Datalogic AMT58 Series Manual page 289

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 Fissaggio con graffe (codice ST-58-KIT) ........................................................... 4
3.1.3 Installation using a flange (code ST-58-FLNG) .................................................. 5
3.2 Hollow shaft encoders .............................................................................................. 6
3.2.1 AMT58-H15........................................................................................................ 6
4. Electrical connections .............................................................................................. 7
4.1 Connection cap ........................................................................................................ 7
4.3 Connection cap with PGs ......................................................................................... 8
4.4 Connection cap with M12 connectors ...................................................................... 9
4.5 Connection of the shield .......................................................................................... 9
4.6 RT Bus termination ................................................................................................ 10
4.7 Diagnostic LEDs .................................................................................................... 10
4.8 Baud rate: DIP A .................................................................................................... 11
4.9 Node number: DIP B .............................................................................................. 12
5. Quick reference...................................................................................................... 13
6. CANopen® interface .............................................................................................. 14
6.1 EDS file .................................................................................................................. 14
6.2 Operation states ..................................................................................................... 14
6.2.1 Initialization state ............................................................................................. 15
6.2.2 Pre-operational state ........................................................................................ 15
6.2.3 Operational state .............................................................................................. 15
6.2.4 Stopped state ................................................................................................... 15
6.3 Communication objects .......................................................................................... 16
6.3.1 Pre-defined connection set .............................................................................. 16
6.4 NMT objects ........................................................................................................... 17
6.5 Boot-up objects ...................................................................................................... 17
6.6 PDO objects ........................................................................................................... 17
PDO1 Cyclic mode: cyclic transmission ................................................................. 18
PDO2 and PDO3 SYNC mode: synchronous transmission ................................... 18
PDO4 Cyclic mode: cyclic transmission ................................................................. 18
6.7 SDO objects ........................................................................................................... 19
6.7.1 Command ........................................................................................................ 19
6.8 Object dictionary .................................................................................................... 20
6.8.1 Standard objects (DS 301) ............................................................................... 20
1000-00 Device type .............................................................................................. 20
1001-00 Error register ............................................................................................ 20
1003 Pre-defined error field ................................................................................... 20
1005-00 COB_ID SYNC message ......................................................................... 20
1008-00 Name of device manufacturer .................................................................. 20
1009-00 Hardware version ..................................................................................... 21
100A-00 Software version ...................................................................................... 21
100C-00 Guard time .............................................................................................. 21
100D-00 Life time factor ......................................................................................... 21
1011-01 Restore default parameters ..................................................................... 22
1014-00 COB-ID EMCY ......................................................................................... 23
1015-00 Inhibit time EMCY .................................................................................... 23