Datalogic AMT58 Series Manual
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Datalogic AMT58 Series Manual

Absolute encoders
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  • Page 2 Bologna – Italy © 2014 - 2017 Datalogic S.p.A. e/o le sue consociate  TUTTI I DIRITTI RISERVATI.  Senza con ciò limitare i diritti coperti dal copyright, nessuna parte della presente documentazione può essere riprodotta, memorizzata o introdotta in un sistema di recupero o trasmessa in qualsiasi forma o con qualsiasi mezzo, o per qualsiasi scopo, senza l’espresso...

  • Page 3: Table Of Contents

    INDICE 1 - Norme di sicurezza ...................... 1   2 - Identificazione ......................3   3 - Istruzioni di montaggio ....................4   3.1 Encoder con asse sporgente ................... 4   3.1.1 Fissaggio standard ..................... 4   3.1.2 Fissaggio con graffe (codice ST-58-KIT) ............4  ...
  • Page 4 1015-00 Inhibit time EMCY ..................26   1018 Informazioni di identificazione ............... 26   1800 Parametri PDO1 .................... 26   1801 Parametri PDO2 .................... 27   1802 Parametri PDO3 .................... 27   1803 Parametri PDO4 .................... 28   1A00-01 Mappatura PDO1 ..................28  ...
  • Page 5 Indice analitico 1  6506-00 Warning supportati ....36 1000-00 Tipo di dispositivo ....23 6507-00 Versione profilo e software ..36 1001-00 Registro errori ......23 6508-00 Tempo di lavoro dispositivo ..37 1003 Campo errori predefinito ....23 6509-00 Valore di offset ......37 1005-00 COB-ID messaggi Sync ...
  • Page 6 Per rendere più agevole la lettura di questo testo sono state adottate alcune convenzioni grafiche e iconografiche. In particolare:  i parametri e gli oggetti sia propri dell'interfaccia che del dispositivo Datalogic sono evidenziati in ARANCIONE;  gli allarmi sono evidenziati in ROSSO;...
  • Page 7 Informazioni preliminari Questo manuale ha lo scopo di descrivere le caratteristiche tecniche, l'installazione e l'utilizzo degli encoder CANopen della serie AMT58. Per ulteriori informazioni si rimanda alla pagina di catalogo del prodotto. Per una più agevole consultazione questo manuale è diviso in due parti. Nella prima parte sono fornite le informazioni generali riguardanti il trasduttore comprendenti le norme di sicurezza, le istruzioni di montaggio meccanico e le prescrizioni relative alle connessioni elettriche, nonché...

  • Page 9: Norme Di Sicurezza

    è destinato;  Datalogic Automation S.r.l. non si assume alcuna responsabilità per eventuali danni o lesioni derivanti dall'inosservanza delle norme di sicurezza da parte dell'utilizzatore. Avvertenze elettriche ...
  • Page 10 AMT58x-CB CANopen® Avvertenze meccaniche  Montare il dispositivo rispettando rigorosamente le istruzioni riportate nella sezione “3 – Istruzioni di montaggio”;  effettuare il montaggio meccanico esclusivamente in assenza di parti meccaniche in movimento;  non disassemblare il dispositivo;  non eseguire lavorazioni meccaniche sul dispositivo; ...

  • Page 11: Identificazione

    Citare sempre il codice di ordinazione e il numero di serie quando si contatta Datalogic Automation s.r.l. per l'acquisto di un ricambio o nella necessità di assistenza tecnica. Per ogni informazione sulle caratteristiche tecniche del dispositivo...

  • Page 12: Istruzioni Di Montaggio

    AMT58x-CB CANopen® 3 - Istruzioni di montaggio ATTENZIONE L’installazione e le operazioni di manutenzione devono essere eseguite da personale qualificato, in assenza di tensione e componenti meccaniche in movimento. 3.1 Encoder con asse sporgente  Fissare il giunto elastico 1 all'encoder; ...

  • Page 13: Fissaggio Con Campana (Codice St-58-Flng)

    AMT58x-CB CANopen® 3.1.3 Fissaggio con flangia (codice ST-58-FLNG)

  • Page 14: Encoder Con Asse Cavo

    AMT58x-CB CANopen® 3.2 Encoder con asse cavo 3.2.1 AMT58-H15  Inserire l'encoder sull'albero del motore utilizzando la boccola di riduzione 8 (se fornita). Evitare sforzi sull'albero encoder;  fissare la molla di fissaggio 4 sul retro del motore utilizzando due viti M3 a testa cilindrica 5;...

  • Page 15: Connessioni Elettriche

    AMT58x-CB CANopen® 4 - Connessioni elettriche ATTENZIONE Ogni operazione deve essere eseguita con dispositivo non alimentato! 4.1 Coperchio encoder ATTENZIONE Non rimuovere o connettere il coperchio dell’encoder con tensione di alimentazione inserita. Alcuni componenti interni potrebbero danneggiarsi. coperchio dell'encoder ospita morsetti collegamento dell'alimentazione e degli ingressi e uscite bus (coperchio con pressacavi...

  • Page 16: Collegamento Messa A Terra

    AMT58x-CB CANopen® 4.2 Collegamento messa a terra Collegare la calza del cavo e/o la custodia del connettore e/o il corpo del dispositivo a un buon punto di terra; assicurarsi che il punto di terra sia privo di disturbi. Il collegamento a terra può essere effettuato sul lato dispositivo e/o sul lato utilizzatore;...

  • Page 17: Coperchio Con Connettori M12

    AMT58x-CB CANopen® 4.4 Coperchio con connettori M12 Il coperchio dispone di due connettori M12 con pin-out secondo lo standard CANopen®. Pertanto è possibile utilizzare cavi CAN standard disponibili in commercio. connettore M12 codifica A (vista lato contatti) maschio femmina (BUS IN) (BUS OUT) Descrizione Case...

  • Page 18: Resistenza Di Terminazione: Rt

    AMT58x-CB CANopen® 4.6 Resistenza di terminazione: RT ATTENZIONE Questa operazione deve essere eseguita con dispositivo non alimentato! All'interno del coperchio CANopen® è situata una resistenza che deve essere utilizzata come linea di terminazione sull’ultimo dispositivo. Per attivarla si agisce sullo switch RT. Descrizione 1 = 2 = ON Attiva: se il dispositivo è...
  • Page 19 AMT58x-CB CANopen® 4.8 Velocità di trasmissione dati: DIP A ATTENZIONE Questa impostazione deve essere eseguita con dispositivo non alimentato! La velocità di trasmissione dati può essere impostata sia in modo hardware che software. Se il bit 4 di DIP A è “OFF” la velocità di trasmissione dati è definita dall’oggetto 3000-00 Velocità...

  • Page 20: Indirizzo Nodo: Dip B

    AMT58x-CB CANopen® 4.9 Indirizzo nodo: DIP B ATTENZIONE Questa impostazione deve essere eseguita con dispositivo non alimentato! L’indirizzo del nodo può essere impostato sia in modo hardware che software. L’indirizzo deve avere un valore compreso tra 1 e 127. L'indirizzo di default è...

  • Page 21: Quick Reference

    AMT58x-CB CANopen® 5 - Quick reference 5.1 Risoluzione fisica dell’encoder ATTENZIONE E’ importante verificare che la risoluzione fisica impostata nei parametri corrisponda a quella dell’encoder (si vedano i codici di ordinazione in basso). L’utente potrebbe avere impostazioni di risoluzione diverse se l’encoder e il coperchio di connessione sono stati forniti in momenti diversi.
  • Page 22 AMT58x-CB CANopen® Step 2 - Modifica oggetto 6501-00 Informazioni per giro fisiche Si veda la tabella delle risoluzioni in basso nella pagina per B0, B1, B2, B3 Master  Encoder COB-ID Index Process data 600+ID Encoder  Master COB-ID Index Process data 580+ID Step 3 - Modifica oggetto...

