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Related Manuals for Datalogic AMT58 16x14 PB Series
Summary of Contents for Datalogic AMT58 16x14 PB Series
- Page 2 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.
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Page 3: Table Of Contents
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 4 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 5 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 6 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.
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Page 7: Safety Summary
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 8 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; ...
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Page 9: Identification
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 10: Mounting Instructions
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 11 AMT58x-PB Profibus® 3.1.3 Installation using a flange (code ST-58-FLNG)
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Page 12: Hollow Shaft Encoders
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 13: Electrical Connections
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 14: Ground Connection
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 15: Connection Cap With M12 Connectors
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 16: Connection Of The Shield
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 17: Node Number: Dip A
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 18: Diagnostic Leds
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 19: Quick Reference
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 20: Adding A Node To The Project
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 21 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 –...
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Page 22: Reading Diagnostic Information
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 23 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).
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Page 24: Setting The Preset Value
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 25: Set Node Number Via Bus
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 26: Profibus® Interface
(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 27: Modes Of Operation
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 28: Ddlm_Set_Prm
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 29: Byte 10 - Operating Parameters
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 30: Class 2 Functionality
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 31: Bytes 11
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 32: Bytes 15
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 33 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...
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Page 34: Velocity Measure Unit
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 35: Position And Velocity Values
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 36 AMT58x-PB Profibus® Example Preset value to be set = 0000 1000hex Current Position value = 0005 5000hex Byte Cycle 31-24 23-16 15-8 MS 1° SM MS 2° SM MS 3° SM NOTE We suggest setting the Preset value when the shaft is in stop. The new Preset value is saved immediately after receipt.
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Page 37: Ddlm_Slave_Diag
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 38 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...
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Page 39: Set_Slave_Address (Service Sap55)
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 40: Red Zone
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 41 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 42 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...