MICRO-EPSILON optoNCDT 1900-IE Operating Instructions Manual
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MICRO-EPSILON optoNCDT 1900-IE Operating Instructions Manual

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Operating Instructions
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  • Page 1 Operating Instructions optoNCDT 1900-IE EtherCAT ILD1900-2 ILD1900-200 ILD1900-2LL ILD1900-10 ILD1900-500 ILD1900-6LL ILD1900-25 ILD1900-10LL ILD1900-50 ILD1900-25LL ILD1900-100 ILD1900-50LL...
  • Page 2 GmbH & Co. KG Königbacher Str. 15 94496 Ortenburg / Deutschland Tel. +49 (0) 8542 / 168-0 Fax +49 (0) 8542 / 168-90 e-mail info@micro-epsilon.com www.micro-epsilon.com EtherCAT® is registered trademark and patented technology, optoNCDT 1900-IE licensed by Beckhoff Automation GmbH, Germany.

  • Page 3: Table Of Contents

    Contents Safety ................................9 Symbols Used ....................................9 Warnings .....................................9 Notes on CE Marking ................................10 Intended Use ....................................10 Proper Environment ..................................11 Laser Safety ..............................12 General .....................................12 Laser Class 2 ....................................12 Laser Class 3R ..................................14 Functional Principle, Technical Data ......................16 Short Description ..................................16 Advanced Surface Compensation ............................17 Technical Data ..................................18...
  • Page 4 Mechanical Fastening, Dimensional Drawing ..........................28 5.2.1 General ..................................28 5.2.2 Mounting ..................................28 Control and Indicator Elements ..............................30 Electrical Connections ................................31 5.4.1 RJ45, PoE Connections ............................31 5.4.2 RJ45 Connection ..............................32 5.4.3 Pin Assignment ................................33 5.4.4 Supply Voltage ................................34 5.4.5 Turning on the Laser ..............................35 5.4.6 Plug-In Connection, Supply and Output Cable ......................36 Operation ...............................
  • Page 5 Signal Processing ..................................54 7.5.1 Preliminary Remarks ...............................54 7.5.2 Averaging .................................54 7.5.2.1 General ..............................54 7.5.2.2 Moving Average ...........................55 7.5.2.3 Recursive Average ..........................56 7.5.2.4 Median ..............................56 7.5.3 Zeroing, Mastering ..............................57 EtherCAT Digital Output ................................58 7.6.1 Values, Ranges ................................58 7.6.2 Behavior of the Digital Output ..........................60 System Settings ..................................62 7.7.1 General ..................................62...
  • Page 6 Appendix Optional Accessories ................................70 Factory Settings ..................................71 Switching between EtherCAT and Ethernet Setup Mode ......................72 Switch between Ethernet Setup Mode and EtherCAT ......................73 EtherCAT Documentation .................................74 A 5.1 General .....................................74 A 5.2 Introduction ....................................75 A 5.2.1 Structure of EtherCAT® Frames ..........................75 A 5.2.2 EtherCAT®...
  • Page 7 A 5.3.2.8 Object 3852: Load, Save ........................94 A 5.3.2.9 Object 3900: Sensor Information ......................94 A 5.4 Mappable Objects - Process Data............................95 A 5.4.1 General ..................................95 A 5.4.2 Object 6000: Exposure time ............................95 A 5.4.3 Object 6001: Measurement Frequency ........................96 A 5.4.4 Object 6002: Timestamp ............................96 A 5.4.5 Object 6003: Measurement counter ........................96...
  • Page 8 optoNCDT 1900 / EtherCAT...

  • Page 9: Safety

    Safety Safety System operation assumes knowledge of the operating instructions. Symbols Used The following symbols are used in these operating instructions: Indicates a hazardous situation which, if not avoided, may result in minor or moderate injury. Indicates a situation that may result in property damage if not avoided. Indicates a user action.

  • Page 10: Notes On Ce Marking

    The EU Declaration of Conformity and the technical documentation are available to the responsible authorities according to the EU Directives. Intended Use - The optoNCDT 1900-IE is designed for use in industrial and laboratory applications. It is used for ƒ Measuring displacement, distance, position and thickness ƒ Monitoring quality and checking dimensions - The sensor must only be operated within the values specified in the technical data see Chap.

  • Page 11: Proper Environment

    Safety Proper Environment - Protection class: IP67 (applies only when sensor cable is plugged in) Lenses are excluded from the protection class. Contamination of the lenses causes impairment or failure of the function. - Temperature range: ƒ Operation: 0 ... 50 °C ƒ...

  • Page 12: Laser Safety

    Laser Safety Laser Safety General The optoNCDT 1900 operates with a semiconductor laser with a wavelength of 658 nm (visible/red) or 670 nm (visible/red). When operating the optoNCDT 1900 sensors, the relevant regulations according to IEC 60825, Part 1 of 05/2014 and the applicable accident prevention regulations must be followed.
  • Page 13 Laser Safety LASER RADIATION DO NOT STARE INTO BEAM LASERSTRAHLUNG CLASS 2 LASER PRODUCT NICHT IN DEN STRAHL BLICKEN IEC 60825-1: 2014 LASER KLASSE 2 P 1mW;  =670nm nach DIN EN 60825-1: 2015-07 COMPLIES WITH 21 CFR 1040.10 AND 1040.11 P 1mW;...