  • Page 23: Utilizzo Con Le Impostazioni Di Default

    AMT58x-CB CANopen® 5.2 Utilizzo con le impostazioni di default Grazie alle sole impostazioni di default, è possibile accendere lo strumento e utilizzarlo per leggere la posizione. I passi essenziali da eseguire sono i seguenti:  leggere la risoluzione del dispositivo; ...

  • Page 24: Interfaccia Canopen

    AMT58x-CB CANopen® 6 - Interfaccia CANopen® Gli encoder Datalogic sono sempre dispositivi slave e supportano il “Device profile for encoders”, Classe 2. Per ogni specifica omessa riferirsi ai documenti “CiA Draft Standard 301” e “CiA Draft Standard 406” disponibili sul sito www.can-cia.org.

  • Page 25: Stato Pre-Operational

    AMT58x-CB CANopen® E’ il primo stato dopo l’accensione del dispositivo o dopo la ricezione di un comando Reset node. In questa fase il dispositivo si inizializza e vengono caricati i parametri salvati in EPROM. Alla fine dell’inizializzazione il dispositivo invia un messaggio di “boot-up” e passa automaticamente allo stato Pre-operational.

  • Page 26: Tipi Di Messaggi

    AMT58x-CB CANopen® 6.3 Tipi di messaggi Il modello CANopen® prevede quattro tipi di messaggi di comunicazione tra dispositivi:  Messaggi amministrativi NMT: messaggi utilizzati dal master per la gestione dei nodi e della rete.  Process Data Object PDO: messaggi utilizzati per trasmettere valori di processo in “real time”.

  • Page 27: Messaggi Nmt

    AMT58x-CB CANopen® 6.4 Messaggi NMT Struttura messaggi NMT: COB-ID (11 bit) 2 CAN Data Bytes Cod.Fu Node Command Slave ID 0000 Funz. NMT Slave ID Per spedire un messaggio NMT a tutti gli slave impostare: Slave ID = 00h. Command Funzione NMT Stato del nodo 01 hex...

  • Page 28: Pdo1 Cyclic Mode: Trasmissione Ciclica Della Posizione

    AMT58x-CB CANopen® 6.6 Messaggi PDO I messaggi PDO sono sempre composti da 4 CAN Data Byte e servono per trasmettere la posizione e/o la velocità attuale dell’encoder. Struttura messaggi PDO: IDENTIFIER 4 CAN Data Bytes COB-ID(hex) Byte 0 Byte 1 Byte 2 Byte 3 F.C.

  • Page 29: Messaggi Sdo

    AMT58x-CB CANopen® 6.7 Messaggi SDO I messaggi SDO sono utilizzati per conoscere o modificare i parametri del dispositivo; tali parametri sono contenuti nel “Dizionario Oggetti”. Il numero di byte utilizzato per i dati è al massimo di 4, altri 4 byte sono utilizzati per i campi Command, Index e Subindex.

  • Page 30: Command

    AMT58x-CB CANopen® 6.7.1 Command Il Command byte specifica il tipo di COB inviato alla rete CAN. I principali COB sono:  Set: usato per inviare dati di configurazione;  Req: usato per richiedere dati di configurazione;  Warning: usato dallo slave per notificare anomalie negli SDO inviati dal master (es.

  • Page 31: Dizionario Oggetti

    AMT58x-CB CANopen® 6.8 Dizionario oggetti Di seguito sono riportati gli oggetti implementati nel dispositivo. Per ciascuno è indicato: Index-subindex Nome oggetto [tipo var, attributo]  Index e subindex sono espressi in esadecimale.  Attributo: ro = oggetto accessibile in sola lettura rw = oggetto accessibile in lettura e scrittura Struttura oggetti Unsigned16: Data byte...

  • Page 32: 1008-00 Nome Del Costruttore

    AMT58x-CB CANopen® Default = 0000 0080h 1008-00 Nome del costruttore [String, ro] Visualizza il nome del costruttore del dispositivo. Default = “Datalogic Automation Srl” 1009-00 Versione hardware [String, ro] Visualizza la versione hardware del dispositivo. 100A-00 Versione software [String, ro] Visualizza la versione software del dispositivo.

  • Page 33: 1011-01 Parametri Di Default

    AMT58x-CB CANopen® 1010-01 Salvataggio parametri [Unsigned32, rw] Oggetto utilizzato per eseguire il salvataggio di tutti i parametri nella memoria non volatile. Scrivere “save” (in codifica ASCII esadecimale) nei data byte: Master  Encoder COB-ID Index Data bytes 600+ID Encoder  Master (conferma) COB-ID Index Data bytes...

  • Page 34: 1015-00 Inhibit Time Emcy

    AMT58x-CB CANopen® 1014-00 COB-ID EMCY [Unsigned32, rw] Questo oggetto definisce il COB-ID usato dal dispositivo per i messaggi Emergenza (EMCY). Se l'indirizzo del nodo è impostato mediante i dip-switch interni (vale a dire, se almeno uno dei dip-switch utilizzati per l'impostazione del nodo ha valore 1 = livello logico ALTO), all'accensione del dispositivo questo oggetto è...

  • Page 35: 1801 Parametri Pdo2

    AMT58x-CB CANopen® 1801 Parametri PDO2 Il PDO2 è usato di default per la trasmissione sincrona del valore della posizione.  01 COB-ID usato da PDO2 [Unsigned32, rw] Se l'indirizzo del nodo è impostato mediante i dip-switch interni (vale a dire, se almeno uno dei dip-switch utilizzati per l'impostazione del nodo ha valore 1 = livello logico ALTO), all'accensione del dispositivo questo oggetto è...

  • Page 36: 1803 Parametri Pdo4

    AMT58x-CB CANopen® 1803 Parametri PDO4 Il PDO4 è usato di default per la trasmissione ciclica del valore della velocità. Fare riferimento 6200-00 Cyclic timer per impostare il tempo di ciclo.  01 COB-ID usato da PDO4 [Unsigned32, rw] Se l'indirizzo del nodo è impostato mediante i dip-switch interni (vale a dire, se almeno uno dei dip-switch utilizzati per l'impostazione del nodo ha valore 1 = livello logico ALTO), all'accensione del dispositivo questo oggetto è...

  • Page 37: 2104-00 Limit Switch Min

    AMT58x-CB CANopen® 6.8.2 Oggetti specifici del costruttore 2104-00 Limit switch min [Unsigned32, rw] Il bit 12 dell’oggetto 6500-00 Stato operativo è impostato a “1” se la quota dell’encoder è inferiore al valore impostato in questo oggetto. Attivo se bit 12 di 6000-00 Parametri operativi = ”1”.
  • Page 38 AMT58x-CB CANopen® COB- Index Data byte 600+ID vedi tabella Encoder  Master (conferma) COB- Index Data byte 580+ID Master  Encoder (Reset nodo) COB- Slave ID Commutare il master al nuovo baud rate: Encoder  Master (Boot-up con nuovo baud rate) COB- 700+ID NOTA...

  • Page 39: 3001-00 Node-Id

    AMT58x-CB CANopen® 3001-00 Node-ID [Unsigned8, rw] Questo oggetto definisce il numero di nodo del dispositivo. L’indirizzo del nodo è definito dall’oggetto 3001-00 Node-ID solo se tutti i bit di DIP B sono impostati a “OFF” (indirizzo 0). Se almeno 1 bit di DIP B è impostato a “ON”...

  • Page 40: 6000-00 Parametri Operativi

    AMT58x-CB CANopen® 6.8.3 Oggetti profilo encoder (DS 406) 6000-00 Parametri operativi [Unsigned16, rw] Funzione bit = 0 bit = 1 Direzione di conteggio Orario Antiorario Non utilizzato Funzione di scaling Disabilitato Abilitato 3…11 Non utilizzato Limit switch min. Disabilitato Abilitato Disabilitato Abilitato Limit switch max.

