Datalogic AMT58 13x12 CB Series Instruction Manual
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Datalogic AMT58 13x12 CB Series Instruction Manual

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Summary of Contents for Datalogic AMT58 13x12 CB Series

  • Page 1 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 2 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 3 INDEX 1 - 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  ...

  • Page 4: Table Of Contents

    1015-00 Inhibit time EMCY ..................26   1018 Identification object ..................26   1800 PDO1 parameters ..................26   1802 PDO3 parameters ..................27   1803 PDO4 parameters ..................28   1A00-01 PDO1 mapping parameter ............... 28   1A01-01 PDO2 mapping parameter ............... 28  ...
  • Page 5 Subject index 1  6502-00 Hardware number of turns ..36 1000-00 Device type ......23 6504-00 Supported alarms ....36 1001-00 Error register ......23 6506-00 Supported warnings ....36 1003 Pre-defined error field ....23 6507-00 Profile and software version ..36 1005-00 COB_ID SYNC message ..
  • 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 CANopen encoders of the AMT58 series. For any further information please refer to the product datasheet. To make it easier to read the text, this guide is divided into two main sections. In the first section general information concerning the safety, the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided.
  • Page 8  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 9 AMT58x-CB CANopen® 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 10 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 AMT58x-CB CANopen® 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 12 AMT58x-CB CANopen® 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 AMT58x-CB CANopen® 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 AMT58x-CB CANopen® 4. Electrical connections WARNING Power supply must be turned off before performing any electrical connection! 4.1 Connection cap WARNING Do not remove or mount the connection cap with power supply switched ON. Damage may be caused to internal components. The terminal connectors for connecting the power supply and the BUS IN and BUS OUT cables (CC-CB connection cap) as well as the dip-switches meant to set the baud rate and the node ID and activate...
  • Page 15 AMT58x-CB CANopen® 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 AMT58x-CB CANopen® 4.4 Connection cap with M12 connectors The connection cap has two M12 connectors with pin-out in compliance with CANopen® standard. Therefore you can use standard CAN cables commercially available. M12 connector A coding (frontal side) male female (BUS IN) (BUS OUT) Description Case...
  • Page 17 AMT58x-CB CANopen® 4.6 RT Bus termination WARNING Power supply must be turned off before performing this operation! A bus termination resistance is provided in the connection cap and has to be activated as line termination in the last device of the transmission line.
  • Page 18 AMT58x-CB CANopen® 4.8 Baud rate: DIP A WARNING Power supply must be turned off before performing this operation! Transmission rate can be set either via hardware or via software. If DIP A bit 4 = ”OFF” the bit rate is set through object 3000-00 Baud rate in the “Object Dictionary”...
  • Page 19 AMT58x-CB CANopen® 4.9 Node number: DIP B WARNING Power supply must be turned off before performing this operation! Node number can be set both via hardware or via software. Allowed node addresses range between 1 and 127. The default value is 1. If all bits of DIP B are ”OFF”...
  • Page 20 AMT58x-CB CANopen® 5. Quick reference 5.1 Hardware resolution WARNING Make sure the physical resolution of the encoder matches the set resolution. Different resolutions may be set if the encoder and the connection cap have been ordered / supplied separately. Examples AMT58 12/4096 6501-00 Hardware counts per revolution = 4096,...
  • Page 21 AMT58x-CB CANopen® Step 2 - Set object 6501-00 Hardware counts per revolution See resolution table below in the page for B0, B1, B2 and B3 values. Master  Encoder COB-ID Index Process data 600+ID Encoder  Master COB-ID Index Process data 580+ID Step 3 - Set object 6502-00 Hardware number of turns...
  • Page 22 AMT58x-CB CANopen® 5.2 Using the default settings Using the default settings provided by the manufacturer, you can switch on the device and read immediately its position. Follow the instructions below to:  read the device resolution;  set the operational mode;...
  • Page 23 AMT58x-CB CANopen® 6. CANopen® interface Datalogic encoders are always slave devices and comply with “Device profile for encoders”, Class 2. For any omitted information, refer to the “CiA Draft Standard 301” and “CiA Draft Standard 406” documents available at www.can- cia.org.
  • Page 24 AMT58x-CB CANopen® 6.2.1 Initialization state This is the first state the CANopen® device enters after power is turned on or after a hardware reset. As soon as the basic CANopen® device initialization is carried out, device reads and loads the parameters saved on EPROM, sends a boot-up message and then switches automatically to Pre-operational...