  • Page 14: Laser Class 3R

    Laser Safety Laser Class 3R The sensors fall within laser class 3R. The laser is operated on a pulsed mode, the maximum optical power is ≤ 5 mW. The pulse frequency depends on the adjusted measuring rate (0.25 ... 10 kHz). The pulse duration of the peaks is regulated depending on the measuring rate and reflectivity of the target and can be 4 up to 3995 µs.
  • Page 15 Laser Safety LASER RADIATION AVOID DIRECT EYE EXPOSURE CLASS 3R LASER PRODUCT IEC 60825-1: 2014 5 mW;  = 658 nm COMPLIES WITH 21 CFR 1040.10 AND 1040.11 EXCEPT FOR CONFORMANCE WITH IEC 60825-1 ED. 3., AS DESCRIBED IN LASER NOTICE NO. 56, DATED MAY 8, 2019. optoNCDT Laser- austritts-...

  • Page 16: Functional Principle, Technical Data

    Functional Principle, Technical Data Functional Principle, Technical Data Short Description The optoNCDT 1900 operates according to the principle of optical triangulation, i.e. a visible, modulated light spot is projected onto the surface of the measuring object. The diffuse part of the reflection of this light spot is imaged on a spatial resolution element (CMOS) by a receiver optic arranged at a certain angle to the optical axis of the laser beam.

  • Page 17: Advanced Surface Compensation

    Functional Principle, Technical Data Advanced Surface Compensation The optoNCDT 1900 is equipped with an intelligent surface control feature. New algorithms generate stable measurement results even on demanding surfaces where changing reflections occur. Furthermore, these new algorithms compensate for ambient light up to 50,000 lux.

  • Page 18: Technical Data

    Functional Principle, Technical Data Technical Data 3.3.1 ILD1900-xx Model ILD1900- Measuring range Start measuring range Mid measuring range 37.5 End measuring range continuously adjustable between 0.25 ... 10 kHz Measuring rate 7 adjustable stages: 10 kHz / 8 kHz / 4 kHz / 2 kHz / 1.0 kHz / 500 Hz / 250 Hz ≤...
  • Page 19 SMR = Start of measuring range, MMR = Mid of measuring range, EMR = End of measuring range The specified data apply to a white, diffuse reflecting surface (Micro-Epsilon reference ceramic for ILD sensors) 1) Factory setting: measuring rate 4 kHz, median 9; modifying the factory setting requires the IF2001/USB converter (see accessories)

  • Page 20: Ild1900-Xxll

    Functional Principle, Technical Data 3.3.2 ILD1900-xxLL Model ILD1900- 10LL 25LL 50LL Measuring range 2 mm 6 mm 10 mm 25 mm 50 mm Start of measuring range 15 mm 17 mm 20 mm 25 mm 40 mm Mid of measuring range 16 mm 20 mm 25 mm...
  • Page 21 FSO = Full Scale Output, SMR = Start of measuring range, MMR = Mid of measuring range, EMR = End of measuring range The specified data apply to white, diffuse reflecting surfaces (Micro-Epsilon reference ceramic for ILD sensors) 1) Factory setting: measuring rate 4 kHz, median 9; modifying the factory setting requires the IF2001/USB converter (see accessories)

  • Page 22: Delivery

    Delivery Delivery Unpacking, Included in Delivery - 1x ILD1900 sensor - 1 Assembly Instructions - 1 Calibration protocol - Accessories (2 pc. centering sleeves, 2 pc. M3 x 40) Carefully remove the components of the measuring system from the packaging and ensure that the goods are forwarded in such a way that no damage can occur.

  • Page 23: Assembly

    Assembly Assembly Notes for Operation 5.1.1 Reflectance of Target Surface In principle, the sensor evaluates the diffuse portion of the reflections of the laser light spot. Laser beam Laser beam Laser beam 2  Ideal diffuse reflection Direct mirror reflection Real reflection Fig.

  • Page 24: Interferences

    5.1.2.1 Ambient Light Thanks to their integrated optical interference filters, the optoNCDT 1900-IE laser-optical sensors offer outstanding performance in suppressing ambient light. However, ambient light disturbances can occur with shiny measuring objects and at a reduced measuring rate. In these cases it is recommended to provide shielding against ambient light or to switch on the Background suppression function.

  • Page 25: Surface Roughness

    Assembly 5.1.2.6 Surface Roughness Laser-optical sensors detect the surface using an extremely small laser spot. They also track slight surface unevenness. In contrast, a tactile, mechanical measurement, e.g. using a caliper, detects a much larger area of the measuring object. In case of traversing mea- surements, surface roughnesses of 5 µm and more lead to an apparent distance change.

  • Page 26: Angular Influences

    Assembly 5.1.2.7 Angular Influences Target tilt angles around both the X and y-axis of less than 5° in the case of diffuse reflection only cause problems with surfaces that produce strong direct reflection. These influences must be taken into account especially when scanning profiled surfaces. In principle, angular behavior of triangula- tion is also subject to the reflective properties of the target surface.

  • Page 27: Optimizing The Measurement Accuracy

    Assembly 5.1.3 Optimizing the Measurement Accuracy Colored stripes Direction of movement In case of rolled or polished metals that are moved past the sensor, the sen- sor plane must be arranged in the direction of the rolling or grinding marks. The same arrangement must be used for color stripes.