  • Page 41: 6001-00 Informazioni Per Giro

    AMT58x-CB CANopen® 6001-00 Informazioni per giro [Unsigned32, rw] Questo oggetto definisce il numero di informazioni per giro desiderate. Attivo se bit 2 Funzione di scaling dell'oggetto 6000-00 Parametri operativi è impostato a “1”. Per evitare salti di quota verificare che 6501-00 Informazioni per giro fisiche = valore intero.

  • Page 42: 6003-00 Valore Di Preset

    AMT58x-CB CANopen® Esempio Encoder multigiro AMT58-xxx-13x12-CB. Risoluzione:  Informazioni per giro fisiche: 6501-00 Informazioni per giro fisiche 8192 inf./giro (2  Numero di giri fisico: 6502-00 Numero di giri fisico = 4096 giri  Risoluzione totale fisica: = 16777216 (2 Si desidera impostare 2048 inf./giro ...

  • Page 43: 6200-00 Cyclic Timer

    AMT58x-CB CANopen® 6004-00 Valore di posizione [Unsigned32, ro] Questo oggetto contiene il valore di posizione (eventualmente modificato dalla unzione di scaling, vedi bit 2 Funzione di scaling oggetto 6000-00 Parametri perativi). Il valore è trasmesso sincronicamente o ciclicamente secondo le impostazioni egli oggetti 1800 Parametri PDO1,...

  • Page 44: Limit Switch Min

    AMT58x-CB CANopen® Limit switch min Questo oggetto contiene il valore di posizione (eventualmente modificato dalla funzione di scaling, vedi bit 2 Funzione di scaling oggetto 6000-00 Parametri operativi). Il valore è trasmesso sincronicamente o ciclicamente secondo le impostazioni degli oggetti 1800 Parametri PDO1, 1801 Parametri PDO2...

  • Page 45: 6508-00 Tempo Di Lavoro Dispositivo

    AMT58x-CB CANopen® Contiene la versione del profilo e del software. Versione profilo = 3.1 Versione software = 1.1 Default = 0301 0101h 6508-00 Tempo di lavoro dispositivo [Unsig32, ro] Default = FFFF FFFFh (non gestito) 6509-00 Valore di offset [Integer32, ro] Questo oggetto contiene il valore di Offset che risulta dalla differenza tra la posizione fisica dell'encoder e quella relativa al Preset (si veda l’oggetto 6003-00 Valore di...

  • Page 46: Messaggi Di Avvertenza

    AMT58x-CB CANopen® 6.9 Messaggi di avvertenza Per conoscere il significato dei messaggi di avvertenza fare riferimento alla sezione “SDO abort codes” del documento “CiA Draft Standard 301” disponibile sul sito www.can-cia.org. 6.10 Messaggi Emergenza I messaggi di emergenza (EMCY) sono trasmessi dal dispositivo per segnalare condizioni di errore interno.
  • Page 47 AMT58x-CB CANopen® 6.11 Node guarding protocol All’accensione il “Node guarding protocol” è disattivo; tale protocollo si attiva automaticamente alla prima richiesta RTR (Remote Transmit Request) da parte del dispositivo master. Master Slave richiesta risposta Guard NodeGuard. time richiesta Node life time Node guarding Life guarding tempo...

  • Page 48: Programmazione

    AMT58x-CB CANopen® 7 - Programmazione Di seguito sono riportati esempi di lettura e impostazione di alcuni parametri. Negli esempi si considera l’indirizzo dell’encoder pari a “ID”, mentre il Master ha sempre indirizzo 0. Tutti i valori sono espressi in notazione esadecimale. Impostazione stato Operational, Pre-operational Messaggio NMT Master ...
  • Page 49 AMT58x-CB CANopen® Impostazione 6003-00 Valore di preset (preset = 1000 = 3E8h) Master  Encoder (richiesta Set) COB-ID Index Process data 600+ID Encoder  Master (conferma Set) COB-ID Index Process data 580+ID Impostazione contatore Sync 1801 Parametri PDO2, sub 2 (n = 5 = 05h) Master ...
  • Page 50 AMT58x-CB CANopen® Attivazione Cyclic mode Impostazione 6200-00 Cyclic timer (100 ms = 64h) Master  Encoder (richiesta Set) COB- Index Process data 600+ID Encoder  Master (conferma Set) COB- Index Process data 580+ID Lettura COB-ID usato da PDO1 (1800 Parametri PDO1, sub 1): Master ...
  • Page 51 0x00010196 0x00020196 1001-00 Registro errori 0x00 1003 Campo errori predefinito 1005-00 COB-ID messaggi Sync 0x00000080 1008-00 Nome del costruttore Datalogic Automation Srl* 1009-00 Versione hardware 100A-00 Versione software 0x0000 100C-00 Guard time 100D-00 Life time factor 0x00 1014-00 COB-ID EMCY...
  • Page 53 Bologna - Italy © 2014 - 2017 Datalogic S.p.A. and/or its affiliates  ALL RIGHTS RESERVED.  Without limiting the rights under copyright, no part of this documentation may be reproduced, stored in or introduced into a retrieval system, or transmitted in any form or by any means, or for any purpose, without the express written permission of Datalogic S.p.A.
  • Page 54 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 55 Subject index...
  • 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 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. 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  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 59 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 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...
  • Page 61 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 62 AMT58x-PB Profibus® 3.1.3 Installation using a flange (code ST-58-FLNG)
  • Page 63 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 64 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 65 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 66 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 67 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 68 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 69 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 70 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 71 13x12-PB (see the enclosed documentation, if supplied, or click www.datalogic.com). WARNING Install the AMT58_Vx.GSx in the AMT58 series multiturn encoders GSD installation file is further available in both Italian (.GSI) and English (.GSE) versions (texts and comments are in the supported language).
  • Page 72 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 73 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 74 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 75 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 76 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 77 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 78 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 79 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 80 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 81 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 82 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 83 AMT58x-PB Profibus® 6-byte diagnostics Byte Description status 1 status 2 status 3 Master ID manufacturer ID...
  • Page 84 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 85 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 86 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 87 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 88 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 89 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 90 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 91 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 92 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 93 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 94 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 95 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 96 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 97 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 98 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 99 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 100 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...
  • Page 103 40012 Calderara di Reno Bologna - Italy © 2014 - 2017 Datalogic S.p.A. and/or its affiliates  ALL RIGHTS RESERVED.  Without limiting the rights under copyright, no part of this documentation may be reproduced, stored in or introduced into a retrieval system, or transmitted in any form or by any means, or for any purpose, without the express written permission of Datalogic S.p.A.
  • Page 104 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 105 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   1018 Identification object ..................... 47  ...
  • Page 106 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 107 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 108 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 110  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 111 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 112 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 113 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 114 AMT58x-EC EtherCAT® 3.1.3 Installation using a flange (code ST-58-FLNG)
  • Page 115 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 116 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 117 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 118 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 119 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 120 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 121 AMT58x-EC EtherCAT® At the end of the process some information will be listed in the right page as in Figure here below.
  • Page 122 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 at www.datalogic.com). At the same address you can also download the most recent files to update both the firmware and the EEProm of the encoder.
  • Page 123 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.
  • Page 124 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.
  • Page 125 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 126 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 127 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 128 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 129 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 130 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 131 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 132 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 133 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 134 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.
  • Page 135 “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 136 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 137 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 138 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 139 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 140 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 141 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 142 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 143 (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 144 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 145 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 146 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 parameter;...
  • Page 147 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 148 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 149 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 150 EEProm of the encoder. For older versions of the files please contact Datalogic Automation s.r.l. After Sales Service Dept. For any information on the firmware upgrade procedure refer to the section “5.7 Firmware upgrade”...
  • Page 151 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 152 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 153 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 154 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 155 [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 156 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 157 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 158 AMT58x-EC EtherCAT® Device profile objects 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 (counter Code sequence (clockwise) clockwise) not used disabled enabled Scaling function 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 159 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 160 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- and/or 00 Counts per revolution...
  • Page 161 AMT58x-EC EtherCAT® NOTE • If the scaling function is disabled (bit 2 Scaling function in the parameter = 0), 6000-00 Operating parameters 6003-00 Preset must be lower than or equal to the total hardware value resolution (i.e. 6501-00 Hardware counts per revolution 6502-00 Hardware number of turns).
  • Page 162 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 Clockwis...
  • Page 163 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 164 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 165 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...
  • Page 167 AMT58...PN INSTRUCTION MANUAL Absolute Encoders...
  • Page 168 Electronic versions of this document may be downloaded from the Datalogic website (www.datalogic.com). If you visit our website and would like to make comments or suggestions about this or other Datalogic pub- lications, please let us know via the "Contact" page.
  • Page 169 TABLE OF CONTENTS PREFACE ........................VI About this Manual ......................vi Manual Conventions ........................... vi Technical Support ......................vii Support Through the Website ......................vii Reseller Technical Support ....................... vii GLOSSARY OF PROFINET TERMS ................VIII LIST OF ABBREVIATIONS..................XII CHAPTER 1. SAFETY SUMMARY ................1 Safety ..........................
  • Page 170 Setting and activating the preset value .................... 42 CHAPTER 6. PROFINET INTERFACE ................ 43 A brief introduction to Profinet ..................43 Profinet encoders from Datalogic ..................44 Overview of the encoder profiles ..................... 44 Application Class definition .....................45 Application Class 3 ..........................45 Application Class 4 ..........................
  • Page 171 CONTENTS NIST_B ...............................60 Error codes in G1_XIST2 ....................61 CHAPTER 9. ENCODER PARAMETERS ..............62 User parameter data ...................... 62 Type of encoder ..........................63 Code sequence ..........................63 Class 4 functionality ..........................64 G1_XIST1 Preset control ........................64 Scaling function control ........................65 Alarm channel control ........................65 Compatibility Mode ..........................66 Scaling function parameters ...................

