Datalogic DeviceNet AMT58 Series Instruction Manual
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Datalogic DeviceNet AMT58 Series Instruction Manual

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  • 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: Table Of Contents

    INDEX Norme di sicurezza ....................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 6.4 Explicit Messages (Msg group 2) ................29   6.4.1 Duplicate MAC-ID check .................. 30   6.4.2 Error messages ....................31   6.4.3 Explicit Messages Connection ................. 33   6.4.4 Message data transfer ..................34   6.5 Object dictionary ....................35  ...
  • Page 5 23-01-33 Offset ...................... 47   23-01-65 Dip switch ....................47   23-01-66 Data Tx in Poll mode ................47   23-01-67 Data Tx in COS/Cyclic mode ..............48   23-01-68 Auto-save parameters ................48   6.5.5 Class 2Bh: Acknowledge Handler Object ............49  ...
  • 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: Norme Di Sicurezza

     Datalogic Automation S.r.l. assumes no liability for the customer's failure to comply with these requirements. Electrical safety ...
  • Page 8 AMT58x-DN DeviceNET® 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: 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 10: Mounting Instructions

    AMT58x-DN DeviceNET® 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;  fix the encoder to the flange 2 (or to the mounting bell) by means of screws 3;...

  • Page 11: Installation Using A Flange (Code St-58-Flng)

    AMT58x-DN DeviceNET® 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: Hollow Shaft Encoders

    AMT58x-DN DeviceNET® 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-DN DeviceNET® 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 (connection cap) as well as the dip- switches meant to set the baud rate and the node ID and activate the termination resistance are located inside the encoder connection cap.

  • Page 14: Ground Connection

    AMT58x-DN DeviceNET® 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: Connection Cap With M12 Connectors

    AMT58x-DN DeviceNET® 4.4 Connection cap with M12 connectors BC-FD-C connection cap is fitted with two M12 connectors with pin- out in compliance with DeviceNet standard. Therefore you can use standard DeviceNet cables commercially available. M12 connector A coding (frontal side) male female (BUS IN)

  • Page 16: Baud Rate: Dip A

    AMT58x-DN DeviceNET® 4.6 Baud rate: DIP A WARNING Power supply must be turned off before performing this operation! Bit rate must be set using DIP A dip-switches: Set binary value of transmission rate considering that: ON=1, OFF=0. Baud rate values table: Binary value Baud rate 125 Kbit/s...

  • Page 17: Node Address: Dip B

    AMT58x-DN DeviceNET® 4.7 Node address: DIP B WARNING Power supply must be turned off before performing this operation! The node number must be set via hardware using DIP B dip- switches. Allowed addresses range between 0 and 63. The default value is 1. Set the node number in binary value: ON=1, OFF=0 used used...

  • Page 18: Diagnostic Leds

    AMT58x-DN DeviceNET® 4.8 Diagnostic LEDS Two diagnostic LEDs located in the rear side of the connection cap are designed to show the operating or fault status of the DeviceNet interface and the system as well. NS Led Network Status LED: this LED shows the status of the communication network.

  • Page 19: Quick Reference (Using Rsnetworx)

    (see enclosed documentation click Datalogic website). EDS file has to be installed on the Master device. In this section the installation and configuration of the device using Rockwell Automation's RSNetWorx program are described. On the menu bar of the RSNetWorx window, select the Tools menu and then press the EDS Wizard…...

  • Page 20: Adding A Node To The Project

    AMT58x-DN DeviceNET® Press the Browse... button to browse through the folders and select the .eds file to be installed: CD drive:\ROTACOD\DeviceNet\ AMT58-xxx-16x14-FBUS-DN if the file is in the enclosed CD or a different path; finally press the Next > button. Then, follow the remaining steps to complete the EDS wizard.

  • Page 21: Encoder Parameters Configuration

    AMT58x-DN DeviceNET® 5.3 Encoder parameters configuration Double-click the encoder icon in the Graph pane and open the Properties window. Open the General page of the Properties window and set the address node in the Address box. Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...
  • Page 22 AMT58x-DN DeviceNET® Open the Parameters page of the Properties window if you need to read, set and save the encoder parameters. Please pay particular attention to parameters 16 Data Tx in Poll mode, 17 Data Tx in COS/Cyclic mode 20 Auto-save parameters.
  • Page 23 AMT58x-DN DeviceNET® Example Parameter 16: 16 Data Tx in Poll mode = “Position Value + Velocity” (position and velocity) Parameter 17: 17 Data Tx in COS/Cyclic mode = ”Position Value” (position) Set scanner module parameters accordingly: For any further information on the scanner module parameters refer to section “5.5 Using scanner module“.

