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BST ekr 500 digital Unit Touch Translation Of The Original Manual

Canopen user gateway
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Web Guiding System
Interface Description
ekr 500 digital Unit Touch
CANopen User Gateway
MD.520.EN.03
Translation of the Original Manual

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Summary of Contents for BST ekr 500 digital Unit Touch

  • Page 1 Web Guiding System Interface Description ekr 500 digital Unit Touch CANopen User Gateway MD.520.EN.03 Translation of the Original Manual...
  • Page 2 BST GmbH Remusweg 1 D-33729 Bielefeld Tel.: +49 (0) 521 400 70 0 Fax: +49 (0) 5206 999 999 E-Mail: info@bst.group Internet: www.bst.group This documentation is protected by copyright. The translation as well as reproduction and distribution in any form is forbidden without the approval...

  • Page 3: Table Of Contents

    Object Descriptions.....................  24 Service Data Objects .................... 25 4.2.1 Service Data Objects Overview ...................  25 4.2.2 Object Descriptions.....................  29 4.2.3 Examples for the Application of the Service Data Objects..........  63 Index........................ 66 ekr 500 digital Unit Touch – CANopen User Gateway...

  • Page 4: About This Document

    About This Document About This Document What You Need to Know The BST ekr 500 digital Unit Touch web guiding controller has an integrated CANopen user gateway enabling data exchange with a customer control system. These instructions describe the commissioning of the user gateway and provide you with detailed specifications of the communication protocols used.

  • Page 5: Meanings Of The Safety Instructions And Symbols

    Operations using the keys are indicated by the following symbols: Press key ①. ► Press key ① or key ②. ► Press key ① and key ② at the same time. ► ekr 500 digital Unit Touch – CANopen User Gateway 5/67...

  • Page 6: More Detailed Information

    500 digital Unit Touch Installation and commissioning manual MD.497 ekr 500 digital Unit Touch The latest version of these instructions can be obtained in all available languages at: www.bst.help 6/67 ekr 500 digital Unit Touch – CANopen User Gateway...

  • Page 7: Functional Description

    Functional Description Functional Description Utilisation The CANopen user gateway of the ekr 500 digital Unit Touch web guiding controller enables the networking of the unit with a cus- tomer control system (e.g. PLC, machine control system, etc.). Data exchange between the controller and the customer control system takes place via the integrated CAN bus interface of the controller (connector socket X101).

  • Page 8: Canopen Communication Profile

    During commissioning, only the following procedures must be carried out: Configuration of the integrated CAN bus interface (connector ■ socket X101) of the ekr 500 digital Unit Touch web guiding controller as external CAN bus Setting of the baud rate (default setting = 500 kBit) ■...

  • Page 9: Object Dictionary

    (manu- facturer specific profile). All objects available for the parameteriz- ation of the BST web guiding system are stored in this part of the object dictionary. The following table shows the structure of the CANopen object...

  • Page 10: Communication Objects

    Functional Description Communication Objects The following communication objects are used for the communic- ation of the ekr 500 digital Unit Touch web guiding controller with the customer control system: Communication Object Utilisation Parameterization of the controller, status requests Service Data Object The Service Data Objects are used for the parameterization and control of the web guiding controller and for status requests.

  • Page 11: Service Data Objects

    The structure of the commands and answers depends on the data type of the object to be read or written, because 1, 2 or 4 data bytes have to be sent or received. ekr 500 digital Unit Touch – CANopen User Gateway 11/67...
  • Page 12 S1 on the processor board of the controller. the controller The procedure is described in the installation and commissioning manual of the ekr 500 digital Unit Touch controller (document number MD.497). The control byte determines whether the Service Data Object has Byte 1...

  • Page 13: Process Data Objects

    Transmit PDOs (Tx PDOs). The Process Data Objects are preconfigured for standard applications and cannot be changed. The preconfigured Process Data Objects are described in chapter Process Data Objects, page 24 ekr 500 digital Unit Touch – CANopen User Gateway 13/67...

  • Page 14: Communication Protocol

    The manufacturer specific Process Data Objects (PDOs) and Service Data Objects (SDOs) used for the data exchange between the ekr 500 digital Unit Touch web guiding controller and the customer control system (e.g. PLC, machine control system) are determined in the communication protocol.

  • Page 15: Commissioning

    Commissioning Safety Instructions WARNING Danger of death and material damage caused by incorrect com- missioning! Have the commissioning carried out by BST service personnel or ► authorized personnel only. DANGER Danger of death caused by the machine starting up! Parts of your body could be crushed, cut, drawn in or hit.