  • Page 172: Preface

    In this manual, to make it easier to understand and read the text, the following typo- graphic conventions are used: • parameters and objects of both Datalogic device and interface are colored in GREEN; • alarms are colored in RED;...

  • Page 173: Technical Support

    TECHNICAL SUPPORT Support Through the Website Datalogic provides several services as well as technical support through its website. Log on to (www.datalogic.com). For quick access, from the home page click on the search icon , and type in the name of the product you’re looking for.

  • Page 174: Glossary Of Profinet Terms

    GLOSSARY OF PROFINET TERMS PROFINET IO, like many other networking systems, has a set of unique terminology. The table below contains a few of the technical terms used in this guide to describe the PROFINET IO interface. Sometimes they also refer more specifically to the S7 program- ming environment.
  • Page 175 Discovery Control Protocol - A communications protocol with PROFINET IO that allows an IO Controller or Supervisor to find every PROFINET IO device on a subnet. Determinism means that a system responds in a predictable Determinism (deterministic) manner. Before an IO device can be addressed by an IO controller, it must have a device name.
  • Page 176 GLOSSARY OF PROFINET TERMS The MAC address is an identifier unique worldwide consisting of two parts: the first 3 bytes are the manufacturer ID and are pro- MAC address vided by IEE standard authority; the last three bytes represent a consecutive number of the manufacturer.
  • Page 177 System function blocks (SFB) are integral functions in the operat- ing system of a S7 CPU. SFBs can be called by the user program System function block like normal function blocks. SFBs are used to implement a num- ber of important system functions for Profinet IO. The Ethernet system is designed solely to carry data.

  • Page 178: List Of Abbreviations

    LIST OF ABBREVIATIONS The table below contains a list of abbreviations (in alphabetical order) which may be used in this guide to describe the PROFINET IO interface. Sometimes they also refer more specifically to the S7 programming environment.. Application Relation Application Process Identifier C-LS Controller’s Sign-Of-Life...
  • Page 179 System function Transmission Control Protocol Master Application Cycle Time MAPC xiii INSTRUCTION MANUAL...
  • Page 180 LIST OF ABBREVIATIONS AMT58...PN...

  • Page 181: Chapter 1. Safety Summary

    • Datalogic assumes no liability for the customer's failure to comply with these requirements. ELECTRICAL SAFETY •...

  • Page 182: Mechanical Safety

    SAFETY SUMMARY - The best solution to minimize the interference must be carried out by the user. Provide the ground connection as close as possible to the encoder. We suggest using the ground point provided in the cap, use one TCEI M3 x 6 cylindrical head screw with two tooth lock washers.

  • Page 183: Chapter 2. Identification

    Please always quote the ordering code, the serial number and the MAC address when reaching Datalogic for purchasing spare parts or needing assistance. For any information on the technical characteristics of the product, please refer to the technical catalogue.

  • Page 184: Chapter 3. Mechanical Installation

    CHAPTER 3 MECHANICAL INSTALLATION Installation and maintenance operations must be carried out by qualified personnel only, with power supply disconnected. Shaft and mechanical components must be in stop. CAUTION For any information on the mechanical data and the electrical characteris- tics of the encoder, please refer to the technical catalogue.

  • Page 185: Installation Using Fixing Clamps (Code St-58-Kit)

    SOLID SHAFT ENCODERS Installation using fixing clamps (code ST-58-KIT) a [mm] b [mm] c [mm] d [mm] AMT58 36 H7 Installation using a flange (code ST-58-FLNG) INSTRUCTION MANUAL...

  • Page 186: Hollow Shaft Encoders

    MECHANICAL INSTALLATION HOLLOW SHAFT ENCODERS AMT-58-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 187: Chapter 4. Electrical Connections

    CHAPTER 4 ELECTRICAL CONNECTIONS Power supply must be turned off before performing any electrical connec- tion! Installation, electrical connection and maintenance operations must be CAUTION carried out by qualified personnel only, with power supply disconnected. Mechanical components must be in stop. Do not remove the connection cap of the encoder.

  • Page 188: Pwr Power Supply Connector

    ELECTRICAL CONNECTIONS PWR POWER SUPPLY CONNECTOR M12 4-pin male connector with A coding is used for power supply. DESCRIPTION +10Vdc +30Vdc not connected 0Vdc not connected P1 PORT1 AND P2 PORT2 CONNECTORS Two M12 4-pin female connectors with D coding are used for Ethernet connection through port 1 and port 2.

  • Page 189: Line Termination

    To minimize noise connect properly the shield and/or the connector housing and/or the frame to ground. Connect properly the cable shield to ground on user's side. Datalogic's EC- pre-assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device.

  • Page 190: Diagnostic Leds

    ELECTRICAL CONNECTIONS DIAGNOSTIC LEDS Five LEDs located in the cap of the encoder (see Figure 1) are meant to show visually the operating or fault status of the encoder and the Profinet interface. The meaning of each LED is explained in the following tables. L/A Link/Activity LED for port 2 P2 (green) It shows the state and the activity of the physical link (port 2 P2).
  • Page 191 DIAGNOSTIC LEDS PWR Power LED (green) It shows the power supply state. PWR LED DESCRIPTION MEANING The encoder power supply is switched Power OFF OFF. The encoder power supply is switched Power ON MS Module Status LED (green / red) It shows the state of the Profinet device.

  • Page 192: States

    ELECTRICAL CONNECTIONS STATES Here follows the list of the available states. SETUP state The setup of the device is in progress. The encoder may not send commands to the application in this state. If setup is successful, the module will shift to the NW_INIT state;...

  • Page 193: Chapter 5. Getting Started

    • install the GSDML file, see " Installing the GSDML file" on page 20 • insert the Datalogic module and type of telegram in the PROFINET-IO system, see " Adding a node to the project" on page 21 • set the device name, see "...

  • Page 194: Setting The Resolution And The Scaling Function

    GETTING STARTED Setting the resolution and the scaling function • If you want to use the physical resolution of the encoder, please check that the Scaling function control parameter is disabled (=”0”), see " Scaling function control" Class 4 functionality ;...