  • Page 28: Mechanical Fastening, Dimensional Drawing

    5.2.1 General The optoNCDT 1900-IE sensor is an optical system used to measure in the millimeter range. If the laser beam does not strike the object surface at a perpendicular angle, measurements might be inaccurate. Ensure careful handling of the sensor during installation and operation. Mount the sensor only to the existing through-bores on a flat surface.
  • Page 29 Assembly Mount the sensor only to the 70 (2.76) existing through-bores on a flat surface or screw it directly. Any type of clamping is not permit- ted. (.43) 2/2LL 10/10LL 25/25LL (.24) 50/50LL 6 (.24) (.24) 5 (.20) 60 (2.36) (.71) 2 (.08) (.55)

  • Page 30: Control And Indicator Elements

    Assembly Control and Indicator Elements State LED Meaning Green Measuring object within the measuring range Yellow Measuring object in the mid of the measuring range No distance value available, e.g. target outside the mea- suring range, too low reflection Yellow flashing, 1 Hz Bootloader Yellow flashing, 8 Hz Installation active...

  • Page 31: Electrical Connections

    Assembly Electrical Connections 5.4.1 RJ45, PoE Connections Source Cable/power supply Interface, terminal PC1900-IE-x/RJ45 PoE Switch PC / Ethernet Fig. 15 ILD1900-IE connection example, laser on/off via software Source Cable/power supply Interface, terminal PC1900-IE-x/OE-RJ45 PoE Switch Laser On/Off PC / Ethernet Fig.

  • Page 32: Rj45 Connection

    Assembly 5.4.2 RJ45 Connection Source Cable/power supply Interface, terminal PC1900-IE-x/OE-RJ45 Switch / Hub PS 2020 Laser On/Off PC / Ethernet Fig. 17 ILD1900-IE connection example, supply via optional power supply unit, laser on/off via hardware optoNCDT 1900 / EtherCAT Page 32...

  • Page 33: Pin Assignment

    Assembly 5.4.3 Pin Assignment Signal Wire color PC1900-IE-x/OE-RJ45 Comments Power supply 11 ... 30 VDC, typ. 24 VDC Blue Reference ground Laser on/off + Black Laser in the sensor is active if both pins are con- Switching input nected to each other. Laser on/off - Violet Fig.

  • Page 34: Supply Voltage

    Fig. Voltage supply only for measuring devices, not to be used for drives or similar sources of impulse interference at the same time. MICRO-EPSILON recommends using an optional available power supply unit PS2020 for the sensor. Only turn on the power supply after wiring has been completed.

  • Page 35: Turning On The Laser

    Assembly 5.4.5 Turning on the Laser The measuring laser on the sensor is switched on via a software command or a switching input. This allows to switch off the sensor for maintenance purposes or similar. Response time: after the laser is switched on, the sensor needs approx. 10 ms to send correct measured data.

  • Page 36: Plug-In Connection, Supply And Output Cable

    The firmly connected sensor cable is drag-chain suitable. Unused open cable ends must be insulated to protect against short circuits or sensor malfunctions. MICRO-EPSILON recommends the use of the PC1900 drag-chain compatible standard connection cables from the optional accesso- ries see Chap.

  • Page 37: Operation

    Operation Getting Ready for Operation Mount the optoNCDT 1900-IE according to the assembly instructions, see Chap. 5. Connect the sensor to the downstream display or monitoring units and to the voltage supply, if no PoE is used. The laser diode in the sensor is only activated - due to software command or - if the black and violet wires of the PC1900-IE-x/OE-RJ45 are connected, see Chap.

  • Page 38: Operation Via Web Interface, Ethernet

    Operation Operation via Web Interface, Ethernet 6.2.1 General The sensors start with the last stored operating mode. Standard is EtherCAT. Access via Ethernet is possible in the Ethernet setup mode. Alternatively, Ethernet data traffic can also be tunneled via EtherCAT (EoE). A web server is implemented in the sensor;...

  • Page 39: Access Via Web Interface

    Operation 6.2.2 Access via Web Interface Start the sensor web interface, see Chap. 6.2.1. Interactive web pages you can use to configure the sensor are now displayed in the web browser. The sensor is active and supplies measurement values. Real-time measuring is not guaranteed with the web interface. The currently running measurement can be con- trolled using the function buttons in the chart type.
  • Page 40 Operation Averaging Description The Signal quality section enables to switch between Balanced Median with 9 values + four preset basic settings (Static, Balanced, Dynamic and Moving with 64 values without averaging). The effects are immediately displayed in the chart and the system configuration. Raw signal, without averaging If the sensor is started with a user-specific measurement Static...

  • Page 41: Measurement Task Selection

    Operation 6.2.3 Measurement Task Selection Conventional measurement configurations (presets) for various target surfaces are saved in the sensor. This allows you to quickly start with your individual measurement task. Selecting a preset, which is suitable for the target surface activates a predefined configuration of settings that will produce the best results for the material selected.