  • Page 25 AMT58x-CB CANopen® 6.3 Communication objects Four different kinds of communication messages are used in a CANopen® network:  Network management NMT protocol: NMT protocols are used to issue state machine change commands (i.e. to start and stop the devices), detect remote device boot-ups and error conditions. ...
  • Page 26 AMT58x-CB CANopen® 6.4 NMT objects NMT structure: COB-ID (11 bit) 2 CAN Data Bytes Node Func.code Command Slave ID 0000 NMT Func. Slave ID If Slave ID = 00h, the NMT message is issued to all network nodes. NMT Function: Command NMT Function State node...
  • Page 27 AMT58x-CB CANopen® 6.6 PDO objects PDO (tx) messages are always made up of 4 CAN Data Bytes and are used by the encoder to transmit the position value and/or the velocity value. PDO structure: IDENTIFIER 4 CAN Data Bytes COB-ID(hex) Byte 0 Byte 1 Byte 2...
  • Page 28 AMT58x-CB CANopen® 6.7 SDO objects SDO messages are used to set and read values from the object dictionary of the encoder. These parameters are described in the “Object dictionary” section. 4 bytes at the most are used for CAN data, other 4 bytes are used for Command, Index and Sub-index fields.
  • Page 29 AMT58x-CB CANopen® 6.7.1 Command The command byte contains the type of telegram transmitted to the CAN network. Three types of telegram are available:  Set: to send configuration parameters to a device;  Req: used by master to read data from a device; ...
  • Page 30 AMT58x-CB CANopen® 6.8 Object dictionary In the following pages the objects implemented are listed and described as follows: Index-subindex Object name [data types, attribute]  Index and subindex are expressed in hexadecimal notation.  Attribute: ro = read only access rw = read and write access Unsigned16 data type: Process data bytes...
  • Page 31 AMT58x-CB CANopen® 1008-00 Name of device manufacturer [String, ro] It shows the name of the device manufacturer. Default = “Datalogic Automation Srl” 1009-00 Hardware version [String, ro] It shows the hardware version of the device. 100A-00 Software version [String, ro] It shows the software version of the device.
  • Page 32 [Unsig32, rw] This object allows the operator to restore all parameters to default values (default values are set at the factory by Datalogic Automation engineers to allow the operator to run the device for standard operation in a safe mode).
  • Page 33 AMT58x-CB CANopen® 1014-00 COB-ID EMCY [Unsigned32, rw] This object defines the COB-ID used for sending emergency messages (EMCY). If the node address is set using the internal dip-switches (i.e. at least one dip-switch for setting the node has HIGH logic level = 1), when the power is turned on, this object is always forced to the default value.
  • Page 34 AMT58x-CB CANopen® 1801 PDO2 parameters PDO2 message is used by default for synchronous transmission of the position value.  01 COB-ID of the PDO2 [Unsigned32, rw] If the node address is set using the internal dip-switches (i.e. at least one dip-switch for setting the node has HIGH logic level = 1), when the power is turned on, this object is always forced to the default value.
  • Page 35 AMT58x-CB CANopen® 1803 PDO4 parameters PDO4 is used by default for cyclic transmission of the velocity value. See object 6200-00 Cyclic time to set the cyclic timer.  01 COB-ID of PDO4 [Unsigned32, rw] If the node address is set using the internal dip-switches (i.e. at least one dip-switch for setting the node has HIGH logic level = 1), when the power is turned on, this object is always forced to the default value.
  • Page 36 AMT58x-CB CANopen® 6.8.2 Manufacturer specific objects 2104-00 Limit switch min. [Unsigned32, rw] This object can be used to set the lowest software limit switch (-). If the encoder position is below the value set in this object, bit 12 of object 6500-00 Operating states will be set to 1.
  • Page 37 AMT58x-CB CANopen® Master  Encoder COB-ID Index Data byte 600+ID see table Encoder  Master (confirmation) COB-ID Index Data byte 580+ID Master  Encoder (Reset node) COB-ID Slave ID Set the master device to the new baud rate: Encoder  Master (Boot-up with new baud rate) COB-ID 700+ID NOTE...
  • Page 38 AMT58x-CB CANopen® 3001-00 Node-ID [Unsigned8, rw] This object defines the node identifier of the device. The node number is set through the object 3001-00 Node-ID only if all bits of DIP B are set to ”OFF”. If one bit at least of DIP B is set to “ON”...
  • Page 39 AMT58x-CB CANopen® 6.8.3 Device profile objects (DS 406) 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 CCW (counter Code sequence CW (clockwise) clockwise) not used Scaling function disabled enabled 3…11 not used disabled enabled Limit switch min. Limit switch max.
  • Page 40 AMT58x-CB CANopen® This object sets a custom number of distinguishable steps per revolution. Enabled if bit 2 Scaling function in the object 6000-00 Operating parameters = “1”. To avoid counting errors, check that 6501-00 Hardware counts per revolution = integer value. 6001-00 Counts per revolution Allowed values are equal to or lower than 6501-00 Hardware counts...