  • Page 195: Configuring The Encoder With Siemens Tia Portal V15

    CONFIGURING THE ENCODER WITH SIEMENS TIA PORTAL V15 • the Set/shift of home position executed bit 12 in the G1_ZSW status word is set back to 0, see " ; see " Request set/shift of home position" on page 58 Preset diagram"...
  • Page 196 GETTING STARTED 3. Toolbar: the toolbar provides you with buttons for commands you will use fre- quently. This gives you faster access to these commands. 4. Project Tree: using the Project Tree features gives you access to all components and project data. You can perform the following tasks in the Project Tree: •...

  • Page 197: Device View

    CONFIGURING THE ENCODER WITH SIEMENS TIA PORTAL V15 a progress bar that shows the progress graphically. Hover the mouse pointer over the progress bar to display a tooltip providing additional information on the active background process. You can cancel the background processes by clicking the but- ton next to the progress bar.

  • Page 198: Topology View

    GETTING STARTED • Zoom and page navigation • Copying/pasting entire stations, incl. configuration, or individual hardware mod- ules A subnet (PLC_2.PROFINET IO) is added to the operator panel. Click the subnet (PLC_2.PROFINET IO) to apply the network settings. Specify the required network set- tings under Properties >...

  • Page 199: Installing The Encoder Under Tia Portal Environment

    8-digit format encompassing information about year (4 digits), month (2 digits) and day (2 digits). Go to www.datalogic.com to get the GSDML file. The XML file has to be installed in the Profinet Controller.

  • Page 200: Installing The Gsdml File

    Now scroll through the directory tree in the Hardware Catalog pane of the main window (task cards) and select the path Catalog \ Other Field devices \ PROFINET IO \ Encoders \ Datalogic: the product family can be found inside the folder. AMT58...PN...

  • Page 201: Adding A Node To The Project

    In the right pane open the Hardware catalog task card to display the field devices inte- grated into TIA Portal via the Profinet file (GSDML file); select the Datalogic product family directory; drag the required module to the Network view and drop it next to the PLC module.

  • Page 202: Establishing The Bus Connection

    GETTING STARTED Establishing the bus connection As soon as the device has been inserted into the project, the bus connection with the PLC can be established in the Network view. The “Not assigned” information message appears in the picture of the node: it warns that the connection between the PLC and the Slave device is not established yet.

  • Page 203: Inserting The Telegrams

    INSTALLING THE ENCODER UNDER TIA PORTAL ENVIRONMENT Inserting the telegrams You are not required to insert the telegrams, as they are installed automatically. Press the Device view changeover switch to enter the Device overview working area and display the installed telegrams. Two types of telegrams with different characteristics are available: Standard Telegram 81 and Telegram 860.

  • Page 204: Module Parameters

    GETTING STARTED Module parameters Press the Device view changeover switch in the Hardware and network editor to enter the Device view working area, then select the device you need to configure in the drop- down box on the top left of the graphic area. Select the Module Access Point field in Device view.

  • Page 205: Device Name And Ip Address At Delivery

    An IO Device does not have a device name when delivered. By default, the device name of Datalogic Profinet encoders is set to a blank string. NOTE The device names must satisfy DNS (Domain Name System) conventions: •...

  • Page 206: Setting The Device Name And The Ip Address

    GETTING STARTED Setting the device name and the IP address As stated, to completely establish the connection, you have to assign the IP address and the Profinet device name to the Slave device. To do so, enter the Device view working area, select the device you need to configure in the drop-down box on the top left of the graphic area, right-click on the image of the module and select the Properties com- mand from the shortcut menu (or the Assign device name command as an alternative).

  • Page 207: Compiling And Transferring The Project

    INSTALLING THE ENCODER UNDER TIA PORTAL ENVIRONMENT Steps for system start-up Start-up response Compiling and transferring the project After setting you must compile and then transfer the project to the device. INSTRUCTION MANUAL...

  • Page 208: Establishing An Online Connection (Online Mode)

    GETTING STARTED Establishing an online connection (Online mode) Figure 10. Establishing an online connection In online mode, there is an online connection between the PLC and one or more devices. An online connection between the PLC and the device is required, for example, for the following tasks: •...

  • Page 209: Closing An Online Connection

    INSTALLING THE ENCODER UNDER TIA PORTAL ENVIRONMENT • Select the device in the Compatible devices in target subnet table and confirm the selection with Go online. The online connection to the selected target device is established. Figure 11. Online connection established After the online connection has been established successfully, the user interface changes (see the Figure above).

  • Page 210: Diagnostics

    GETTING STARTED Diagnostics Configuration of the diagnostics is integrated in the system in a user-friendly way and activated with just one click. When new hardware components are introduced, the diag- nostic information is updated automatically via the engineering system (HWCN). System diagnostics outputs all relevant information on existing errors in the system.

  • Page 211: Resetting The Parameters To The Default Factory Values

    RESETTING THE PARAMETERS TO THE DEFAULT FACTORY VALUES RESETTING THE PARAMETERS TO THE DEFAULT FACTORY VALUES Default values are provided to each parameter of the device. The first time you install the encoder, it will operate using the default values. They allow the operator to run the IO device for standard and safe operation.
  • Page 212 GETTING STARTED To get started with the diagnostic functions you must go online. To do this you must press the Go online command in the Online menu bar (see also " Establishing an online connection (Online mode)" on page 28 Figure 13.
  • Page 213 RESETTING THE PARAMETERS TO THE DEFAULT FACTORY VALUES Figure 15. Encoder reset INSTRUCTION MANUAL...

  • Page 214: To Technology Objects

    GETTING STARTED TO TECHNOLOGY OBJECTS In order to be able to facilitate the use of technological functions that can be used with a SIMATIC controller, what is known as Technology Objects have been introduced in the programming environment of SIMATIC. Within these technology objects, the available functions are encapsulated and provided to the creator of the user program for easy access and the easy use in the programming environment.
  • Page 215 TO TECHNOLOGY OBJECTS Figure 16. Checking the Compatibility Mode parameter setting When you need to add a new technology object, click Add new object under the Tech- nology objects item in the project tree: the Add new object dialog box will be displayed. Figure 17.
  • Page 216 GETTING STARTED Figure 18. Adding External Encoder technology object Under Basic parameters in the Function view working area set the available items according to the technical features of the encoder to be connected. Please note that when a new object is successfully added, the object node is added to the Project tree and the configuration for this newly added device is opened.
  • Page 217 TO TECHNOLOGY OBJECTS Under Hardware interface set both the Encoder parameters and the Data exchange parameters. Select the telegrams to be used and set the singleturn resolution and the number of revolutions. Figure 20. Setting the TO hardware interface As soon as the parameters are set, some green ticks will appear in the lateral bar to indi- cate the proper configuration.

  • Page 218: Downloading The Project And Going Online

    GETTING STARTED Figure 22. TO encoder pane Figure 23. TO data exchange pane Downloading the project and going online After the project has been successfully completed, the controller can be selected and the created program downloaded. To do this press the Download to device button in the toolbar.

  • Page 219: Enabling The Encoder

    TO TECHNOLOGY OBJECTS Figure 24. TO status and error bits pane Enabling the encoder Please note that the encoder is disabled now: it must be enabled. Figure 25. TO encoder disabled To enable the encoder select the Watch and force tables and then the Telegram 81 item in the Project tree.
  • Page 220 GETTING STARTED Figure 26. TO Watch and force tables Under the section TO (External Encoder) Status Sensor \ MC_POWER select the MC_POWER_DB_Enable function, right-click on the item in the Monitor value column and then press Modify and Modify to 1 commands in the drop-down box that appears. Figure 27.
  • Page 221 TO TECHNOLOGY OBJECTS Figure 28.TO encoder enabled INSTRUCTION MANUAL...

  • Page 222: Setting And Activating The Preset Value

    GETTING STARTED Setting and activating the preset value We suggest activating the preset value when the encoder is in stop. NOTE Preset function is meant to assign a desired value to a known physical position of the system. The chosen physical position will get the value set next to this index and all the previous and following mechanical positions will get a value according to it.