  • Page 42: Display Of Measurement Values In The Web Browser

    Operation 6.2.4 Display of Measurement Values in the Web Browser Display the measurement values in the Measurement chart tab. Fig. 21 Measurement (distance measurement) web page The LED visualizes the status of the transmission of measured values: - green: transmission of measured values is running. - yellow: waiting for data in trigger mode - gray: transmission of measured values stopped Data queries are controlled by using the Play/Pause/Stop/Save buttons of the measured values that were transmitted...
  • Page 43 Operation To scale the axis in the graph for the measured values (y-axis), you can use Auto (= automatic scaling) or Manual (= manual scaling). The search function permits time-saving access to functions and parameters. The text boxes above the graphic display the current values for distance, exposure time, current measuring rate, display rate and time stamp.

  • Page 44: Video Signal Display In The Web Browser

    Operation 6.2.5 Video Signal Display in the Web Browser Display the video signal in the Video section of the Chart type selection. The graph displayed in the large chart area on the right represents the video signal and the receiving row. The video signal displayed in the chart area displays the intensity distribution of the pixels in the receiving row.
  • Page 45 Operation The LED visualizes the status of the transmission of measured values: - green: transmission of measured values is running. - yellow: waiting for data in trigger mode - gray: transmission of measured values stopped Data queries are controlled by using the buttons Play/Pause/Stop/Save the measured values that were transmitted Stop pauses the chart;...

  • Page 46: Parameter Setting Via Ethercat

    Operation Scaling the x-axis: You can zoom into the graph shown above with the two sliders on the right and left in the lower overall signal section. You can also move it to the side with the mouse in the center of the zoom window (four-sided arrow). Select a chart type: measurement values or video signal The display shows how the adjustable measurement task (target material), peak selection and possible interfering signals due to reflections or similar affect the video signal.

  • Page 47: Operation Via Membrane Key

    Operation Operation via Membrane Key The Select button - starts the factory settings or - the bootloader function. Initialization select Reset Select key is Bootloader Select key is factory settigs pressed during pressed before boot sequence power on Fig. 23 Process: calling up the factory settings or boot loader via Select button optoNCDT 1900 / EtherCAT Page 47...

  • Page 48: Setting Sensor Parameters

    EtherCAT master, values for the SDO objects can be permanently stored in the EtherCAT master and transferred to the sensor when the system is started. Parameters Overview The following parameters can be set or changed in the optoNCDT 1900-IE, see Settings tab. Inputs Laser power...

  • Page 49: Inputs

    Setting Sensor Parameters Inputs Change to the Inputs menu in the Settings tab. Laser power Full Full power for standard surfaces The laser light source is only enabled if pin 7 is connect- Medium Optimized power for strongly reflecting ed to pin 8, see Chap. 5.4.5. surfaces and small measuring ranges Reduced Min.

  • Page 50: Data Recording

    Setting Sensor Parameters Data Recording 7.4.1 Preliminary Remarks On the Settings tab, switch to the Data recording menu. According to the previous setting in the Chart type area, a graph is displayed in the right part of the display. The diagram is active and all settings become immediately visible.

  • Page 51: Roi Masking

    Setting Sensor Parameters 7.4.4 ROI Masking Masking limits the evaluating range (ROI - Region of Interest) for the distance calculation in the video signal. This function is used in order to e.g. suppress interfering reflections or ambient light. Masked area Measuring range Fig.

  • Page 52: Exposure Mode

    Setting Sensor Parameters 7.4.5 Exposure Mode Exposure Automatic mode Standard / mode Intelligent control / Background suppression 50 Range in % 100 Standard: The sensor itself determines the optimal exposure time. The sensor adjusts the signal intensity to approx. 50%. Intelligent control: This intelligent algorithm is particularly advan- tageous for measurements on moving objects or in the case of transitions between different materials.

  • Page 53: Peak Selection

    Setting Sensor Parameters 7.4.6 Peak Selection Peak selection First Peak / Defines which signal in the array close Sensor faraway Highest Peak / signal is used for the evaluation. Highest Last Peak / Widest Peak First peak: Nearest peak to sensor. Last peak Highest peak: Standard, peak with...

  • Page 54: Signal Processing

    Setting Sensor Parameters Signal Processing 7.5.1 Preliminary Remarks Change to the Signal processing menu in the Settings tab. According to the previous setting in the Chart type area, a graph is displayed in the right part of the display. The graph is active and all settings become immediately visible.

  • Page 55: Moving Average

    Output value Note: For the moving averaging in the optoNCDT 1900-IE, only powers of 2 are permitted for the averaging number N. Range of values for the averaging number N is 1 / 2 / 4 / 8 ... 4096.

  • Page 56: Recursive Average

    Setting Sensor Parameters 7.5.2.3 Recursive Average Formula: Measurement value, MV + (N-1) x (n) = rec (n-1) Averaging number, Measurement value index Mrec Averaging value or output value Method: The weighted value of each new measured value MV(n) is added to the sum of the previous average values M (n-1).

  • Page 57: Zeroing, Mastering

    Setting Sensor Parameters 7.5.3 Zeroing, Mastering Use zeroing and setting masters to define a target value within the measuring range. This shifts the output range. This feature can be useful, for example, when several sensors carry out thickness and planarity measurements when placed next to one another or when replacing a sensor.

