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Datalogic AMT58-PB Series Instruction Manual
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Datalogic AMT58-PB Series Instruction Manual

Absolute encoders
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Summary of Contents for Datalogic AMT58-PB Series

  • 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 INDEX 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 Installation using fixing clamps (optional kit code ST-58-KIT) ......... 4 3.1.3 Installation using a mounting bell (code ST-58-FLNG) ...........

  • Page 4: Subject Index

    Subject index Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

  • Page 5: Typographic And Iconographic Conventions

    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 6: Preliminary Information

    Preliminary information This guide is designed to describe the technical characteristics, installation and use of the Profibus encoders of the AMT58-PB 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 7: 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 8 AMT58x-PB Profibus® 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; ...
  • Page 9 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 10: Mounting Instructions

    AMT58x-PB Profibus® 3 - Mounting instructions WARNING Installation has to be carried out by qualified personnel only, with power supply disconnected and mechanical parts compulsorily in stop. Never force the rotation of the shaft manually, it could cause irreparable damage! 3.1 Solid shaft encoders •...
  • Page 11 AMT58x-PB Profibus® 3.1.3 Installation using a flange (code ST-58-FLNG) Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 12 AMT58x-PB Profibus® 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 13: Electrical Connections

    AMT58x-PB Profibus® 4 - Electrical connections WARNING Electrical connection has to be carried out by qualified personnel only, with power supply disconnected and mechanical parts compulsorily in stop. 4.1 Connection cap WARNING Do not remove or mount the connection cap with power supply switched ON.
  • Page 14 AMT58x-PB Profibus® 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 15 AMT58x-PB Profibus® 4.4 Connection cap with M12 connectors (Figure 1) Connection cap is fitted with three M12 connectors with pin-out in compliance with the Profibus standard. Therefore you can use standard Profibus cables commercially available. Power supply M12 connector A coding (frontal side) male Function...
  • Page 16 AMT58x-PB Profibus® 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. 4.6 Node address: DIP A (Figure 1) WARNING Power supply must be turned off before performing this operation!
  • Page 17 AMT58x-PB Profibus® Example Set node number = 25: = 0001 1001 (binary value) ON OFF OFF ON ON OFF OFF OFF Set node number = 55: = 0011 0111 (binary value) ON ON ON OFF ON ON OFF OFF NOTE After having set the device address, please check the bus termination switch position (see section “4.8 Bus termination (Figure 1)”...
  • Page 18 AMT58x-PB Profibus® 4.8 Bus termination (Figure 1) A bus termination resistance is provided inside the connection cap. This has to be activated as line termination on the last device in the transmission line. Use the RT Switch to activate or deactivate the bus termination.
  • Page 19 AMT58x-PB Profibus® 4.9 Diagnostic LEDs (Figure 1) Two LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the Profibus-DP interface. Power Fault (red) Event (green) Power supply is turned off or hardware breakdown not recognized Correct function (communication is on, the device is sending / receiving...