  • Page 24: Save Parameter With Rsnetworx

    AMT58x-DN DeviceNET® 5.4 Save parameter with RSNetWorx Properties window allows you to set device parameters. After this operation is carried out, data is stored in RAM memory only. In case of “Node reset”, “Node restore” or power off, parameters will be lost. To save new parameters permanently you must start the CLASS INSTANCE EDITOR;...

  • Page 25: Using Scanner Module

    AMT58x-DN DeviceNET® 5.5 Using scanner module To manage I/O data using the scanner module open the Properties window; if requested, upload the configuration and then open the Scanlist page. Select Lika device in the Available Devices pane on the left and >...
  • Page 26 AMT58x-DN DeviceNET® Now, set the Input Size value in both panes Polled and Change of State / Cyclic according to 16 Data Tx in Poll mode 17 Data Tx in COS/Cyclic mode (see encoder parameters in section “5.6 Encoder parameters“). If “Position value”...
  • Page 27 AMT58x-DN DeviceNET® Example In the following example:: 16 Data Tx in Poll mode = Position value + velocity 17 Data Tx in COS/Cyclic mode = Position value Polled messages: Variables Bytes Input Position value Velocity value COS: Messages: Variables Bytes Input Position value Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

  • Page 28: Encoder Parameters

    AMT58x-DN DeviceNET® 5.6 Encoder parameters 1 Position This attribute represents the absolute position detected by the position sensor. 2 Position sensor type Type of device. 1: Single-turn absolute rotary encoder. 2: Multi-turn absolute rotary encoder. 3 Counting direction Counting direction. attribute sets the rotation direction of the encoder shaft and consequently defines whether the position value output by the encoder increases when the encoder shaft rotates clockwise (CW) or counterclockwise (CCW).

  • Page 29: Total Measuring Range

    AMT58x-DN DeviceNET® 6 Total measuring range This parameter allows the operator to convert the measuring range of the encoder to a different measuring range required by the application. Enabled if 4 Scaling function control = ”Enabled”. Allowed values are equal to or lower than Physical total resolution. Physical total resolution = 8 Physical resolution/revolution Physical number of revolutions.

  • Page 30: Supported Alarms

    AMT58x-DN DeviceNET® 11 Supported alarms This attribute contains information on supported alarms. Bit 0 … 11 reserved Bit 12 Flash memory error Internal error, cannot restored. Bit 13 Machine data One or more parameters are not valid valid, set proper values to restore normal work condition.

  • Page 31: Data Tx In Cos/Cyclic Mode

    AMT58x-DN DeviceNET® 17 Data Tx in COS/Cyclic mode This parameter is meant to set which input data is sent when Change Of State (COS) / Cyclic mode connection is enabled. Allowed values: Position value Position value + velocity 18 Alarm flags Indicates that a fault occurred and an alarm has been activated, see 11 Supported alarms object.

  • Page 32: Devicenet Interface

    AMT58x-DN DeviceNET® 6. DeviceNet interface Datalogic encoders are “Group 2 only server” devices and do not support UCMM messages. For any omitted information refer to the “Open DeviceNet Vendor Association” documents or visit www.odva.org. 6.1 EDS file DeviceNet encoders are supplied with their own EDS file AMT58-...
  • Page 33 AMT58x-DN DeviceNET® Structure of Master-Slave communication: power up communications error reset node Duplicate MAC-ID check (see section 6.4.1) wait for new P2P connection connection (see section 6.4.3) I/O Messages Config. (see section 6.3) messages Close connection (see section 6.4.3) NOTE Lika encoders accept only one P2P connection at a time.

  • Page 34: I/O Messages (Msg Group 1)

    AMT58x-DN DeviceNET® 6.3 I/O Messages (Msg group 1) I/0 messages are used by Lika devices to send the position and the velocity values. The “Message-ID” shows how the message is transmitted. Position: CAN-ID 4 CAN Data bytes 10 9…6 5…0 Byte 0 Byte 1 Byte 2...