  • Page 58: Ethercat Digital Output

    Setting Sensor Parameters EtherCAT Digital Output 7.6.1 Values, Ranges The digital measurement values are issued as unsigned digital values (raw values). 16 or 18 bits can be transferred per value. Below you will find a compilation of the output values and the conversion of the digital value. Value Length Variables Value range...
  • Page 59 Setting Sensor Parameters Timestamp 32 Bit Digital value [0; 4294967295] 1000 Time stamp in µs [0; 1h11m34.967s] Unlinearized 18 Bit Digital value [0; 262143] center of grav- US = 262143 Center of gravity in % [0; 100] Measurement 18 Bit Digital value [2500;...

  • Page 60: Behavior Of The Digital Output

    Setting Sensor Parameters 7.6.2 Behavior of the Digital Output Master values based on the zeroing or master function are coded with 18 bits. The master can assume twice the measuring range. The examples demonstrate the behavior of the digital value with an ILD1900-IE-100, measuring range 100 mm. Target with 16% of the measuring range Target with 60% of the measuring range Target with 60% of the measuring range...
  • Page 61 Setting Sensor Parameters Target with 80% of the measuring range (80 mm) Setting master value 200 mm Digital Digital 242411 163768 229304 150661 164424 163768 131000 Dig. 131000 Distance in mm 176875 98232 Distance after 98232 mastering in mm 97576 50 % 100 % Reserve measuring range...

  • Page 62: System Settings

    Setting Sensor Parameters System Settings 7.7.1 General After programming, save all settings permanently to a parameter set so that they will be available again the next time you switch on the sensor. 7.7.2 Unit, Language The web interface promotes the units millimeter (mm) and inch when displaying measuring results. You can choose German or Eng- lish in the web interface and change the language in the menu bar.

  • Page 63: Load & Save

    Setting Sensor Parameters 7.7.3 Load & Save All sensor settings can be permanently saved in user programs, so-called setups, in the sensor. Fig. 28 Managing user settings How to manage the sensor settings, options Saving the settings Activating existing setup Saving changes in active Defining setup after booting setup...
  • Page 64 Setting Sensor Parameters How to exchange setups with PC/notebook, options Saving setup on PC Loading setup from PC Load & Save menu Load & Save menu Left-click on New setup. Click on the desired setup with the left mouse button, area A. The Measurement settings dialog opens.

  • Page 65: Import, Export

    Setting Sensor Parameters 7.7.4 Import, Export A parameter set includes the current settings, setup(s) and the initial setup when booting the sensor. The Import & Export menu enables easy exchange of parameter sets with a PC/notebook. How to exchange parameter sets with PC/notebook, options Storing parameter set on PC Loading parameter set from PC Import &...

  • Page 66: Reset Sensor

    Setting Sensor Parameters 7.7.5 Reset Sensor Reset sensor Device settings Button Clears the settings for baud rate, language, unit, key lock and echo mode and loads the default parameters. Measurement setting Button Clears the settings for measuring rate, trigger, evaluation range, peak se- lection, error handling, averaging, zeroing/mastering, data reduction and setups.

  • Page 67: Ethercat

    EtherCAT EtherCAT Preliminary Remarks The sensors start with the last stored operating mode. Standard is EtherCAT. The Ethernet setup mode enables, just like EoE, easy programming of a sensor, see Chap. 6.2.2, see Chap. 7. Saving the Settings, Continuing EtherCAT Operation Go to Settings >...

  • Page 68: Cleaning

    MICRO-EPSILON or to your distributor / retailer. MICRO-EPSILON undertakes no liability whatsoever for damage, loss or costs caused by or related in any way to the product, in par- ticular consequential damage, e.g., due to...

  • Page 69: Service, Repair

    Here you can inform yourself about the respective national collection and return points. - Old devices can also be returned for disposal to MICRO-EPSILON at the address given in the imprint at https://www.micro-epsilon. de/impressum/. - We would like to point out that you are responsible for deleting the measurement-specific and personal data on the old devices to be disposed of.

  • Page 70: Appendix

    Appendix | Optional Accessories Appendix Optional Accessories PS2020 Power supply for top-hat rail installation, input 230 VAC, output 24 VDC/2.5 A PC1900-IE-x/RJ45 Interfaces and supply cable Length x = 3, 6 or 9 m 12-pin round socket and RJ45 plug for fieldbus connection PC1900-IE-x/OE-RJ45 Power and output cable,...

  • Page 71: A 2 Factory Settings

    Appendix | Factory Settings Factory Settings Measurement Measuring Median, 9 values 4 kHz averaging rate Peak selection Highest peak Language German 100 % FSO: digital 163768 Measuring range 0 % FSO: digital 98232 Supply voltage LED State normal operation flashes yellow appr. 1 Hz flashes yellow appr.

  • Page 72: A 3 Switching Between Ethercat And Ethernet Setup Mode

    Appendix | Switching between EtherCAT and Ethernet Setup Mode Switching between EtherCAT and Ethernet Setup Mode The sensors start in the last stored operating mode. Factory setting is EtherCAT. Access via Ethernet is possible in the Ethernet setup mode. Press and hold the Select button on the sensor before switching on the power supply on the sensor. Release the button again as soon as the State LED flashes yellow.

  • Page 73: A 4 Switch Between Ethernet Setup Mode And Ethercat

    Appendix | Switch between Ethernet Setup Mode and EtherCAT Switch between Ethernet Setup Mode and EtherCAT The sensors start in the last stored operating mode. With the Select button, you can set the sensor to the EtherCAT operating mode. Press and hold the Select button on the sensor before switching on the power supply on the sensor. Release the button again as soon as the State LED flashes yellow.

