EC EtherCAT® If you want to know the firmware version of a device, press the Box (AMT58-ECAT): item in the left pane of the TwinCAT System Manager main window: some tabbed pages for configuring and managing the device will appear in the right pane. Enter the CoE - Online page and refer to the indexes Hardware version and Software version.

  • Page 50: Process Data Objects (Pdo)

    AMT58x-EC EtherCAT® 6.2.2 Communication messages EtherCAT Datagram of CoE mode has the following structure: Cmd specific Mbx Header CoE Cmd data Numb type = 3 0 … 1478 6 bytes 9 bits 3 bits bits bytes Mbx Header CoE mode Number = 0 in case of SDO messages ≠...
  • Page 51 AMT58x-EC EtherCAT® 6.2.4 Service Data Objects (SDO) SDO messages are issued via Mailbox (low priority data); Segmented SDO Service and SDO Complete Access are not supported (transfer of low size data and one sub-index at a time). “CoE Cmd type” = 2 or 3 Structure of “Cmd specific data”: Cmd specific data Data...

  • Page 52: Object Dictionary

    AMT58x-EC EtherCAT® 6.2.5 Object dictionary In the following pages the objects implemented are listed and described as follows: Index-subindex Object name [data types, attribute]  Index and sub-index are expressed in hexadecimal notation.  Attribute: ro = read only access rw = read and write access Unsigned16 data type: Process data bytes...

  • Page 53: 100A-00 Software Version

    [Unsigned32, rw] This object allows you to restore all parameters to default values. The default parameters are set at the factory by Datalogic Automation engineers to allow the operator to run the device for standard operation in a safe mode. A list of machine data and relevant default parameters preset by Datalogic Automation s.r.l.

  • Page 54: 1018 Identification Object

    AMT58x-EC EtherCAT® 1018 Identification object 01 Vendor number [Unsigned32, ro] Default = 0000 012Eh 02 Product number [Unsigned32, ro] 03 Revision number [Unsigned32, ro] 04 Serial number [Unsigned32, ro] 1A00-01 PDO mapping parameter [Unsigned32, rw] This object contains the mapped position value of the encoder according to DS406 device profile.

  • Page 55: Sync Type

    AMT58x-EC EtherCAT® 01 Sync Type [Unsigned16, rw] Default = 1 0: FreeRun; see on page 34; 1: Synchronous with SM3 Event; see on page 36; 2: DC mode synchronous with SYNC0 event; see on page 37. 02 Cycle time [Unsigned32, ro] this parameter depends on the Sync Type selected: if “FreeRun”: interval between two position samplings (internal timer);...

  • Page 56: Device Profile Objects

    AMT58x-EC EtherCAT® Device profile objects 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 Code sequence (counter (clockwise) clockwise) not used Scaling function disabled enabled 3 … not used Default = 0000h Code sequence This is intended to set if the encoder counting increments either when the shaft is rotating clockwise (CW) or when the shaft is rotating counter-clockwise (CCW).

  • Page 57: 6002-00 Total Resolution

    AMT58x-EC EtherCAT® To avoid counting errors, check that 6501-00 Hardware counts per revolution 6001-00 Counts per revolution is an integer value. Furthermore, after having set a new value next to the 6001-00 Counts for revolution parameter, make sure to meet also the following condition: Number of physical 6002-00 Total resolution...

  • Page 58: 6003-00 Preset Value

    AMT58x-EC EtherCAT® NOTE To avoid counting errors we recommend values which are power of 2 : 2, 4, …, 2048, 4096, 8192,…) to be set next to the objects 6001- 00 Counts per revolution 6002-00 Total resolution. WARNING If you have set the preset, when you change the value next to 6001- 00 Counts per revolution and/or...
  • Page 59 AMT58x-EC EtherCAT® NOTE • If the scaling function is disabled (bit 2 Scaling function in the parameter 6000-00 Operating parameters = 0), 6003-00 Preset value must be lower than or equal to the total hardware resolution (i.e. 6501-00 Hardware counts per revolution 6502-00 Hardware number of turns).

  • Page 60: 6004-00 Position Value

    AMT58x-EC EtherCAT® 6004-00 Position value [Unsigned32, ro] This object contains the position value of the encoder, transmitted value is calculated considering the scaling values, bit 2 Scaling function of the object 6000-00 Operating parameters. 6500-00 Operating status [Unsigned16, ro] Function bit = 0 bit = 1 Code sequence...

  • Page 61: 6501-00 Hardware Counts Per Revolution

    AMT58x-EC EtherCAT® 6501-00 Hardware counts per revolution [Unsigned32, ro] This object defines the physical number of distinguishable steps each turn given by the hardware. To set a custom singleturn resolution see object 6001-00 Counts per revolution. 6502-00 Hardware number of turns [Unsigned32, ro] This object defines the physical number of distinguishable turns given by the hardware.

  • Page 62: Sdo Abort Codes

    Values and descriptions of “AL Status Code” are available in ETG1000.6 par.5.3.2 Table 11. 6.3 File Over EtherCAT (FoE) Datalogic encoders are devices that allow the firmware update using the protocol "File over EtherCAT (FoE)". For any specification on FoE protocoll, please refer to “ETG.1000 EtherCAT Specification”...

  • Page 63: Default Parameters List

    AMT58x-EC EtherCAT® 7 – Default parameters list Default values are expressed in hexadecimal notation. Parameters list Default values 6000-00 Operating 0000 parameters 6001-00 Counts for 0000 2000h revolution (8192) 6002-00 Total 0800 0000h resolution (134217728) 6003-00 Preset value 00000 0000 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

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