  • Page 20: Quick Reference

    English (.GSE) versions (texts and comments are in the supported language). WARNING For AMT58 multiturn encoders the default value preset by Datalogic in the Counts per revolution item of the AMT58-xxx-13x12-PB GSD file is 4096 (12 bits); for this reason, if you have a 25-bit multiturn encoder and you want to use the overall resolution, you must set the Counts per revolution item to 8192 (13 bits).
  • Page 21 AMT58x-PB Profibus® In the main window HW Config of STEP7 select Install GSD File… command from Options menu bar. In the window that appears you can select the GSD file specific to the unit you need to install in your Siemens control system. Choose among the available files the one you need: GSD file for AMT58 multiturn encoder, in either Italian or English language.
  • Page 22 AMT58x-PB Profibus® 5.1.2 Adding a node to the project To add a node to the project, extend the directory tree in the right panel of the STEP7 HW Config main window and select either the AMT58 module available in Catalog > PROFIBUS-DP > Additional Field Devices >...
  • Page 23 AMT58x-PB Profibus® 5.1.3 Encoder configuration parameters To access the parameters configuration window, first enter the STEP7 HW Config main window and select the AMT58 item just installed (AMT58 Class 2 in the example) available in the variables table in the bottom left; then right-click the item and press the Object Properties...
  • Page 24 AMT58x-PB Profibus® Class 2 example In the Parameter Assignment page, some items (Code sequence, Class 2 functionality, Scaling function) are to be set by scrolling through the available options in the drop-down box. While the parameters concerning the resolution must be entered in decimal notation.
  • Page 25 AMT58x-PB Profibus® EXAMPLE 1 Let's suppose we need to program the following encoder: “AMT58” 24-bit multiturn encoder.  Hardware counts per revolution = 12 bits/rev. (4096 cpr)  Hardware number of revolutions = 12 bits (4096 rev.)  Hardware total resolution = 24 bits (4096 ...
  • Page 26 AMT58x-PB Profibus® EXAMPLE 2 Let's suppose we need to program the following encoder: “AMT58” 25-bit multiturn encoder.  Hardware counts per revolution = 13 bits/rev. (8192 cpr)  Hardware number of revolutions = 12 bits (4096 rev.)  Hardware total resolution = 25 bits (8192 ...
  • Page 27 AMT58x-PB Profibus® Let's say our encoder is programmed as in EXAMPLE 2EXAMPLE : Counts per revolution: 8192 Total resolution= 33554432 = 8192 (cpr) * 4096 (rev.), so: Total resolution (high) = 512; Total resolution (low) = 0 Let's set a new singleturn resolution, for instance: Counts per revolution = 360.
  • Page 28 AMT58x-PB Profibus® EXAMPLE 3 Let's suppose we need to program the following encoder: “AMT58” 25-bit multiturn encoder.  Hardware counts per revolution = 13 bits/rev. (8192 cpr)  Hardware number of revolutions = 12 bits (4096 rev.)  Hardware total resolution = 25 bits (8192 ...
  • Page 29 AMT58x-PB Profibus® EXAMPLE 4 Let's suppose we need to program the following encoder: “AMT58” 24-bit multiturn encoder.  Hardware counts per revolution = 12 bits/rev. (4096 cpr)  Hardware number of revolutions = 12 bits (4096 rev.)  Hardware total resolution = 24 bits (40964096=16777216) We want to set: 4096 counts per revolution and 50 revolutions.
  • Page 30 AMT58x-PB Profibus® EXAMPLE 5 Let's suppose we need to program the following encoder: “AMT58” 25-bit multiturn encoder.  Hardware counts per revolution = 13 bits/rev. (8192 cpr)  Hardware number of revolutions = 12 bits (4096 rev.)  Hardware total resolution = 25 bits (8192 ...
  • Page 31 AMT58x-PB Profibus® 5.2 Reading the diagnostic information Datalogic encoder provides the standard diagnostic information. The diagnostic information message is 6-byte long. For any information on the DP Slave diagnostics please refer to the “Profibus Specification” document. Before entering the diagnostic page, it is necessary to connect to the unit (i.e.
  • Page 32 AMT58x-PB Profibus® 6-byte diagnostics Byte Description status 1 status 2 status 3 Master ID manufacturer ID Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 33 AMT58x-PB Profibus® 5.3 Setting the Preset value Example The encoder having device address 1 transmits the Position value to the Master. It is loaded into variables ED 100 … ED103 (4 bytes). Preset value is sent to the encoder by using the variables AD 100 …...