  • Page 74: A 5 Ethercat Documentation

    Appendix | EtherCAT Documentation EtherCAT Documentation A 5.1 General EtherCAT® is, from the Ethernet viewpoint, a single, large Ethernet station that transmits and receives Ethernet telegrams. Such an EtherCAT system consists of an EtherCAT master and up to 65535 EtherCAT slaves. Master and slaves communicate via a standard Ethernet wiring.

  • Page 75: A 5.2 Introduction

    Appendix | EtherCAT Documentation A 5.2 Introduction A 5.2.1 Structure of EtherCAT® Frames The transfer of data occurs in Ethernet frames with a special Ether type (0x88A4). Such an EtherCAT® frame consists of one or several EtherCAT® telegrams, each of which is addressed to individual slaves / storage areas. The telegrams are either transmitted directly in the data area of the Ethernet frame or in the data area of the UDP datagram.

  • Page 76: A 5.2.3 Addressing And Fmmus

    Appendix | EtherCAT Documentation - FRMW (Configured Address Read Multiple Write, reading of a physical area with fixed addressing, multiple writing) A 5.2.3 Addressing and FMMUs In order to address a slave in the EtherCAT® system, various methods from the master can be used. The sensor supports Full-Slave: - Position addressing The slave device is addressed via its physical position in the EtherCAT®...

  • Page 77: A 5.2.5 Ethercat State Machine

    Appendix | EtherCAT Documentation A 5.2.5 EtherCAT State Machine The EtherCAT® state machine is implemented in each EtherCAT®. Immediately after switching on the sensor, the state machine is in the "Initialization" state. In this state, the master has access to the DLL information register of the slave hardware. The mailbox is not yet initialized, i.e.

  • Page 78: A 5.2.7 Process Data Pdo Mapping

    Appendix | EtherCAT Documentation A 5.2.7 Process Data PDO Mapping Process Data Objects (PDOs) are used for the exchange of time-critical process data between master and slaves. Tx PDOs are used to transfer data from the slave to the master (inputs). Rx PDOs are used to transfer data from the master to the slave (outputs); this concept is not used in sensor.

  • Page 79: A 5.3 Coe - Object Directory

    Appendix | EtherCAT Documentation A 5.3 CoE – Object Directory The CoE object directory (CANopen over EtherCAT) contains all the configuration data of the sensor. The objects in CoE object direc- tory can be accessed using the SDO services. Each object is addressed using a 16-bit index. With each build, the object_documenta- tion.csv file is generated for the sensor, in which all objects are listed.

  • Page 80: A 5.3.1.2 Object 1000H: Device Type

    Appendix | EtherCAT Documentation A 5.3.1.2 Object 1000h: Device Type 1000 Device type 0x00000000 Unsigned32 Provides information about the used device profile and the device type. A 5.3.1.3 Object 1008h: Manufacturer Device Name 1008 Device name ILD1900 Visible String A 5.3.1.4 Object 1009h: Hardware Version 1009 Hardware version...

  • Page 81: Txpdo Mapping

    Appendix | EtherCAT Documentation A 5.3.1.7 TxPDO Mapping 0x1A00 Frequency + exposure time TxPDOMap OV1 0x6000:001 out_shutter + 0x6001:001 out_frequency 0x1A01 Frequency + exposure time TxPDOMap OV2 0x6000:001 out_shutter + 0x6000:002 out_shutter + 0x6001:001 out_frequency 0x6001:002 out_frequency 0x1A02 Frequency + exposure time TxPDOMap OV4 0x6000:001 out_shutter + 0x6000:002 out_shutter + 0x6000:003 out_shutter +...
  • Page 82 Appendix | EtherCAT Documentation Only PDO mappings that have the same oversampling may be selected. If the sensor was integrated via an ESI file, PDO mappings are already mutually exclusive when being selected, depending on the PLC software. If this is not the case because the PLC develop- ment software does not support this feature or the sensor has been integrated online without an ESI file, an invalid combination of PDO mappings will result in an error message and the process data will not be transferred to the EtherCAT master.
  • Page 83 Appendix | EtherCAT Documentation Example 2: Startup procedure to output distance 1, intensity and the timestamp. 0x1A04 and 0x1A10 are now mapped, the following PDOs will be transmitted: As PDOs are grouped, 0x6002:01 contains the timestamp; 0x6006:01 contains the intensity and 0x6007:01 contains the distance value.

  • Page 84: A 5.3.1.8 Object 1C00H: Synchronous Manager Type

    Appendix | EtherCAT Documentation A 5.3.1.8 Object 1C00h: Synchronous Manager Type 1C00 RECORD Sync manager type Subindices Number of entries Unsigned8 Sync manager 1 0x01 Unsigned8 Sync manager 2 0x02 Unsigned8 Sync manager 3 0x03 Unsigned8 Sync manager 4 0x04 Unsigned8 For more details, please refer to the section Data Exchange between EtherCAT®...