  • Page 16: Connecting The Controller To The External Can Bus

    Commissioning Connecting the Controller to the External CAN Bus Data exchange between the ekr 500 digital Unit Touch controller and the customer control system takes place via the integrated CAN bus interface of the controller (connector socket X101). Fig. 4: Connector socket X101 The controller is connected to the CAN bus using a 4-pin micro- style plug M8.

  • Page 17: Setting The Terminating Resistor Of The Controller

    Commissioning Setting the Terminating Resistor of the Controller If you are using the ekr 500 digital Unit Touch controller as the last physical participant on the external CAN bus, you must switch on the internal terminating resistor of the device.

  • Page 18: Configuring The Can Bus Interface

    The connector socket X101 must be configured as external CAN bus for networking in order to enable data exchange via the CAN bus interface of the ekr 500 digital Unit Touch controller. Config- uration is made using DIL switch S5 on the processor board of the controller.

  • Page 19: Activating The Galvanic Separation

    2. Open the controller’s housing cover. 3. Plug in the jumper JX1 as shown in the adjacent drawing. 4. Close the controller’s housing cover. 5. Switch on the power supply of the controller again. ekr 500 digital Unit Touch – CANopen User Gateway 19/67...

  • Page 20: Setting The Baud Rate

    Setting the Baud Rate The baud rate determines the transmission speed for the CAN bus communication between the ekr 500 digital Unit Touch web guid- ing controller and the customer control system. The default baud rate setting for the controller is 500 kBit. When needed, the baud rate can be adapted to the baud rate used by customer control system with the DIL switches S5.7 and S5.8 on the processor...

  • Page 21: Selecting The Communication Protocol

    During commissioning of the CANopen user gateway, you have to select the communication protocol that is to be used to exchange data with the ekr 500 digital Unit Touch web guiding controller. The protocol is selected at the controller using the userprotocol xxxx parameter of the public parameter list 0.
  • Page 22 12. The display changes back to the System components service display. 13. Press the SETUP key. The operation display appears. ð The selection of the protocol is complete. 22/67 ekr 500 digital Unit Touch – CANopen User Gateway...

  • Page 23: Loading The Eds File

    Fig. 11: EDS file name You will find the EDS file required for using the CANopen user gate- way on the documentation CD of the ekr 500 digital Unit Touch web guiding controller. The procedure for loading the EDS file depends on the customer control system.

  • Page 24: Protocol 3100

    In this chapter, you will find a description of the Process Data Objects that are cyclically sent from the ekr 500 digital Unit Touch web guiding controller to the customer control system. For the exchange of process data, the protocol 3100 supports three Transmit PDOs (Tx PDOs).

  • Page 25: Service Data Objects

    03h Amplitude value at the moment X Float Oscillation frequency for operating 3107h Basic oscillation settings Unsigned16 mode Center Positioning Oscillation amplitude for operating Unsigned32 mode Center Positioning 06h Oscillation factor Unsigned32 07h Oscillation form Unsigned8 ekr 500 digital Unit Touch – CANopen User Gateway 25/67...
  • Page 26 Unsigned8 01h Current web width Signed32 02h Web width offset Signed32 Basic web width measurement 3150h settings 03h Target width Signed32 04h Setpoint transfer Unsigned8 05h Web width validation Unsigned8 26/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 27 Norming mode sensor norming Sensor positioner – Sensor positioner – Setting the positioning speed of 4aa1h Positioning speed during sensor Unsigned32 the sensor slides during auto- norming matic edge sensor norming ekr 500 digital Unit Touch – CANopen User Gateway 27/67...
  • Page 28 00h Number of sub-indexes Unsigned8 01h Reserved — — Reading the standardized Input value of the servo center Signed16 6401h values of the analogue transducer (SC) controller inputs … Reserved — — 28/67 ekr 500 digital Unit Touch – CANopen User Gateway...