  • Page 34: Profibus Interface

    AMT58x-PB Profibus® 6 - Profibus interface Datalogic units are slave devices and comply with the “Profibus-DP Profile for Encoders”; they can be set to either Class 1 or Class 2 devices (see section “6.2 Classes of the Device profile” on page 29).
  • Page 35 AMT58x-PB Profibus® 6.2 Classes of the Device profile The encoder class must be set when you configure the device. See also the Class 2 functionality operating parameter on page 32. Class 1 allows basic functions of the device and can be used: ...
  • Page 36 AMT58x-PB Profibus® Types of communication messages Transmission of data between Master and Slave is carried out using the following types of messages:  DDLM_Set_Prm: Used for configuring the Slave. This communication mode is active immediately after power is turned ON and is used to send parameters from the Master to the Slave (see the section “6.4 DDLM_Set_Prm”...
  • Page 37 AMT58x-PB Profibus® 6.4 DDLM_Set_Prm When the system is turned on, configuration data set by the operator is sent to the absolute encoder by the controller (DDLM_Set_Prm mode). Parameters transmission depends on the configuration chosen by the operator. Customarily data is sent automatically while data setting is carried out through a user's interface available in the controller's software (for instance, STEP7, see section “5.1 Configuring the encoder via Siemens STEP7“...
  • Page 38 AMT58x-PB Profibus® Code sequence Code sequence parameter defines whether increasing position values are output when the encoder shaft rotates clockwise (CW) or when the encoder shaft rotates counter-clockwise (CCW). When Code sequence = CW (0) the position information increases as the encoder shaft rotates clockwise;...
  • Page 39 AMT58x-PB Profibus® 6.4.2 Bytes 11 - 12 Counts per revolution WARNING You can set a new value next to this Counts per revolution item only Class 2 functionality = ENABLED; if Scaling function = ENABLED the set resolution value is enabled and used by the encoder; on the contrary, if Scaling function = DISABLED you are allowed to set a...
  • Page 40 AMT58x-PB Profibus® As you can see, the encoder is required to carry out more than 93000 revolutions, this cannot be as the hardware number of revolutions is, as stated, 4096. When this happens, the encoder falls into an error signalling the faulty condition through the diagnostic LEDs (see on page 13).
  • Page 41 AMT58x-PB Profibus® Let's say our encoder is programmed as follows: Counts per revolution: 8192 Total resolution = 33554432 = 8192 (cpr) * 4096 (rev.) Let's set a new total resolution, for instance: Total resolution = 360. As the Total resolution must be greater than or equal to the Counts revolution, the above setting is not allowed.
  • Page 42 AMT58x-PB Profibus® Example Multiturn encoder AMT58 with connection cap. The hardware resolution is:  Hardware counts per revolution = 4096 (2  Hardware number of revolutions = 4096 (2  Hardware total resolution = 16777216 (2 We need to set the following custom resolution: 2048 counts per revolution ...
  • Page 43 AMT58x-PB Profibus® 6.5 DDLM_Chk_Cfg The configuration function allows the Master to send the configuration data to the Slave for any check operation. The main purpose of this function is to define the number of bytes used for the Data_Exchange as viewed from the Master side. Chk_Cfg message structure (1 byte): bit 7 = Consistency (= ”1”)
  • Page 44 AMT58x-PB Profibus® 6.6 DDLM_Data_Exchange This is the normal operational status of the system. The Slave (no matter if set to Class 1 or Class 2) can both transmit the Position value to the Master and receive the Preset value from the Master. Position (Encoder ...
  • Page 45 AMT58x-PB Profibus® Example Preset value to be set = 0000 0500hex Current encoder Position = 0000 2267hex Byte Cycle 31-24 23-16 15-8 80hex 00hex 05hex 00hex MS 1000000 0000000 0000010 0000000 1° 00hex 00hex 22hex 67hex SM 0000000 0000000 0010001 0110011 MS 2°...
  • Page 46 6.7 DDLM_Slave_Diag The Master device can send a request for diagnostic information at any time to the Slave device. Datalogic encoders implement the standard diagnostic information (6 bytes). For any information on the DP Slave diagnostics please refer to the “Profibus Specification”...
  • Page 47 AMT58x-PB Profibus® 6.8 "Red zone" The so-called "red zone" occurs when: Total resolution Number of revolutions = Counts per revolution is NOT a power of 2. When this problem arises, the device must operate within the “red zone” for a certain number of positions. The size of the “red zone” is variable.
  • Page 48 AMT58x-PB Profibus® It follows that the encoder will work within the limits of the "read zone" for 96 revolutions (4096 - 2 * 2000 = 96), i.e. for 480000 counts (96 * 5000). The problem can be explained graphically: NOTE ...