  • Page 41 AMT58x-CB CANopen® Example Multiturn encoder AMT58-xxx-13x12-CB Resolution is:  Hardware counts per revolution: 6501-00 Hardware counts per revolution= 8192 (2  Hardware number of turns: 6502-00 Hardware number of turns = 4096 (2  Total hardware resolution: = 16777216 (2 2048 counts/rev.
  • Page 42 AMT58x-CB CANopen® 6004-00 Position value [Unsigned32, ro] This object contains the position value, transmitted value is calculated considering the scaling values. Value is transmitted cyclically or synchronously according to the settings in the objects 1800 PDO1 parameters, 1801 PDO2 parameters 1802 PDO3 parameters.
  • Page 43 AMT58x-CB CANopen® Limit switch min. If the encoder position is over the value set in the object 2104-00 Limit switch min., bit 12 of this object is set to “0”. If the encoder position is below the value set in the object 2104-00 Limit switch min., bit 12 of this object is set to “1”.
  • Page 44 AMT58x-CB CANopen® Profile version for encoders = 3.1 Software version = 1.1 Default = 0301 0101h 6508-00 Operating time [Unsigned32, ro] Default = FFFF FFFFh (not used) 6509-00 Offset value [Integer32, ro] This object contains the Offset value. This value is the difference between the physical position of the encoder and the position relating to the preset value (see object 6003-00 Preset...
  • Page 45 AMT58x-CB CANopen® 6.9 Warning objects For the complete list and meaning of the warning messages please refer to “SDO abort codes” section in “CiA Draft Standard 301” document available at www.can-cia.org. 6.10 Emergency objects Emergency (EMCY) objects are issued by the device when an internal error occurs.
  • Page 46 AMT58x-CB CANopen® 6.11 Node guarding protocol At system boot the “Node guarding protocol” is disabled; this protocol is enabled automatically as soon as the master device sends a RTR message (Remote Transmission Request) the first time. Master Slave request response Guard NodeGuard.
  • Page 47 AMT58x-CB CANopen® 7. Setting-up Here following are some examples of transmission between Master and Slave devices. A generic “ID” value is used to indicate the encoder address; Master address is always 0. All values are expressed in hexadecimal notation. Set Operational, Pre-operational state Master ...
  • Page 48 AMT58x-CB CANopen® Set the preset value 6003-00 Preset value (preset = 1000 = 03E8h) Master  Encoder (Set request) COB-ID Index Process data 600+ID Encoder  Master (Set confirmation) COB-ID Index Process data 580+ID Set Sync counter 1801 PDO2 parameters, sub 2 (n = 5 = 05h) Master ...
  • Page 49 AMT58x-CB CANopen® Enable Cyclic mode Set cyclic time 6200-00 Cyclic time (100 ms = 64h) Master  Encoder (Set request) COB-ID Index Process data 600+ID Encoder  Master (Set confirmation) COB-ID Index Process data 580+ID Read COB-ID used by PDO1 (1800 PDO1 parameters, sub 1): Master ...
  • Page 50 1000-00 Device type 0x00020196 0x00 1001-00 Error register 1003 Pre-defined error field 0x00000080 1005-00 COB_ID SYNC message 1008-00 Name of device DATALOGIC AUTOMATION SRL* manufacturer 1009-00 Hardware version 100A-00 Software version 100C-00 Guard time 0x0000 100D-00 Life time factor 0x00...
  • Page 51 Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 52 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 53 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   3.1.3 Installation using a flange (code ST-58-FLNG) ..........
  • Page 54 1018 Identification object ..................23   1800 PDO1 parameters ..................23   1801 PDO2 parameters ..................24   1802 PDO3 parameters ..................24   1803 PDO4 parameters ..................24   1A00-01 PDO1 mapping parameter ............... 25   1A01-01 PDO2 mapping parameter ............... 25  ...
  • Page 55 Subject index 6502-00 Hardware number of turns ..33 1  1000-00 Device type ......20 6504-00 Supported alarms ....33 1001-00 Error register ......20 6506-00 Supported warnings ....34 1003 Pre-defined error field ....20 6507-00 Profile and software version ..34 1005-00 COB_ID SYNC message ..
  • Page 56 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 57 Preliminary information This guide is designed to describe the technical characteristics, installation and use of the CANopen encoders of the AMT58 series. For any further information please refer to the product datasheet. To make it easier to read the text, this guide is divided into two main sections. In the first section general information concerning the safety, the mechanical installation and the electrical connection as well as tips for setting up and running properly and efficiently the unit are provided.