  • Page 29: Object Descriptions

    0, 1 (bit-oriented, see data description) Data Description Bit Number Meaning General error Motor overcurrent Voltage error Temperature error Communication error Device profile specific error Reserved (always 0) Manufacturer specific error ekr 500 digital Unit Touch – CANopen User Gateway 29/67...
  • Page 30 — Value Range 0, 1 (bit-oriented, see data description) Sub-Index Description Status digital sensor 2 Object Class Mandatory Access PDO Mapping Unit — Value Range 0, 1 (bit-oriented, see data description 30/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 31 Bit = 1: Edge 2 not blocked Validation edge 1 Bit = 0: Edge 1 valid Bit = 1: Edge 1 invalid Validation edge 2 Bit = 0: Edge 2 valid Bit = 1: Edge 2 invalid 8 … 15 Reserved ekr 500 digital Unit Touch – CANopen User Gateway 31/67...
  • Page 32 Motor overcurrent (rotating direction right) Limit switch left side active Limit switch right side active Motor control timeout 5 … 9 Reserved 10 … 11 Internal Voltage error 13 … 31 Reserved 32/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 33 - Web edge guiding – Edge 2 8 … 11 - Line/contrast guiding 4h: Reserved - Web center-line guiding - Center 1&2 - Watchdog edge 1 - Watchdog edge 2 12 … 15 Reserved (always 0) ekr 500 digital Unit Touch – CANopen User Gateway 33/67...
  • Page 34 Object Class Mandatory Access PDO Mapping Possible Unit — Value Range 0, 1 (bit-oriented, see data description) Data Description Bit Number Meaning Switching the oscillation on Switching the oscillation off 34/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 35 Oscillation switched on 9 … 15 Reserved 3h: Material setup 16 … 19 Ah: Center position setup - Manual mode - Automatic mode 20 … 23 - Center positioning 6h: External ekr 500 digital Unit Touch – CANopen User Gateway 35/67...
  • Page 36 - Line/contrast guiding 24 … 27 - Web center-line guiding - Center 1&2 - Watchdog edge 1 - Watchdog edge 2 Watchdog cannot be switched on Reserved Web position corrected Reserved 36/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 37 Amplitude value at the moment X Object Class Mandatory Access Data Type Float PDO Mapping Unit µm Value Range Depending on the selected guiding mode and the used sensor type ekr 500 digital Unit Touch – CANopen User Gateway 37/67...
  • Page 38 Value Range 0: Normal 1: Ten times slower Sub-Index Description Oscillation form Object Class Mandatory Access Data Type Unsigned8 PDO Mapping Unit — Value Range 0: Triangular curve 1: Sinus curve 38/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 39 Depending on the used sensor type Sub-Index Description – Web center-line guiding – Setpoint Center 1&2 Object Class Mandatory Access PDO Mapping Unit µm Value Range Depending on the used sensor type ekr 500 digital Unit Touch – CANopen User Gateway 39/67...
  • Page 40 Protocol 3100 Sub-Index Description – Line/contrast guiding – Setpoint edge 3 Object Class Mandatory Access PDO Mapping Unit Pixels Value Range Depending on the used sensor type 40/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 41 Depending on the used sensor type Sub-Index Description – Web center-line guiding – Setpoint Center 1&2 Object Class Mandatory Access PDO Mapping Unit µm Value Range Depending on the used sensor type ekr 500 digital Unit Touch – CANopen User Gateway 41/67...
  • Page 42 Depending on the used sensor type Sub-Index Description – Center Positioning operating mode – Setpoint center position Object Class Mandatory Access PDO Mapping Unit Digits Value Range Depending on the used servo center transducer 42/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 43 µm Value Range Depending on the used sensor type Sub-Index Description – Position edge 3 Object Class Mandatory Access PDO Mapping Unit Pixels Value Range Depending on the used sensor type ekr 500 digital Unit Touch – CANopen User Gateway 43/67...
  • Page 44 µm Value Range Depending on the used sensor type Sub-Index Description – Position edge 3 Object Class Mandatory Access PDO Mapping Unit Pixels Value Range Depending on the used sensor type 44/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 45 04h: Guiding with analogue sensor 0 … 7 (type RS …) 05h: Guiding with line/contrast sensor (type CLS Pro 600) 06h: Guiding with sensor positioner (type FVG POS 100) 07h: Guiding with digital CCD camera (type CCD CAM 100) ekr 500 digital Unit Touch – CANopen User Gateway 45/67...
  • Page 46 PDO Mapping Unit µm Value Range Depending on the application Sub-Index Description Target width Object Class Mandatory Access Data Type Signed32 PDO Mapping Unit µm Value Range Depending on the application 46/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 47 1: Setpoint transfer enabled Sub-Index Description Web width validation Object Class Mandatory Access Data Type Unsigned8 PDO Mapping Unit — Value Range 0: Web width invalid 1: Web width valid ekr 500 digital Unit Touch – CANopen User Gateway 47/67...
  • Page 48 Object Class Mandatory Access PDO Mapping Unit — Value Range 0.5 … 200 Sub-Index Description – Controller gain line/contrast guiding – Edge 3 Object Class Mandatory Access PDO Mapping Unit — Value Range 0.5 … 200 48/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 49 PDO Mapping Unit — Value Range 0.5 … 200 Sub-Index Description Reserved Sub-Index Description – Controller gain web center-line guiding – Center 1&2 Object Class Mandatory Access PDO Mapping Unit — Value Range 0.5 … 200 ekr 500 digital Unit Touch – CANopen User Gateway 49/67...
  • Page 50 Mandatory Access PDO Mapping Unit — Value Range 50 … 20,000 Sub-Index Description – Controller gain web edge guiding – Edge 2 Object Class Mandatory Access PDO Mapping Unit — Value Range 50 … 20,000 50/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 51 PDO Mapping Unit — Value Range 50 … 20,000 Sub-Index Description Reserved Sub-Index Description – Controller gain web center-line guiding – Center 1&2 Object Class Mandatory Access PDO Mapping Unit — Value Range 50 … 20,000 ekr 500 digital Unit Touch – CANopen User Gateway 51/67...
  • Page 52 Error Voltage enabled Quick stop Switch-on inhibit Warning Manufacturer specific Remote control Target position reached Internal limit switch active 12 … 13 Operating mode specific 14 … 15 Manufacturer specific 52/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 53 Value Description Sub-Index Description Number of sub-indexes Object Class Mandatory Access Value Sub-Index Description Pre-positioning target position Object Class Mandatory Access PDO Mapping Unit µm Value Range Depending on the application ekr 500 digital Unit Touch – CANopen User Gateway 53/67...
  • Page 54 Signed32 Value Description Sub-Index Description Number of sub-indexes Object Class Mandatory Access Value Sub-Index Description Sensor slide positioning speed Object Class Mandatory Access PDO Mapping Unit mm/s Value Range 1 … 120 54/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 55 Object Code Data Type Unsigned32 Value Description Sub-Index Description Sensor slide positioning speed Object Class Mandatory Access PDO Mapping Unit mm/s Value Range 1 … 120 ekr 500 digital Unit Touch – CANopen User Gateway 55/67...
  • Page 56 Object Code Data Type Unsigned32 Value Description Sub-Index Description Sensor slide positioning speed Object Class Mandatory Access PDO Mapping Unit mm/s Value Range 1 … 120 56/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 57 (moving to the park position) Object Code Data Type Unsigned32 Value Description Sub-Index Description Sensor slide positioning speed Object Class Mandatory Access PDO Mapping Unit mm/s Value Range 1 … 120 ekr 500 digital Unit Touch – CANopen User Gateway 57/67...
  • Page 58 Value Description Sub-Index Description - Activation of the setpoint transfer for edge 1 Object Class Mandatory Access PDO Mapping Unit — Value Range 0: Setpoint transfer disabled 1: Setpoint transfer enabled 58/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 59 Value Description Sub-Index Description - Activation of the setpoint transfer for edge 2 Object Class Mandatory Access PDO Mapping Unit — Value Range 0: Setpoint transfer disabled 1: Setpoint transfer enabled ekr 500 digital Unit Touch – CANopen User Gateway 59/67...
  • Page 60 Value Description Sub-Index Description - Activation of the setpoint transfer for center 1&2 Object Class Mandatory Access PDO Mapping Unit — Value Range 0: Setpoint transfer disabled 1: Setpoint transfer enabled 60/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 61 PDO Mapping Unit µm Value Range Depending on the application Sub-Index Description Position offset sensor slide 2 Object Class Mandatory Access PDO Mapping Unit µm Value Range Depending on the application ekr 500 digital Unit Touch – CANopen User Gateway 61/67...
  • Page 62 Access Value Sub-Index Description Reserved Sub-Index Description Input value of the servo center transducer (SC) Object Class Mandatory Access PDO Mapping Unit Digits Value Range ±2,047 Sub-Index 03h … 23h Description Reserved 62/67 ekr 500 digital Unit Touch – CANopen User Gateway...