  • Page 223: Chapter 6. Profinet Interface

    CHAPTER 6 PROFINET INTERFACE A BRIEF INTRODUCTION TO PROFINET PROFINET IO is the open industrial network devised for automation applications and built on the Ethernet application layer (TCP/IP and IT standards). For PROFINET IO the layers 1 through 7a of the ISO/OSI (Open Systems Interconnection) reference model are exclusively based on internationally proven standards.

  • Page 224: Profinet Encoders From Datalogic

    PROFINET INTERFACE PROFINET ENCODERS FROM DATALOGIC PROFINET encoders from Datalogic fulfill the requirements of the Application Classes 3 and 4, thus they are intended for clock-synchronous (isochronous) real-time applica- tions with cyclic and synchronous data transmission. Anyway they can also be used in applications without clock synchronization.

  • Page 225: Application Class Definition

    Isochronous mode is not supported. Application Class 4 Encoder with scaling, preset, isochronous mode and base mode parameter access. A Class 4 configured encoder fully supports all functionalities. Datalogic encoders fulfill the requirements of CLASS 4. NOTE INSTRUCTION MANUAL...

  • Page 226: Encoder Object Model

    PROFINET INTERFACE ENCODER OBJECT MODEL The Figure shows the general Encoder Object (EO) architecture. Central element of the EO is the Measuring Task where the measurements are made and the results are calcu- lated. The properties of the EO is represented and controlled by parameters. The param- eters are administered in the Parameter Data Base.

  • Page 227: Encoder Object Architecture

    ENCODER OBJECT ARCHITECTURE ENCODER OBJECT ARCHITECTURE The Figure shows the general architecture and the mapping of the Encoder Object (EO) architectural elements to Communication Objects of the Peripheral Device for PROF- INET IO. General with PROFINET IO the EO is mapped exactly to one Module/Slot. Slot 0 is exclusively reserved for Device representative purpose and therefore shall not be used for any Encoder module.

  • Page 228: Chapter 7. Profinet Io Data Description

    CHAPTER 7 PROFINET IO DATA DESCRIPTION TELEGRAMS A telegram is a rigidly defined bit stream carrying data. In each telegram the data length and the type of data which is sent to and from the IO controller is specified. PROFINET interface devices communicate and stay in sync by sending telegrams each other.
  • Page 229 TELEGRAMS Request set/shift of home position bit 12 in the G1_STW control word, see " Request set/shift of home position" on page 58 The Telegram 860 uses 4 bytes to output data from the IO controller to the encoder and 8 bytes to input data from the encoder to the IO controller.

  • Page 230: Chapter 8. Cyclic Data Exchange - Std Signals

    CHAPTER 8 CYCLIC DATA EXCHANGE - STD SIGNALS IO data is transferred via the Cyclic Data Exchange. A series of standard signals is defined to configure the IO data. In the following table the standard signals are summarily described. LENGTH DATA SIGNIFICANCE ABBREVIATION...
  • Page 231 INSTRUCTION MANUAL...

  • Page 232: List Of The Available Standard Signals

    CYCLIC DATA EXCHANGE - STD SIGNALS LIST OF THE AVAILABLE STANDARD SIGNALS G1_XIST1 [Unsigned, 32 bits] It is defined as Sensor 1 current position value 1. This signal is the current (real) absolute position of the encoder expressed in binary notation. Format definition: •...

  • Page 233: G1_Xist2

    LIST OF THE AVAILABLE STANDARD SIGNALS G1_XIST2 [Unsigned, 32 bits] It is defined as Sensor 1 current position value 2. By default this signal is the current (real) absolute position of the encoder expressed in binary notation yet it has a different meaning if an error is active.

  • Page 234: G1_Xist1_Preset_Value

    CYCLIC DATA EXCHANGE - STD SIGNALS G1_XIST1_PRESET_VALUE [Unsigned, 32 bits] Using the G1_XIST1_PRESET_VALUE signal, the user can enter a preset value for the encoder via the cyclic data telegram 860 (see on page 73), and activate it by forcing high and then low the Request set/shift of home position bit 12 in the G1_STW control word (see "...

  • Page 235: Stw2_Enc

    LIST OF THE AVAILABLE STANDARD SIGNALS STW2_ENC [Unsigned, 16 bits] It is defined as Encoder control word 2. Control word STW2_ENC includes the Control by PLC mechanisms from PROFIdrive STW1 and the Controller Sign-Of-Life mechanism from PROFIdrive STW2. MEANING 0 ... 6 Reserved Not used 8 &...

  • Page 236: Zsw2_Enc

    CYCLIC DATA EXCHANGE - STD SIGNALS ZSW2_ENC [Unsigned, 16 bits] It is defined as Encoder status word 2. The encoder status word 2 ZSW2_ENC includes the Control by PLC mechanism from PROFIdrive ZSW1 and the Slave Sign-Of-Life mecha- nism from PROFIdrive ZSW2. MEANING 0 ...

  • Page 237: G1_Stw

    LIST OF THE AVAILABLE STANDARD SIGNALS G1_STW [Unsigned, 16 bits] It is defined as Sensor 1 control word. This control word controls the functionality of major encoder functions. MEANING 0 ... 7 Not used 8 ... 10 Reserved Home position mode Request set/shift of home position Request absolute value cyclically Activate parking sensor...

  • Page 238: Request Set/Shift Of Home Position

    CYCLIC DATA EXCHANGE - STD SIGNALS Request set/shift of home position Bit 12 The preset function is controlled by bits 11 and 12 in this Sensor 1 control word G1_STW and acknowledged by the bit 12 Set/shift of home position executed in the sensor status word G1_ZSW.

  • Page 239: Request Absolute Value Cyclically

    LIST OF THE AVAILABLE STANDARD SIGNALS Request absolute value cyclically Bit 13 SIGNIFICANCE COMMENT =1 : Request absolute Request of additional cyclic transmission of the cur- value cyclically rent absolute position in G1_XIST2. Activate parking sensor Bit 14 SIGNIFICANCE COMMENT Request to stop monitoring the measuring system and the current value measurements in the drive.

  • Page 240: G1_Zsw

    CYCLIC DATA EXCHANGE - STD SIGNALS G1_ZSW [Unsigned, 16 bits] It is defined as Sensor 1 status word. This status word defines the states, acknowledg- ments and error messages of the encoder and its main functions MEANING 0 ...9 Not used Reserved Requirements of error acknowledge detected Set/shift of home position executed...

  • Page 241: Error Codes In G1_Xist2

    ERROR CODES IN G1_XIST2 ERROR CODES IN G1_XIST2 Error codes are sent in G1_XIST2 if an error occurs. For information about G1_XIST2 refer to " G1_XIST2" on page 53 G1_XIST2 MEANING EXPLANATION The number of permissible failures of the Mas- 0x0F02 Master sign of life fault ter sign of life was exceeded.

  • Page 242: Chapter 9. Encoder Parameters

    CHAPTER 9 ENCODER PARAMETERS USER PARAMETER DATA User parameter data listed in the table below is sent to the encoder in the start-up phase. DATA PARAMETER INDEX DEFAULT COMMENT TYPE Type of encoder BitArea 0: AMT58 multiturn 13/14 Code sequence 0 (CW) Class 4 functionality 1 (enabled)

  • Page 243: Type Of Encoder

    USER PARAMETER DATA Type of encoder [Index 516] The index contains information about the type of encoder. ATTRIBUTE MEANING VALUE Installed encoder: AMT58, resolution: 13 AMT58 multiturn 13/14 x 14 bits Default = 0 (min. = 0, max. = 0) Code sequence [Index 517] Code sequence sets whether the absolute position value output by the encoder...

  • Page 244: Class 4 Functionality

    ENCODER PARAMETERS Class 4 functionality [Index 518] For any information on the implemented Application Classes refer to " Application Class definition" on page 45 If it is enabled, Code sequence, G1_XIST1 Preset control and Scaling function control affect the position value in G1_XIST1 and G1_XIST2. However the preset will not affect the position value in G1_XIST1 if the parameter G1_XIST1 Preset control is disabled;...

