Azbil K1G Series User Manual
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Azbil K1G Series User Manual

Azbil K1G Series User Manual

High-accuracy position sensor for ethercat communication
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No. CP-SP-1419E
K1G Series High-Accuracy
Position Sensor
User's Manual
for
EtherCAT Communication
Thank you for purchasing an Azbil
Corporation product.
This manual contains information for
ensuring the correct use of this product.
It also provides necessary information
for installation, maintenance, and
troubleshooting.
This manual should be read by those who
design and maintain equipment that uses
this product. Be sure to keep this manual
nearby for handy reference.

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Summary of Contents for Azbil K1G Series

  • Page 1 No. CP-SP-1419E K1G Series High-Accuracy Position Sensor User’s Manual EtherCAT Communication Thank you for purchasing an Azbil Corporation product. This manual contains information for ensuring the correct use of this product. It also provides necessary information for installation, maintenance, and troubleshooting.
  • Page 2 If you should find an error or omission, please contact the azbil Group. In no event is Azbil Corporation liable to anyone for any indirect, special or consequential damages as a result of using this product. © 2017 Azbil Corporation All Rights Reserved.
  • Page 3 ■ In describing the product, this manual uses the icons and conventions listed below. Handling Precautions: Handling Precautions indicate items that the user should pay attention to when handling the K1G Series High-Accuracy Position Sensor. Notes indicate information that might benefit the user. Note:...

  • Page 4: The Role Of This Manual

    The Role of This Manual A total of six different manuals are available for the K1G Series High-Accuracy Position Sensor. Read them as neces- sary for your specific requirements. If a manual you require is not available, contact the azbil Group or its dealer.

  • Page 5: Table Of Contents

    Contents Conventions Used in This Manual The Role of This Manual Chapter 1. EtherCAT Communication Overview EtherCAT Communication Specifications Appearance and Details ■ ■ Communication connector pins ■ ■ ECAT ID setting switches ■ ■ LED indicators Displays ■ ■ EtherCAT communication status check display ■...

  • Page 7: Chapter 1. Ethercat Communication

    Chapter 1. ETHERCAT COMMUNICATION 1 - 1 Overview EtherCAT®is an Ethernet-based real-time fieldbus system proposed and developed by Beckhoff Automation GmbH, Germany. Since it is based on Ethernet, general-purpose Ethernet cables can be used to establish a network. EtherCAT®is a registered trademark and the patented technology is licensed from Beckhoff Automation GmbH, Germany.

  • Page 8: Ethercat Communication Specifications

    Chapter 1. ETHERCAT COMMUNICATION 1 - 2 EtherCAT Communication Specifications Item Description Communication standard IEC 61158 Type12 (EtherCAT) Physical layer 100BASE-TX, IEEE802.3 Connector RJ-45 × 2 (IN, OUT) Communication medium STP cable with Cat. 5e or higher* Communication distance 20 meters between nodes Process data communication Process data objects (PDOs) can be configured.* Process data communication cycle...

  • Page 9: Appearance And Details

    Chapter 1. ETHERCAT COMMUNICATION 1 - 3 Appearance and Details Front Back K1G-C04 Run Ch1 Ch2 Ch3 Ch4 Hold DO 1 2 3 4 5 6 7 8 1 2 3 4 DI Enter Back Para Ch Select Number Name Description Operation and channel indicators Run Ch1 Ch2 Ch3 Ch4...
  • Page 10 Chapter 1. ETHERCAT COMMUNICATION Number Name Description Key functions Used for changing a value, etc., during setting Used for switching between Run and Ready Used for switching to the display for changing settings Para Used for finalizing settings Enter Used for cancellation Back Used for switching between channels Ch Select...

  • Page 11: Communication Connector Pins

    Chapter 1. ETHERCAT COMMUNICATION ■ Communication connector pins The network ports of this device are used as follows. Pin No. Signal Description ⑧ TX + Transmitted data (+) TX - Transmitted data (-) RX + Received data (+) 75 Ω terminating resistor connection 75 Ω...

  • Page 12: Led Indicators

    Chapter 1. ETHERCAT COMMUNICATION ■ LED indicators LED indicators for EtherCAT are explained below. ● Link/Activity LED: Green Indicates the status of physical link and data communication at the EtherCAT com- munication port. Link/ Activity LED LED state Description Link is not established. Link is established but no data is being communicated.

  • Page 13: Displays

    RUN and select the EtherCAT communication status check display Note • 4-2, “Changing the Display” in K1G Series High-Accuracy Position Sensor User’s Manual (CP-SP-1385E) ,or K1G Series High-Accuracy Position Sensor Global Model User’s Manual (CP-SP-1397E)) EtherCAT status display Link status display ■...

  • Page 14: Ethercat Status Display

    Chapter 1. ETHERCAT COMMUNICATION ■ EtherCAT status display The auxiliary display shows the status of EtherCAT communication. The display corresponds to the behavior of the RUN LED. Display Description The device is in the Init state. The device is in the Pre-Operational state. The device is in the Safe-Operational state.