  • Page 49: Default Parameters List

    AMT58x-PB Profibus® 7 – Default parameters list Default values preset in the GSD file for AMT58 multiturn encoder (AMT58-xxx-13x12-PB.GSx) Lista parametri Valore di default Code sequence Class 2 functionality Scaling function Counts per revolution 8196 Total resolution 33554432 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 50 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 51 Tutti i marchi e i nomi di prodotti qui citati servono al solo scopo di identificazione e possono essere marchi o marchi registrati dei propri rispettivi proprietari. Datalogic non risponde di eventuali errori tecnici o tipografici o di omissioni qui contenuti, né di danni accidentali o conseguenti dall'uso di questo materiale.
  • Page 52 INDEX Safety summary ....................... 1     Identification ......................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   3.2 Hollow shaft encoders ....................
  • Page 53 Subject index Position value ........28 C  Class 2 functionality ....... 24 Preset value ........... 29 Code sequence ........23 S  Counts per revolution ......25 Scaling function control ......24 D  T  Diagnostic type ........24 Total resolution ........26 E ...
  • Page 54 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 55 Preliminary information This guide is designed to describe the technical characteristics, installation and use of the Profibus encoders of the AMT58-PB 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 56  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;...
  • Page 57 AMT58x-PB Profibus® 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; ...
  • Page 58 Information is listed in the delivery document too. Please always quote the ordering code and the serial number when reaching contatta 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 59 AMT58x-PB Profibus® 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; ...
  • Page 60 AMT58x-PB Profibus® 3.1.3 Installation using a flange (code ST-58-FLNG) Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 61 AMT58x-PB Profibus® 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 62 AMT58x-PB Profibus® Electrical connections 4.1 Connection cap WARNING Do not remove or mount the connection cap with power supply switched ON. Damage may be caused to internal components. The terminal connectors for connecting the power supply and the BUS IN and BUS OUT cables (BC-PB connection cap) as well as the dip-switches meant to set the node ID and activate the termination resistance are located inside the encoder connection cap.
  • Page 63 AMT58x-PB Profibus® 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 64 AMT58x-PB Profibus® 4.4 Connection cap with M12 connectors BC-PB-C connection cap is fitted with three M12 connectors with pin- out in compliance with Profibus standard. Therefore you can use standard Profibus cables commercially available. Power supply M12 connector A coding (frontal side) male Function...
  • Page 65 AMT58x-PB Profibus® 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. 4.6 Bus termination resistance A bus termination resistance is provided in the connection cap.
  • Page 66 AMT58x-PB Profibus® 4.8 Node number: DIP A WARNING Power supply must be turned off before performing this operation! The node number must be set via hardware using DIP A dip- switches. Allowed addresses are from 0 to 125. The default value is 1. DIP A: Turn the power supply off and set the node number in binary value;...
  • Page 67 AMT58x-PB Profibus® 4.9 Diagnostic LEDs Two LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the Profibus-DP interface. Power Fault (red) Event (green) No power supply or hardware fault Correct operation (correct communication) Flashing Red Zone, see section “6.9 Red Zone”...