  • Page 245: Scaling Function Control

    USER PARAMETER DATA Scaling function control [Index 520] This parameter enables / disables the Scaling function. When this parameter is disabled, the device uses the hardware singleturn and multiturn resolutions; when it is enabled, the device uses the resolutions set next to the parameters Measuring units / Revolution and Total measuring range.

  • Page 246: Compatibility Mode

    ENCODER PARAMETERS Compatibility Mode [Index 522] This parameter defines whether the encoder has to run in a mode compatible with Ver- sion 3.1 of the Encoder Profile. See the table below for an overview of the functions affected when the compatibility mode is enabled. ATTRIBUTE MEANING VALUE...

  • Page 247: Scaling Function Parameters

    SCALING FUNCTION PARAMETERS SCALING FUNCTION PARAMETERS Using the scaling function parameters the absolute position value of the encoder is con- verted by the software in order to customize the resolution of the encoder according to needs. The scaling parameters will only be activated if the parameters Class 4 function- ality and Scaling function control are enabled.

  • Page 248: Total Measuring Range

    ENCODER PARAMETERS Total measuring range [Index 524] This parameter sets the number of distinguishable steps over the total measuring range. Allowed values are less than or equal to the total hardware resolution value (physical multiturn resolution = number of physical counts per revolution + number of physical revolutions).

  • Page 249: Maximum Tolerated Failures Of Master Sign-Of-Life

    SCALING FUNCTION PARAMETERS Maximum tolerated failures of Master Sign-Of-Life [Index 525] This parameter sets the number of allowed failures of the Master sign of life. The default value is one (1). Default = 1 (min. = 1, max. = 255) This parameter is only supported in compatibility mode (see "...

  • Page 250: Red Zone

    ENCODER PARAMETERS RED ZONE The so-called “Red Zone” problem occurs when the Number of revolutions (i.e. the Total measuring range / Measuring units / 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.
  • Page 251 RED ZONE Make attention using the values sent by the encoder while working within the limits of the “Red Zone”. When the encoder changes from normal sta- tus to “Red Zone” status (and vice versa) a jump of position occurs. NOTE INSTRUCTION MANUAL...

  • Page 252: Chapter 10. Real-Time Class Communication

    CHAPTER 10 REAL-TIME CLASS COMMUNICATION Within PROFINET IO, process data and alarms are always transmitted in real time. Real- Time for PROFINET (RT) is based on the definitions of IEEE and IEC for high-performance data exchange of I/O data. RT communication constitutes the basis for data exchange in PROFINET IO.

  • Page 253: Setting An Isochronous Communication

    REAL-TIME CLASS 3 (IRT_TOP) (RT3) Only industrial IRT switches can be used. Typical cycle time 1 ms or less. When the encoder is installed as a TO Technology Object (see " ), the cycle time must be greater than or equal to TO Technology Objects"...
  • Page 254 REAL-TIME CLASS COMMUNICATION 3. Select the encoder and change to the Device view; then, in the properties of the encoder, navigate via General > PROFINET interface > Advanced options > Isochro- nous mode and display the Isochronous mode area. Figure 3. Isochronous area 4.
  • Page 255 REAL-TIME CLASS 3 (IRT_TOP) (RT3) Figure 5. Telegram 81 IN Figure 6. Telegram 81 OUT INSTRUCTION MANUAL...
  • Page 256 REAL-TIME CLASS COMMUNICATION Figure 7. Telegram 860 IN Figure 8. Telegram 860 OUT 6. Finally transfer your project. AMT58...PN...

  • Page 257: Ob61

    OB61 OB61 Use of OBs requires both in-depth skills and specific expertise in TIA POR- TAL programming environment. For detailed information please consult the TIA PORTAL Programmer's handbook and documentation. CAUTION Organization blocks (OBs) form the interface between the CPU operating system and the user program.

  • Page 258: Chapter 11. Encoder Replacement Using Lldp

    CHAPTER 11 ENCODER REPLACEMENT USING LLDP LLDP (Link Layer Discovery Protocol) is a Layer 2 protocol that is used to detect the clos- est neighbours in the network. It enables a device to send information about itself and to save information received from neighbouring devices, i.e. it provides the option of communicating data between neighbouring devices (e.g.
  • Page 259 When you replace a device, make sure that the PROFINET cable is then inserted into the correct port as it is configured in TIA Portal. Otherwise, the system will not run. NOTE INSTRUCTION MANUAL...

  • Page 260: Chapter 12. Media Redundancy Protocol (Mrp)

    CHAPTER 12 MEDIA REDUNDANCY PROTOCOL (MRP) MRP (Media Redundancy Protocol) is a redundancy protocol supported by all Profinet capable devices that will allow a network to be configured in a ring topology. It is stan- dardized by the International Electrotechnical Commission as IEC 62439-2. It is suitable to most Industrial Ethernet applications.

  • Page 261: Setting Mrp Roles

    SETTING MRP ROLES SETTING MRP ROLES Within an MRP ring, each device must be assigned a role. One device will be the MRP Manager (MRM) and will be responsible for sending out test frames to detect for a net- work failure and for blocking network traffic on one port (except for the test frames) to prevent a network loop.

  • Page 262: Configuring The Network Topology

    MEDIA REDUNDANCY PROTOCOL (MRP) CONFIGURING THE NETWORK TOPOLOGY To configure the network topology proceed as follows. Navigate to the Topology view tab of the Devices and Networks view. Configure the topology to create a ring by connecting the ports, for instance as shown in the Figure.

  • Page 263: Interconnecting The Ports In The Inspector Window

    INTERCONNECTING THE PORTS IN THE INSPECTOR WINDOW INTERCONNECTING THE PORTS IN THE INSPECTOR WINDOW To interconnect the ports, follow these steps: 1. In the Device view tab or Network view tab, select the PROFINET device or PROF- INET interface. 2. In the Table Area of the Hardware and network editor select the port which you want to configure (Port 1 and Port 2).

  • Page 264: Chapter 13 Encoder State Machine

    CHAPTER 13 ENCODER STATE MACHINE Figure 1. Encoder state machine PARKING NORMAL OPERATION PRESET (see on (see on (see on page 87 page 85 page 86 ALARM (see on page 88 AMT58...PN...

  • Page 265: Normal Operation Diagram

    NORMAL OPERATION DIAGRAM NORMAL OPERATION DIAGRAM INSTRUCTION MANUAL...

  • Page 266: Preset Diagram

    ENCODER STATE MACHINE PRESET DIAGRAM AMT58...PN...

  • Page 267: Parking Sensor Diagram

    PARKING SENSOR DIAGRAM PARKING SENSOR DIAGRAM INSTRUCTION MANUAL...

  • Page 268: Error Diagram

    ENCODER STATE MACHINE ERROR DIAGRAM Acknowledgment of acknowledgeable sensor error AMT58...PN...

  • Page 269: Acknowledgment Of Not Acknowledgeable Sensor Error

    ERROR DIAGRAM Acknowledgment of not acknowledgeable sensor error INSTRUCTION MANUAL...

  • Page 270: Chapter 14. Integrated Web Server

    CHAPTER 14 INTEGRATED WEB SERVER Profinet encoders from Datalogic integrate a web server. This web-based user interface is designed to offer helpful functions and deliver complete information on the device that can be accessed through the Internet. In particular it allows: •...

  • Page 271: Web Server Home Page

    WEB SERVER HOME PAGE WEB SERVER HOME PAGE To open the Profinet encoder web server proceed as follows: 1. type the IP address of the encoder you want to connect to (in the example: 192.168.20.1) in the address bar of your web browser and confirm by pressing ENTER;...

  • Page 272: Encoder Position And Speed

    Press on the Datalogic logo to enter Datalogic web site (www.datalogic.com). Press the Documentation command to enter the Profinet encoder technical documen- tation page available on Datalogic web site where specific technical information and documentation concerning the Profinet encoder can be found.