  • Page 15: Chapter 2. Object Dictionary

    Chapter 2. ObJECT DICTIONARy The general structure of the CoE object dictionary is as follows (all the index numbers in the following tables are in hexadecimal notation). Index Object dictionary area 0x0000 to 0x0FFF Data type area 0x1000 to 0x1FFF Communication area 0x2000 to 0x5FFF Manufacturer specific area...
  • Page 16 Chapter 2. ObJECT DICTIONARy 2 - 1 Default PDO mapping The default TxPDO mapping is as follows. All objects in the input area (0x3000 to 0x30FF) are mapped by default. It is possible to change the mapping or delete the objects. PDO entry PDO entry PDO index...
  • Page 17 Chapter 2. ObJECT DICTIONARy 2 - 2 Communication Area The objects in the communication area (0x1000 to 0x1FFF) are described below. • Items in the tables Index Data type Access Value Comment (Index_1) Object code Comment (SI_1) (Data type_1) (Access_1) (Value_1) (Comment_1) (SI_2)
  • Page 18 Chapter 2. OBJECT DICTIONARY Index Data type Access Value Comment 0x1C12 RECODE Sync manager input PDO assignment (1 max.) 0x01 UINT 0x1600 Input to K1G-C04E(G) 0x1C13 RECODE Sync manager output PDO assignment (1 max.) 0x01 UINT 0x1A00 Output from K1G-C04E(G) 0x1C32 RECODE Sync manager parameter to sync ch2 (only Freerun is supported*...
  • Page 19 Chapter 2. ObJECT DICTIONARy 2 - 3 Manufacturer Specific Area ■ Input Area (0x3000 to 0x30FF) This area stores values measured by the K1G, and also operation results. Details on individual objects are given below. • Items in the tables Index Data type Access...
  • Page 20 * Event occurred, 0: No event 4-5, “Using Digital Input (DI) and Digital Output (DO)”in K1G Series High-Accuracy Position Sensor User’s Manual, No. CP-SP-1385E and in K1G Series High-Accuracy Position Sensor Global Model User’s Manual, No. CP- SP-1397E (for the conditions for event occurrence)
  • Page 21 Chapter 2. ObJECT DICTIONARy Index Data type Access rx/tx Comment RECORD Digital input / Digital output objects 0x01 UINT Digital input 0x02 UINT Digital output ◆ Digital input A digital input command from the EtherCAT master device (0x3100.01 input value) that was recognized by the K1G.
  • Page 22 Chapter 2. ObJECT DICTIONARy Index Data type Access rx/tx Comment RECORD Device status 0x01 UINT Controller status 0x02 UINT Error status bit 0x03 UINT Sensor head status 1 0x04 UINT Sensor head status 2 0x05 UINT Sensor head status 3 0x06 UINT Sensor head status 4...
  • Page 23 Chapter 2. ObJECT DICTIONARy ■ Output object (0x3100 to 0x31FF) Command signals to the K1G are stored in this area. Details on individual objects are given below. Index Data type Access rx/tx Comment RECORD Digital input 0x01 UINT Digital input ◆...
  • Page 24 Memo...

  • Page 25: Chapter 3. Esi File

    Chapter 3. ESI FIlE The ESI file for the K1G-C04E(G) can be downloaded from the website indicated below (search for K1G, “Download product documents, ” and “EtherCAT ESI file”). Compo Club URL: http://www.compoclub.com/ EtherCAT ESI file: Azbil_K1G_REV100.xml...
  • Page 26 Memo...

  • Page 27: Appendix

    APPENDIX APP-1 Specifications Compliance This device conforms to the following ETG specifications. Type Number Document Version Date <STATE> ETG.1000.2 EtherCAT Specification – Part 2 – S<R> V1.0.3 2013/01/21 Physical Layer Service Definition and Protocol Specification ETG.1000.3 EtherCAT Specification – Part 3 – S<R>...

  • Page 28: App-2 Terminology App-2

    APPENDIX APP-2 Terminology Term Description Remarks EtherCAT slave information Slave device information Slave information interface Slave device basic information Process data objects Cyclic data TxPDO Transmit PDO Cyclic data that a master device reads out from a slave device RxPDO Receive PDO Cyclic data that a master device writes to a slave device CAN application protocol over EtherCAT...
  • Page 29 Revision History (CP-SP-1419E) Printed Edn. Revised pages Description June 2017...
  • Page 30 1. Warranty period and warranty scope 1.1 Warranty period Azbil Corporation's products shall be warranted for one (1) year from the date of your purchase of the said products or the delivery of the said products to a place designated by you.
  • Page 31 Azbil Corporation's products every 5 to 10 years unless otherwise specified in specifications or instruction manuals.
  • Page 32 1st edition: June 2017 (V)

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K1g-c04eK1g-c04eg

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