  • Page 58  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 59 AMT58x-CB CANopen® 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 60 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 61 AMT58x-CB CANopen® 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 62 AMT58x-CB CANopen® 3.1.3 Installation using a flange (code ST-58-FLNG) Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 63 AMT58x-CB CANopen® 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 64 AMT58x-CB CANopen® 4. Electrical connections WARNING Power supply must be turned off before performing any electrical connection! 4.1 Connection cap WARNING Do not remove or mount the connection cap with power supply switched ON. Damage may be caused to internal components. The terminal connectors for connecting the power supply and the BUS IN and BUS OUT cables (BC-CB connection cap) as well as the dip-switches meant to set the baud rate and the node ID and activate...
  • Page 65 AMT58x-CB CANopen® 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 66 AMT58x-CB CANopen® 4.4 Connection cap with M12 connectors Connection cap is fitted with two M12 connectors with pin-out in compliance with CANopen® standard. Therefore you can use standard CAN cables commercially available. M12 connector A coding (frontal side) male female (BUS IN) (BUS OUT) Description...
  • Page 67 AMT58x-CB CANopen® 4.6 RT Bus termination WARNING Power supply must be turned off before performing this operation! A bus termination resistance is provided in the connection cap and has to be activated as line termination in the last device of the transmission line.
  • Page 68 AMT58x-CB CANopen® 4.8 Baud rate: DIP A WARNING Power supply must be turned off before performing this operation! Transmission rate can be set either via hardware or via software. If DIP A bit 4 = ”OFF” the bit rate is set through object 3000-00 Baud rate in the “Object Dictionary”...
  • Page 69 AMT58x-CB CANopen® 4.9 Node number: DIP B WARNING Power supply must be turned off before performing this operation! Node number can be set either via hardware or via software. Allowed node addresses range between 1 and 127. The default value is 1. If all bits of DIP B are ”OFF”...
  • Page 70 AMT58x-CB CANopen® 5. Quick reference Using the default settings provided by the manufacturer, you can switch on the device and read immediately its position. Follow the instructions below to:  read the device resolution;  set the Operational mode;  read the current position (cyclic mode and/or sync mode).
  • Page 71 AMT58x-CB CANopen® 6. CANopen® interface Datalogic encoders are always slave devices in compliance with “Device profile for encoders”, Class 2. For any omitted information, refer to the “CiA Draft Standard 301” and “CiA Draft Standard 406” documents available at address www.can-cia.org.
  • Page 72 AMT58x-CB CANopen® 6.2.1 Initialization state This is the first state the CANopen® device enters after power is turned on or after a hardware reset. As soon as the basic CANopen® device initialization is carried out, device reads and loads the parameters saved on EPROM, sends a boot-up message and then switches automatically to Pre-operational...
  • Page 73 AMT58x-CB CANopen® 6.3 Communication objects Four different kinds of communication messages are used in a CANopen® network:  Network management NMT protocol: NMT protocols are used to issue state machine change commands (i.e. to start and stop the devices), detect remote device boot-ups and error conditions. ...
  • Page 74 AMT58x-CB CANopen® 6.4 NMT objects NMT structure: COB-ID (11 bit) 2 CAN Data Bytes Func.co Node Command Slave ID 0000 NMT Func. Slave ID If Slave ID = 00h, the NMT message is issued to all network nodes. NMT Function: Command NMT Function State node...
  • Page 75 AMT58x-CB CANopen® PDO1 Cyclic mode: cyclic transmission Encoder uses the PDO1 message to transmit the position value cyclically, i.e. periodically and independently from the Master. The interval between two issues is set in the object 6200-00 Cyclic time. To activate (or deactivate) cyclic mode it is necessary to set to 0 (or 1) the most significant bit of COB-ID used by PDO1 (object 1800 PDO1...
  • Page 76 AMT58x-CB CANopen® 6.7 SDO objects SDO messages are used to set and read values from the object dictionary of the encoder. These parameters are described in the “Object dictionary” section. 4 bytes at the most are used for CAN data, other 4 bytes are used for Command, Index and Sub-index fields.
  • Page 77 AMT58x-CB CANopen® 6.8 Object dictionary In the following pages the objects implemented are listed and described as follows: Index-subindex Object name [data types, attribute] Index and subindex are expressed in hexadecimal notation. Abb. 1 Attribute: Abb. 2 ro = read only access rw = read and write access Unsigned16 data type: Process data bytes...
  • Page 78 AMT58x-CB CANopen® It shows the name of the device manufacturer. Default = “DATALOGIC SRL” 1009-00 Hardware version [String, ro] It shows the hardware version of the device. 100A-00 Software version [String, ro] It shows the software version of the device.
  • Page 79 [Unsig32, rw] This object allows the operator to restore all parameters to default values (default values are set at the factory by Datalogic Automation engineers to allow the operator to run the device for standard operation in a safe mode).

