Datalogic AMT58 Series Manual 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
3.1.1 Customary installation ........................................................................................ 4
3.1.2 Installation using fixing clamps (code LKM-386) ................................................ 4
3.1.3 Installation using a mounting bell (code ST-58-FLNG) ...................................... 5
3.2 Hollow shaft encoders .............................................................................................. 6
3.2.1 AMT58-H15........................................................................................................ 6
4 - Electrical connections .................................................................................................. 7
4.1 M12 connectors ....................................................................................................... 7
4.2 Ground connection ................................................................................................... 8
4.3 Diagnostic LEDs ...................................................................................................... 8
5 - Quick reference (TwinCAT) ......................................................................................... 9
5.1 System configuration using TwinCAT software system from Beckhoff .................... 9
5.1.1 Setting the Network Card ................................................................................... 9
5.1.2 Add new I/O modules (Boxes) ......................................................................... 11
5.2.1 Synchronous with SM3 .................................................................................... 16
5.2.2 Synchronous with DC (SYNC0) ....................................................................... 17
5.3 Process Data Objects ............................................................................................ 18
5.4 COE Object Dictionary ........................................................................................... 19
5.5 Online Data ............................................................................................................ 20
5.6 EEProm upgrade ................................................................................................... 21
5.7 Firmware upgrade .................................................................................................. 26
6 - EtherCAT® interface.................................................................................................. 30
6.1 Basic Information on EtherCAT® Protocol ............................................................. 30
6.1.1 Data transfer .................................................................................................... 31
6.1.2 ISO/OSI Layer model ....................................................................................... 31
6.1.3 Topology .......................................................................................................... 32
6.1.4 Line Termination .............................................................................................. 33
6.1.5 Addressing ....................................................................................................... 33
6.1.6 Communication mode ...................................................................................... 34
FreeRun ................................................................................................................. 35
Synchronous with DC SYNC0 ............................................................................... 37
6.1.7 EtherCAT State Machine (ESM) ...................................................................... 38
6.1.8 Slave configuration .......................................................................................... 39
6.1.9 Timing and Synchronization ............................................................................. 40
Sync Manager ........................................................................................................ 40
Buffered Mode (3-Buffer Mode) ............................................................................. 40
Mailbox Mode (1-Buffer Mode) .............................................................................. 40
6.2 CANopen Over EtherCAT (CoE) ............................................................................ 41
6.2.1 XML file ............................................................................................................ 41
6.2.3 Process Data Objects (PDO) ........................................................................... 43
6.2.5 Object dictionary .............................................................................................. 45
Standard objects .......................................................................................................... 45