  • Page 63: Examples For The Application Of The Service Data Objects

    The value 0140h must be written to object 3101h. The operating mode and guiding mode setting can be checked in the status word (object 3103h, see Object 3103h: Controller Operating Status, page 35) or directly on the controller. ekr 500 digital Unit Touch – CANopen User Gateway 63/67...
  • Page 64 The value 0030h must be written to object 3101h. The operating mode and guiding mode setting can be checked in the status word (object 3103h, see Object 3103h: Controller Operating Status, page 35) or directly on the controller. 64/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 65 (Integer*100) Controller gain for line/contrast guiding Servo center transducer gain Reserved Controller gain for web center-line guiding The value 400 (190h) must be written to object 3460h, Sub-Index 01h. ekr 500 digital Unit Touch – CANopen User Gateway 65/67...

  • Page 66: Index

    Object 6401h: Analogue Input Values ...  62 TxPDO1 ............  24 Objekt4301h: Sensor Positioner – Operating TxPDO2 ............  24 Status............  52 TxPDO3 ............  24 Overview............  25 Protocol 3100 .......... 24 Structure ............  12 66/67 ekr 500 digital Unit Touch – CANopen User Gateway...
  • Page 67 Index Target group ............. 4 TxPDO1 ............ 24 TxPDO2 ............ 24 TxPDO3 ............ 24 ekr 500 digital Unit Touch – CANopen User Gateway 67/67...

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