  • Page 68 (see enclosed documentation 16x14-FBUS-PB Datalogic website). In the menu bar of the HW Config window, press Options and then Install New GSD… command. Select the correct GSD file in the installation window and install it. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 69 AMT58x-PB Profibus® 5.1.2 Adding a node to the project In the left pane of the HW Config window, open the directory tree and select AMT58 module to the window on the right and drop it on “BUS”. Then drag the desired submodule (Class 1, Class 2 or Class 2(+VEL) to the variables table in the bottom right;...
  • Page 70 AMT58x-PB Profibus® Properties – DP slave window will appear; in the Parameter Assignment page the list of all encoder parameters is available. For any information on using and setting each parameter refer to section “6.4 DDLM_Set_Prm”. Class 2 example Class 2(+VEL) example After having set new parameter values, click the OK button to close the Properties –...
  • Page 71 AMT58x-PB Profibus® 5.2 Reading diagnostic information The diagnostic information message can be set either to 16 or 63 bytes, see Diagnostic type in encoder parameters. Before entering the diagnostic page, it is necessary to connect to the unit (enter online status). To do this, select Station\Open online in the HW Config window or click the Online<->Offline button (see icon on the left).
  • Page 72 AMT58x-PB Profibus® 16-byte Diagnostic: 63-byte Diagnostic: NOTE Should the 63-byte diagnostic not work properly using STEP7 software we suggest setting the 16-byte diagnostic. If diagnostic information is not used, it is recommended to set 16- byte diagnostic (see “5.1.3 Encoders configuration parameters” section).
  • Page 73 AMT58x-PB Profibus® 5.3 Setting the PresetErrore. L'origine riferimento non è stata trovata. Example The encoder having device address 1 transmits the position value to the Master. Position value is loaded into variables ED 100…103 (4 bytes). Speed value is loaded into variables ED 104…107 (4 bytes). Preset value is sent to the encoder using variables AD 100…103 (4 bytes).
  • Page 74 AMT58x-PB Profibus® To close “Preset” procedure set bit 31 of variable 100 back to ”0” and then click the "Command variables" button again. NOTE It may occur that data variables having index higher than 127 or data greater than 4 bytes are not treated properly in STEP7 software. Should this happen, we recommend "MD"...
  • Page 75 (see enclosed documentation click Datalogic website). GSD file has to be installed on your Profibus master device. 6.2 Classes of the Device profile Encoder class must be set when configuring the device. Class 1 allows basic functions of the device and should be used for: ...
  • Page 76 AMT58x-PB Profibus® 6.3 Modes of operation Profibus-DP devices allow operation using different communication modes (see Figure below): Power-ON Init_OK Set_Prm_FAIL Chk_Cfg_FAIL Wait_Prm Set_Prm_O Wait_Cfg Chk_Cfg_O Data_Exchang NOTE All parameters -except for value- are transmitted in Set_Prm Preset mode. is transmitted only in Data_Exchange mode.
  • Page 77 AMT58x-PB Profibus® 6.4 DDLM_Set_Prm When system is turned on, configuration data set by the operator is sent to the absolute encoder by the controller. Parameters transmission depends on the configuration chosen by the operator. Customarily data is sent automatically while data setting is carried out through a user's interface available in the controller's software (for instance, STEP7, see section “5.1 STEP7 configuration”) However sometimes it is necessary to set some bits and bytes...
  • Page 78 AMT58x-PB Profibus® DDLM_Set_Prm with Class 2 (+VEL): Byte Parameter 0…9 Reserved for PROFIBUS Operating parameters bit 0 Code sequence bit 1 Class 2 functionality bit 2 Reserved bit 3 Scaling function control bits 4, 5 Reserved bit 6 Diagnostic type bit 7 Exchange type 11…14...
  • Page 79 AMT58x-PB Profibus® Class 2 functionality Two device classes are defined in the encoder profile, one mandatory class (Class 1) and one class with optional functions (Class 2). This encoder implements functions of both Class 1 and Class 2. For any information on the available encoder classes see the section “6.2 Classes of the Device profile on page 20.