  • Page 80: 1015-00 Inhibit Time Emcy

    AMT58x-CB CANopen® 1014-00 COB-ID EMCY [Unsigned32, rw] This object defines the COB-ID used for sending emergency messages (EMCY). If the node address is set using the internal dip-switches (i.e. at least one dip-switch for setting the node has HIGH logic level = 1), when the power is turned on, this object is always forced to the default value.

  • Page 81: 1802 Pdo3 Parameters

    AMT58x-CB CANopen® 1801 PDO2 parameters PDO2 message is used by default for synchronous transmission of the position value.  01 COB-ID of the PDO2 [Unsigned32, rw] If the node address is set using the internal dip-switches (i.e. at least one dip-switch for setting the node has HIGH logic level = 1), when the power is turned on, this object is always forced to the default value.

  • Page 82: 1A00-01 Pdo1 Mapping Parameter

    AMT58x-CB CANopen® default value. Otherwise, if the node address is set via software (i.e. all dip-switches for setting the node have LOW logic level = 0) it retains the set value, unless a software procedure for setting a new address is forced at power on. Default = C000 0480h+NodeID (no RTR, COB-ID) ...

  • Page 83: 2104-00 Limit Switch Min

    AMT58x-CB CANopen® 6.8.2 Manufacturer specific objects 2104-00 Limit switch min. [Unsigned32, rw] This object can be used to set the lowest software limit switch. (-). If the encoder position is below the value set in this object, bit 12 of object 6500-00 Operating state will be set to 1.

  • Page 84: 3001-00 Node-Id

    AMT58x-CB CANopen® Master  Encoder COB-ID Index Data byte 600+ID see table Encoder  Master (confirmation) COB-ID Index Data byte 580+ID Master  Encoder (Reset node) COB-ID Slave ID Set the master device to the new baud rate: Encoder  Master (Boot-up with new baud rate) COB-ID 700+ID NOTE...

  • Page 85: 3005-00 Velocity Format

    AMT58x-CB CANopen® Encoder  Master (Boot-up with new Node-ID) COB-ID 700+ID NOTE To save the new Node-ID value execute the store parameters function (see object 1010-01 Store parameters). When the power is turned off, parameters not saved are lost. 3005-00 Velocity format [Unsigned8, rw] This attribute defines the engineering units for the velocity value.