  • Page 273: Specific Notes On Using Internet Explorer

    ENCODER INFORMATION (PROFINET PARAMETERS) Specific notes on using Internet Explorer The following options must be set properly on Internet Explorer in order to get the Encoder position and speed page to be continuously updated. • Open the Settings menu; • open the Internet Options property sheet;...

  • Page 274: Setting The Parameters

    INTEGRATED WEB SERVER The parameters in the Encoder Information page cannot be changed. To change the set values please enter the Set Registers page (see " Setting the Parameters" on page 94 ). NOTE Press the Homepage command to move back to the Web server Home page. SETTING THE PARAMETERS Press the Set Registers command in the left navigation bar of the Web server Home page to enter the Set Encoder Registers page.
  • Page 275 SETTING THE PARAMETERS To change any value enter a suitable value in the WRITE column next to the desired parameter and then press the button between the boxes to confirm. The values have to be set either in decimal notation or by using the drop-down menu (when available). For complete information on the available parameters please refer to Encoder Parameters, starting on page 62...

  • Page 276: Setting And Activating The Preset

    INTEGRATED WEB SERVER SETTING AND ACTIVATING THE PRESET Press the Set Preset Value command in the left navigation bar of the Web server Home page to enter the Set Encoder Preset page and set/activate a Preset value. If you need to set the preset occasionally, we suggest using the web server.
  • Page 277 SETTING AND ACTIVATING THE PRESET • to change the Preset enter a suitable value in the WRITE box and then press the Set Preset Value button to confirm. The value has to be set in decimal notation. The preset value is set and activated at the same time. Figure 7.

  • Page 278: Firmware Upgrade

    “user program”, is stored in the flash memory integrated inside the unit. These encoders are designed so that the firmware can be easily updated by the user himself. This allows Datalogic to make new improved firmware programs available during the lifetime of the product.
  • Page 279 FIRMWARE UPGRADE 2. as soon as you press the Upgrade Firmware command a warning message (Are you sure you want to update the flash?) appears on the screen: it warns the oper- ator about the awkwardness of the operation, thus he is required to confirm the procedure before continuing;...
  • Page 280 OPEN command the OPEN dialog box appears on the screen: open the folder where the firmware upgrading .BIN file released by Datalogic is located, select the file and confirm. Hx in the file name shows the hardware version of the PCB;...
  • Page 281 FIRMWARE UPGRADE 15. a download progress bar as well as additional information are shown in the page while upgrading the firmware; 16. as soon as the operation is carried out successfully, the FILE SENT CORRECTLY mes- sage appears on the screen; 17.
  • Page 282 INTEGRATED WEB SERVER While downloading the firmware upgrading program, unexpected condi- tions may arise which could lead to a failure of the installation process. When such a matter occurs, the download process cannot be carried out NOTE successfully and thus the operation is aborted; error messages are dis- played.

  • Page 283: Chapter 15. Default Parameter List

    CHAPTER 15 DEFAULT PARAMETER LIST PARAMETERS LIST DEFAULT VALUE Type of encoder 0: AMT58 multiturn 13/14 Code sequence Class 4 functionality G1_XIST1 Preset control Scaling function control Alarm channel control Compatibility Mode Measuring units / Revolution 8.192 Total measuring range 134.217.728 Maximum tolerated failures of Master Sign-Of-Life Velocity measuring unit...
  • Page 286 © 2014-2021 Datalogic S.p.A. and /or its affiliates • All rights reserved • Without limiting the rights under copyright, no part of this documentation may be repro- duced, stored in or introduced into a retrieval system, or transmitted in any form or by any means, or for any purpose, without the express written permission of Data- logic S.p.A.
  • Page 288 Datalogic S.p.A. and/or its affiliates.
  • Page 289 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 290 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 291 Subject index 1  6502-00 Hardware number of turns ..33 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 292 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 293 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.
  • Page 295  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 296 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 297 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...
  • Page 298 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 299 AMT58x-CB CANopen® 3.1.3 Installation using a flange (code ST-58-FLNG)
  • Page 300 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 301 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 302 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 303 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 304 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 305 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 306 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 307 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 308 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 309 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 310 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 311 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 312 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 313 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 314 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 315 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 316 [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 317 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 318 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 319 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 320 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 321 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 322 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 323 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 324 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 325 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 326 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 327 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 328 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 329 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 330 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 331 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 Master ...
  • Page 332 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 333 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 334 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...
  • Page 336 Datalogic S.p.A. and/or its affiliates.
  • Page 337 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 338 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 339 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 340 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 341  Datalogic Automation S.r.l. assumes no liability for the customer's failure to comply with these requirements. Electrical safety ...
  • Page 342 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 343 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...
  • Page 344 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 345 AMT58x-DN DeviceNET® 3.1.3 Installation using a flange (code ST-58-FLNG)
  • Page 346 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 347 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 348 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 349 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 350 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 351 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 352 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 353 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 354 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 355 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.
  • Page 356 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 357 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 358 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 359 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 360 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 361 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...
  • Page 362 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 363 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 364 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 365 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 366 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 367 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 368 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 369 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 370 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 371 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 372 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 373 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 374 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 375 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 376 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 377 AMT58x-DN DeviceNET® Extended Bits are defined as follows: Device 0000 Self-Testing or Unknown 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 378 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 379 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 380 AMT58x-DN DeviceNET® Default = 21h...
  • Page 381 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 382 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 383 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 384 AMT58x-DN DeviceNET® Default = 00h...
  • Page 385 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 386 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 387 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 388 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 389 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 390 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 391 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 392 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 393 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 ...
  • Page 395 Bologna - Italy © 2014 - 2017 Datalogic S.p.A. and/or its affiliates  ALL RIGHTS RESERVED.  Without limiting the rights under copyright, no part of this documentation may be reproduced, stored in or introduced into a retrieval system, or transmitted in any form or by any means, or for any purpose, without the express written permission of Datalogic S.p.A.
  • Page 396 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 397 Subject index C  Position value ........28 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 398 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 399 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. 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 400  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 401 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 402 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...
  • Page 403 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 404 AMT58x-PB Profibus® 3.1.3 Installation using a flange (code ST-58-FLNG)
  • Page 405 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 406 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 407 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 408 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 409 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 410 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 411 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 412 Profibus encoders are supplied with their own GSD file AMT58-xxx- 16x14-FBUS-PB (see enclosed documentation www.datalogic.com). 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.
  • Page 413 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 414 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 415 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 416 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 417 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 418 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 419 (see enclosed documentation click www.datalogic.com). 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 420 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 Preset value- are transmitted in Set_Prm mode. Preset value is transmitted only in Data_Exchange mode.
  • Page 421 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 422 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 423 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 424 AMT58x-PB Profibus® 6.4.2 Bytes 11…14Counts per revolution WARNING You can set a new value next to the Counts per revolution item only if Class 2 functionality = ENABLED; if Scaling function control = ENABLED the set resolution values are enabled and used by the encoder;...
  • Page 425 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 426 AMT58x-PB Profibus® WARNING When you set a new value next to the Total resolution item, please always check also the Counts per revolution item value and be 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: Counts per revolution: 8192...
  • Page 427 AMT58x-PB Profibus® 6.4.4 Byte 19Velocity measure unit This byte is available only when Class 2(+VEL) is set (see also Class 2 functionality Exchange type items). It defines the unit of measurement for speed value transmitted by the device. 00 = rpm (revolutions per minute); 01 = step/s (steps per second).
  • Page 428 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 429 AMT58x-PB Profibus® Example Preset value to be set = 0000 1000hex Current Position value = 0005 5000hex 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 Preset value when the shaft is in stop. The new Preset value is saved immediately after receipt.
  • Page 430 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 431 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 432 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)
  • Page 433 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 434 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:  Counts per revolution = 50000  Number of revolutions = 8000 ...
  • Page 435 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 Counts per revolution 16384 1073741824 Total resolution Velocity measure unit...

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