  • Page 35: Explicit Messages (Msg Group 2)

    AMT58x-DN DeviceNET® 6.4 Explicit Messages (Msg group 2) These messages are used to:  perform a duplicate MAC-ID check (see section “6.4.1 Duplicate MAC-ID check“)  send error messages (see section “6.4.2 Error messages”)  arrange an explicit message connection: peer-to-peer (P2P) between Master and Slave (see section “6.4.3 Explicit Messages Connection“);...

  • Page 36: Duplicate Mac-Id Check

    AMT58x-DN DeviceNET® 6.4.1 Duplicate MAC-ID check This function is used to check, when a device is connected to the DeviceNet network, whether its serial number, node-ID and vendor- ID are single (univocal) in the network. Message structure: CAN-ID bit 10 MAC-ID 7 CAN Data bytes Byte bit7...

  • Page 37: Error Messages

    AMT58x-DN DeviceNET® 6.4.2 Error messages These messages are meant to warn about device faults. Message structure: Byte bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Master MAC-ID R/R= Service Code = 14h General error code Specific service error code General error codes General Status Code Status name...
  • Page 38 AMT58x-DN DeviceNET® Device state conflict device’s current mode/state prohibits execution of the requested service. Not enough data The service did not supply enough data to perform the specified operation. Attribute not supported The attribute specified in the request is not supported. Too much data The service supplied more data than was expected.

  • Page 39: Explicit Messages Connection

    AMT58x-DN DeviceNET® 6.4.3 Explicit Messages Connection These messages are meant to open and close P2P connections between Master and Slave. This is necessary to allow the Slave both communicate process data using “I/O Messages” communicate or change parameters using “Data transfer” messages. Open connection request: Byte bit7...

  • Page 40: Message Data Transfer

    AMT58x-DN DeviceNET® Example Allocation choice = 01h: used to read and write configuration parameters without “I/O Messages”. 03h: activate Polled communication. 61h: activate Cyclic mode communication without ACK. 6.4.4 Message data transfer These messages are meant to set, read, save or restore configuration parameters.

  • Page 41: Object Dictionary

    AMT58x-DN DeviceNET® 6.5 Object dictionary In the following pages the objects implemented are listed and described as follows: Class-Instance-Attribute Object name [var, access]  Class, instance and attribute are expressed in hexadecimal notation.  Var: data type variable USINT: unsigned single integer 8 bit (1 byte) UINT: unsigned integer 16 bit (2 bytes) UDINT: unsigned double integer 32 bit (4 bytes) WORD: 16 bit specify (2 bytes)

  • Page 42: Vendor-Id

    AMT58x-DN DeviceNET® 01-01-01 Vendor-ID [UINT, ro] Identification of each vendor by number. Default = 0299h 01-01-02 Device type [UINT, ro] Default = 00h: general type. 01-01-03 Product code [UINT, ro] Identification of a particular product of an individual vendor. 01-01-04 Revision [UINT, ro] Hardware and software revisions, the Identity Object represents: LSByte...

  • Page 43: Serial Number

    AMT58x-DN DeviceNET® Extended Bits are defined as follows: 0000 Self-Testing or Unknown Device Firmware Update in Progress status At least one faulted I/O connection No I/O connections established Non-Volatile Configuration bad Major Fault – either bit 10 or bit 11 is true (1) At least one I/O connection in run mode...

  • Page 44: Class 03H: Devicenet Object

    AMT58x-DN DeviceNET® 6.5.2 Class 03h: DeviceNet Object This DeviceNet Object is meant to provide the configuration and status of the physical node connected to DeviceNet network. Supported Service code: 0Eh = Get_Attribute_Single: used to read connection class attribute value. 10h = Set_Attribute_Single: used to write connection class attribute value.

  • Page 45: Class 05H: Connection Object

    AMT58x-DN DeviceNET® 6.5.3 Class 05h: Connection Object The Connection Class allocates and manages the internal resources associated to both “I/O Messages” and “Explicit Messaging Connections”. Supported Service code: 0Eh = Get_Attribute_Single: used to read connection class attribute value. 10h = Set_Attribute_Single: used to write connection class attribute value.
  • Page 46 AMT58x-DN DeviceNET® Default = 21h Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

  • Page 47: 05-Inst-07 Produced Connection Size

    AMT58x-DN DeviceNET® 05-Inst-07 Produced connection size [UINT, ro] Maximum number of bytes transmitted in this connection. 05-Inst-08 Consumed connection size [UINT, ro] Maximum number of bytes received in this connection. 05-Inst-09 Expected packet rate [UINT, rw] This attribute is meant to set the time between two subsequent “I/O message”...