  • Page 86: 6000-00 Operating Parameters

    AMT58x-CB CANopen® 6.8.3 Device profile objects (DS 406) 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 Code sequence (counter (clockwise) clockwise) not used Scaling function disabled enabled 3…11 not used Limit switch min. disabled enabled Limit switch max. disabled enabled 14…15...

  • Page 87: 6002-00 Total Resolution

    AMT58x-CB CANopen® Limit switch min.Limit switch max. It allows to enable / disable the function of the objects 2104-00 Limit switch min. 2105-00 Limit switch max.. For further information see on page 26. 6001-00 Counts per revolution [Unsig32, rw] This object sets a custom number of distinguishable steps per revolution.

  • Page 88: 6003-00 Preset Value

    AMT58x-CB CANopen® Example Multiturn encoder HM5816/16384FB-6 with connection cap “BC-CB- C”. Resolution is:  Hardware counts per revolution: 6501-00 Hardware counts per revolution = 65536 (2  Hardware number of turns: 6502-00 Hardware number of turns = 16384 (2  Total hardware resolution: = 1073741824 (2 2048 counts/rev.

  • Page 89: 6200-00 Cyclic Time

    AMT58x-CB CANopen® 6004-00 Position value [Unsigned32, ro] This object contains the position value, transmitted value is calculated considering the scaling values. Value is transmitted cyclically or synchronously according to the settings in the objects 1800 PDO1 parameters, 1801 PDO2 parameters 1802 PDO3 parameters.

  • Page 90: Limit Switch Min

    AMT58x-CB CANopen® To enable this function set the bit 12 Limit switch min. of the object 6000-00 Operating parameters to "1". Limit switch max. If the encoder position is below the value set in the object 2105-00 Limit switch max., bit 13 of this object is set to “0”. If the encoder position is over the value set in the object 2105-00 Limit switch...

  • Page 91: 6506-00 Supported Warnings

    AMT58x-CB CANopen® 6506-00 Supported warnings [Unsigned16, ro] Default = 0000h (Warnings not supported). 6507-00 Profile and software version [Unsig32, ro] Contains the profile and software version. Profile version for encoders = 3.1 Software version = 1.1 Default = 0301 0101h 6508-00 Operating time [Unsigned32, ro] Default = FFFF FFFFh (not used)

  • Page 92: 6.9 Warning Objects

    AMT58x-CB CANopen® 6.9 Warning objects For the complete list and meaning of the warning messages please refer to “SDO abort codes” section in “CiA Draft Standard 301” document available at address www.can-cia.org. 6.10 Emergency objects Emergency (EMCY) objects are issued by the device when an internal error occurs.
  • Page 93 AMT58x-CB CANopen® 6.11 Node guarding protocol At system boot the “Node guarding protocol” is disabled; this protocol is enabled automatically as soon as the master device sends a RTR message (Remote Transmission Request) the first time. Master Slave request response Guard NodeGuard.

  • Page 94: Setting-Up

    AMT58x-CB CANopen® Setting-up Here following are some examples of transmission between Master and Slave devices. A generic “ID” value is used to indicate the encoder address; Master address is always 0. All values are expressed in hexadecimal notation. Set Operational, Pre-operational state NMT message...
  • Page 95 AMT58x-CB CANopen® Master  Encoder (Set request) COB-ID Index Process data 600+ID Encoder  Master (Set confirmation) COB-ID Index Process data 580+ID Set Sync counter 1801 PDO2 parameters sub 2 (n = 5 = 05h) Master  Encoder (Set request) COB-ID Index Process data...
  • Page 96 AMT58x-CB CANopen® Enable Cyclic mode 6200-00 Cyclic time Set cyclic time (100 ms = 64h) Master  Encoder (Set request) COB-ID Index Process data 600+ID Encoder  Master (Set confirmation) COB-ID Index Process data 580+ID Read COB-ID used by PDO1 (1800 PDO1 parameters sub 1): Master ...
  • Page 97 1000-00 Device type 0x00020196 1001-00 Error register 0x00 1003 Pre-defined error field 1005-00 COB_ID SYNC message 0x00000080 1008-00 Name of device manufacturer DATALOGIC* 1009-00 Hardware version 100A-00 Software version 100C-00 Guard time 0x0000 100D-00 Life time factor 0x00 1014-00 COB-ID EMCY...

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