  • Page 80 AMT58x-PB Profibus® 6.4.2 Bytes 11…14Counts per revolution WARNING You can set a new value next to the item Counts per revolution only if = ENABLED; if Class 2 functionality Scaling function = ENABLED the set resolution values are enabled and used control by the encoder;...
  • Page 81 AMT58x-PB Profibus® As you can see, the encoder is required to carry out more than 93000 revolutions, this cannot be as the hardware number of revolutions is, as stated, 16384. When this happens, the encoder falls into an error signalling the faulty condition through the diagnostic LEDs (see on page 12).
  • Page 82 AMT58x-PB Profibus® WARNING When you set a new value next to the item, please Total resolution always check also the item value and be Counts per revolution sure that the resulting number of revolutions complies with the Hardware number of revolutions of the device. Let's say our encoder is programmed as follows: revolution: 8192 Counts per...
  • Page 83 AMT58x-PB Profibus® 6.4.4 Byte 19Velocity measure unit This byte is available only when Class 2(+VEL) is set (see also items). It defines the unit Class 2 functionality Exchange type of measurement for speed value transmitted by the device. 00 = rpm (revolutions per minute); 01 = step/s (steps per second).
  • Page 84 AMT58x-PB Profibus® Position and velocity values when Class 2 (+VEL) is set (Encoder  Master) Byte … … 31-24 … 31-24 … Position Velocity Preset value when any Class is set (Master  Slave) Byte 31-24 23-16 15-8 Data to 2 to 2 to 2 to 2...
  • Page 85 AMT58x-PB Profibus® Example to be set = 0000 1000hex Preset value Current = 0005 5000hex Position value Byte Cycle 31-24 23-16 15-8 MS 1° SM MS 2° SM MS 3° SM NOTE We suggest setting the when the shaft is in stop. Preset value The new is saved immediately after receipt.
  • Page 86 AMT58x-PB Profibus® 6.7 DDLM_Slave_Diag The Master device can send a request for diagnostic information at any time to the Slave device. Datalogic devices provide two types of diagnostics: - reduced (16 bytes) - extended (63 bytes). diagnostic type during DDLM_Set_Prm, operating parameters (byte 10), see section “6.4.1 Byte 10 - Operating...
  • Page 87 AMT58x-PB Profibus® Byte Description Byte Description Status 1 Status 2 Offset Status 3 Master ID Manufacturer ID Manufacturer offset value Extended diagnostic header Alarms Operating status Programmed single-turn resolution Encoder type Hardware single-turn resolution Programmed total resolution Hardware number of revolution Additional alarms Supported alarms...
  • Page 88 AMT58x-PB Profibus® 6.8 Set_Slave_Address (service SAP55) To access this function, the PLC must be able to run the SAP55 service. Set dip-switch to address 126 (0111 1110 DIP A: The message has the following DATA bytes: Byte Description New node number Manufacturer ID Lock node number (= 0: not supported) Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 89 AMT58x-PB Profibus® 6.9 "Red Zone" The so-called "Red Zone" occurs when: Total resolution Number of revolutions = Counts per revolution is not a power of 2. When this problem arises, the device must operate within the “red zone” for a certain number of positions. The size of the “red zone” is variable.
  • Page 90 AMT58x-PB Profibus® Example “HM5816/16384/FB-xx”: multiturn encoder  Hardware counts per revolution = 65536 (2  Hardware number of turns = 16384 (2  Total hardware resolution = 1073741824 (2 Set parameters values:  = 50000 Counts per revolution  Number of revolutions = 8000 ...
  • Page 91 AMT58x-PB Profibus® - Default parameters list Parameters list Default values Code sequence Class 2 functionality Scaling function control Diagnostic type Class 1 and Class 2 = 0 Exchange type Class 2 (+VEL) = 1 16384 Counts per revolution 1073741824 Total resolution Velocity measure unit Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

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