  • Page 48: 05-Inst-10 Consumed Connection Path

    AMT58x-DN DeviceNET® 05-Inst-10 Consumed connection path [EPATH, ro] This attribute is fitted with a byte stream which defines the Application Object(s) whose data is to be received by this Connection Object. 05-Inst-11 Production inhibit time [UINT, ro] Default = 00h: no inhibit time NOTE To save the parameters execute the “Save parameters”...

  • Page 49: Class 23H: Position Sensor Object

    AMT58x-DN DeviceNET® 6.5.4 Class 23h: Position Sensor Object This class is meant to describe the objects used by the device to calculate the transmitted position values. Supported Service code: 05h = Reset: resets all parameter values to the factory default values (without saving them on flash memory).
  • Page 50 AMT58x-DN DeviceNET® Default = 00h Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com...

  • Page 51: Resolution Per Revolution

    AMT58x-DN DeviceNET® 23-01-10 Resolution per revolution [UDINT, rw] This object sets the number of distinguishable steps per revolution. Enabled if = ”1”. " " To avoid counting errors, check that is an integer value. "23 10" Allowed values are equal to or lower than value. 23-01-11 Total measuring range [UDINT, rw] This parameter sets the number of distinguishable steps over the...

  • Page 52: Preset Value

    AMT58x-DN DeviceNET® 23-01-13 Preset value [UDINT, rw] 23-01-13 Preset value function is meant to assign a certain value to a desired physical position of the encoder shaft. When the axis reaches the set physical position, then the 23-01-13 Preset value value is transmitted.

  • Page 53: 23-01-2D Supported Alarms

    AMT58x-DN DeviceNET® 23-01-2D Supported alarms [WORD, ro] This attribute contains information on supported alarms. Bits Reserved 0…11 Bit 12 Flash memory error Internal error, it cannot be restored. Bit 13 Machine data not One or more parameters are not valid valid, set proper values to restore normal work condition.

  • Page 54: Data Tx In Cos/Cyclic Mode

    AMT58x-DN DeviceNET® 23-01-67 Data Tx in COS/Cyclic mode [USINT, rw] This parameter is meant to set which input data is sent when Change Of State (COS) / Cyclic mode connection is enabled. 00: Position value 01: Position value + velocity 23-01-68 Auto-save parameters [BOOL, rw] Yes: when new parameters are set, the encoder waits 5 seconds...

  • Page 55: Class 2Bh: Acknowledge Handler Object

    AMT58x-DN DeviceNET® 6.5.5 Class 2Bh: Acknowledge Handler Object This class is meant to manage the receipt of acknowledgement messages. Supported Service code: 0Eh = Get_Attribute_Single: used to read connection class attribute value. 10h = Set_Attribute_Single: used to write connection class attribute value.

  • Page 56: Setup

    AMT58x-DN DeviceNET® 7 Setup Here follow some examples of parameters reading and setting; data exchange between Master and Slave device is highlighted. A generic “ID” value is used to indicate the encoder address; Master address is always assumed to be 0. All values are written in hexadecimal notation.

  • Page 57: Set 23-01-13 Preset Value

    AMT58x-DN DeviceNET® 7.1.1 Set 23-01-13 Preset value Master  Encoder (1 message) CAN-ID 8 Data byte FC SC preset 404+(ID<<3) … Encoder  Master (1 message received) CAN-ID 3 Data byte Ms SC Err 403+(ID<<3) Master  Encoder (2 message) CAN-ID 4 Data byte Ms FC...

  • Page 58: Save Parameter

    AMT58x-DN DeviceNET® 7.1.2 Save parameter Master  Encoder CAN-ID 5 Data byte Ms SC 404+(ID<<3) Encoder  Master CAN-ID 3 Data byte Ms SC Err 403+(ID<<3) 7.1.3 Close Master/Slave connection Master  Encoder CAN-ID 5 Data byte Ms SC Ins AC 406+(ID<<3) Encoder ...

  • Page 59: Set Cyclic Mode Without Velocity

    AMT58x-DN DeviceNET® 7.2 Set Cyclic mode without velocity P2P Master/Slave connection Master  Encoder (request) CAN-ID 6 Data byte Ms SC Ins AC Ms 406+(ID<<3) Encoder  Master (response) CAN-ID 3 Data byte Ms SC Err 403+(ID<<3) 05-Inst-09 Expected packet rate for Cyclic mode (milliseconds) Master ...

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