  • Page 85: A 5.3.1.11 Object 1C32H: Synchronization Manager Input Parameters

    Appendix | EtherCAT Documentation A 5.3.1.11 Object 1C32h: Synchronization Manager Input Parameters see description of input parameters, see Chap. 5.3.1.12. A 5.3.1.12 Object 1C33h: Synchronization Manager Input Parameters 1C33 RECORD SM input parameter Subindices Number of entries Unsigned8 Synchronization type Unsigned16 Cycle time Unsigned32...
  • Page 86 Appendix | EtherCAT Documentation - Delay time: The delay time is the hardware-related delay until the input latch is reached. - The delay time from 0x1C33 is only calculated if the Distributed Clocks are activated. The value is recalculated each time it is read. Since the sensor does not have output data, the Delay time from 0x1C32 always returns 0.

  • Page 87: A 5.3.2 Manufacturer Specific Objects

    Appendix | EtherCAT Documentation A 5.3.2 Manufacturer Specific Objects Overview Index (h) Name Description 3000 Laser power Laser light source 3200 Data recording Measuring program such as measuring rate and peak selection 3400 Signal processing peak 1 Measurement averaging 3450 Mastering Zeroing and Mastering 3800...

  • Page 88: A 5.3.2.1 Object 3000H: Light Source

    Appendix | EtherCAT Documentation A 5.3.2.1 Object 3000h: Light Source 3000 RECORD Laser power Subindices Number of entries UINT8 Laser power UINT8 For more information, please refer to the Inputs section, see Chap. 7.3. Laser power: 0 - Off, 1 - Full, 2 - Reduced optoNCDT 1900 / EtherCAT Page 88...

  • Page 89: A 5.3.2.2 Object 3200: Measurement Configuration, Measuring Rate, Evaluation Range, Exposure, Peak Selection, Error Handling

    Appendix | EtherCAT Documentation A 5.3.2.2 Object 3200: Measurement Configuration, Measuring Rate, Evaluation Range, Exposure, Peak Selection, Error Handling 3200 RECORD Data recording Subindices Number of entries UINT8 Measurement task UINT8 Measuring rate FLOAT Start of range UINT16 End of range UINT16 Shutter mode UINT8...

  • Page 90: A 5.3.2.3 Object 3400: Averaging

    Appendix | EtherCAT Documentation A 5.3.2.3 Object 3400: Averaging 3400 RECORD Signal processing peak 1 Subindices Number of entries UINT8 Average 1 type UINT8 Average 1 number of values for moving average x UINT32 Average 1 number of values for median UINT32 Average 1 number of values for recursive UINT32...

  • Page 91: A 5.3.2.4 Object 3450: Zeroing, Mastering

    Appendix | EtherCAT Documentation A 5.3.2.4 Object 3450: Zeroing, Mastering 3450 RECORD Mastering Subindices Number of entries UINT8 Set/Reset Value FLOAT Set/Reset 0 - Reset 1 - Set optoNCDT 1900 / EtherCAT Page 91...

  • Page 92: A 5.3.2.5 Object 3800: System Settings, Key Lock, Login, Password, Factory Settings

    Appendix | EtherCAT Documentation A 5.3.2.5 Object 3800: System Settings, Key Lock, Login, Password, Factory Settings 3800 RECORD System settings Subindices Number of entries UINT8 Key lock UINT8 Key lock countdown [min] UINT8 Current access authorization UINT8 Login STRING(32) Logout User level when restarting UINT8 Change password old...

  • Page 93: A 5.3.2.6 Object 3850: Measurement Task

    Appendix | EtherCAT Documentation A 5.3.2.6 Object 3850: Measurement Task 3850 RECORD Device settings Subindices Number of entries UINT8 Load Save Load Save 0 - False 0 - False 1 - True 1 - True A 5.3.2.7 Object 3851: Signal Quality 3851 RECORD Presets Subindices...

  • Page 94: A 5.3.2.8 Object 3852: Load, Save

    Appendix | EtherCAT Documentation A 5.3.2.8 Object 3852: Load, Save 3852 RECORD Measurement settings Subindices Number of entries UINT8 Current STRING(32) Read STRING(32) Store STRING(32) Delete STRING(32) Initial STRING(32) List STRING(230) - Current: Contains the currently used user program (setup) in the String field. - Read: Read loads a measuring program and activates it, enter the setup name in the String field and confirm with OK.

  • Page 95: A 5.4 Mappable Objects - Process Data

    Appendix | EtherCAT Documentation A 5.4 Mappable Objects - Process Data A 5.4.1 General Displays all individually available process data. The objects 0x600x up to 0x6008 are structured as follows: [INDEX] [NAME] Subindex 0 Uint8 Subindex 1 [DATA TYPE] ro A process data object is an array whose length corresponds to the maximum oversampling.

  • Page 96: Object 6001: Measurement Frequency

    Appendix | EtherCAT Documentation A 5.4.3 Object 6001: Measurement Frequency Index Name Data type Access 0x6001 out_shutter ARRAY Subindices Number of entries Unsigned8 out_frequency__OV00 Unsigned32 out_frequency__OV01 Unsigned32 out_frequency__OV02 Unsigned32 out_frequency__OV03 Unsigned32 A 5.4.4 Object 6002: Timestamp Index Name Data type Access 0x6002 out_frametimestamp...

  • Page 97: Object 6004: Frame Status

    Appendix | EtherCAT Documentation A 5.4.6 Object 6004: Frame status Index Name Data type Access 0x6004 out_framestatus ARRAY Subindices Number of entries Unsigned8 out_framestatus__OV00 Unsigned32 out_framestatus__OV03 Unsigned32 A 5.4.7 Object 6005: Distance value, not linearized Index Name Data type Access 0x6005 out_01_md_unlin ARRAY...

  • Page 98: Object 6007: Distance Value, Linearized

    Appendix | EtherCAT Documentation A 5.4.9 Object 6007: Distance value, linearized Index Name Data type Access 0x6007 out_01_md_lin ARRAY Subindices Number of entries Unsigned8 out_01_md_lin__OV00 Unsigned32 out_01_md_lin__OV03 Unsigned32 A 5.4.10 Object 6008: Peak distance Index Name Data type Access 0x6008 out_01_peak1_distance ARRAY Subindices...

  • Page 99: Error Codes For Sdo Services

    Appendix | EtherCAT Documentation A 5.5 Error Codes for SDO Services In case of a negative evaluation of an SDO requirement, a corresponding error code is output in “Abort SDO Transfer Protocol“. Error code hex Meaning 0503 0000 Toggle-Bit has not changed 0504 0000 SDO protocol timeout expired 0504 0001...
  • Page 100 Appendix | EtherCAT Documentation 0800 0021 Data can not be transmitted or saved in application due to local control unit 0800 0022 Data can not be transmitted or saved in application due to device status 0800 0023 Dynamic generation of object directory failed or no object directory is available optoNCDT 1900 / EtherCAT Page 100...

  • Page 101: A 5.6 Oversampling

    Appendix | EtherCAT Documentation A 5.6 Oversampling In operation without oversampling, the last accumulated measured value data set is transferred to the EtherCAT master with each fieldbus cycle Therefore, for long fieldbus cycle periods data records with measured values are possibly not available. Configurable oversampling ensures that all (or selected) measured value data records are gathered and transmitted together to the master during the next fieldbus cycle.
  • Page 102 Appendix | EtherCAT Documentation should always be less than the time for building a block from n samples. An entire block with the specified samples is only made available to the EtherCAT side after all specified samples have been written to the block.

  • Page 103: A 5.7 Update

    An update is performed via a *.meu file. The firmware update tool Update_Sensor.exe is required for this. The current firmware is available at www.micro-epsilon.de/service/download/software. To execute an update, you have to check Ethernet in the firmware update tool and enter the IP address, which you have configured via the EtherCAT master.

  • Page 104: A 5.8 Operational Modes

    Appendix | EtherCAT Documentation A 5.8 Operational Modes A 5.8.1 Free Run There is no synchronization between sensor and EtherCAT master. The PDOs are updated based on the internal measuring rate. The measuring rate is set using object 0x3200:003. PDO frames may be lost or duplicated. A gapless transmission of the PDO frames to the EtherCAT master is only given if oversampling and measuring rate are in the right relation to the bus cycle, see Chap.

  • Page 105: A 5.9 Meaning Of Run And Err Leds In Ethercat Operation

    Appendix | EtherCAT Documentation A 5.9 Meaning of RUN and ERR LEDs in EtherCAT Operation Meaning Green off INIT state Green flashing 2.5 Hz PRE-OP status RUN LED SAFE-OP status Green single flash, 200 ms ON / 1000 ms OFF Green on OP status Meaning...

  • Page 106: A 5.10 Ethercat Configuration With The Beckhoff Twincat© Manager

    - no TwinCAT project has been created. The device description file (EtherCAT®-Slave Information) Micro-Epsilon_optoNCDT_19xx.xml can be found online at www. micro-epsilon.com/service/download/software/. Copy the device description file to the directory C:\TwinCAT\3.1\Config\Io\EtherCAT before the measuring device can be configured via EtherCAT®. Delete any existing older files.
  • Page 107 Appendix | EtherCAT Documentation Assign a name for the project and choose a suitable loca- tion. Confirm with OK. Searching for a device: Switch to the Solution Explorer window. In the I/O tab, right-click on the Devices entry, and then Scan. Confirm with OK.
  • Page 108 Appendix | EtherCAT Documentation The sensor is now listed in the device list, see Solution Ex- plorer window. Now confirm the Activate Free Run window with Yes. The current status should be at least PREOP, SAFEOP or OP on the Online page. In the event that ERR PREOP appears in Current Status, the cause is reported in the message window.
  • Page 109 Appendix | EtherCAT Documentation The scope of the provided process data and the assignment of the SyncManager may be viewed now. Go to the TwinCAT menu and select the Restart TwinCAT (Config Mode) entry. The configuration is now complete. In SAFEOP and OP status, the selected measurement values are transferred as process data. optoNCDT 1900 / EtherCAT Page 109...
  • Page 110 Appendix | EtherCAT Documentation optoNCDT 1900 / EtherCAT Page 110...
  • Page 112 MICRO-EPSILON MESSTECHNIK GmbH & Co. KG Königbacher Str. 15 · 94496 Ortenburg/Germany Phone +49 8542 / 168 0 · Fax +49 8542 / 168 90 X9751444-A012062MSC info@micro-epsilon.com · www.micro-epsilon.com Your local contact: www.micro-epsilon.com/contact/worldwide/ MICRO-EPSILON MESSTECHNIK...

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