Lika EXM58 EC User Manual
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Lika EXM58 EC User Manual

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Smart encoders & actuators
EXM58 EC
EXO58 EC
• EXM58 up to 30-bit multiturn encoder for standard purposes
• EXO58 up to 30-bit multiturn encoder for high end applications
• Complies with ETG.1000 specifications
• Implements CoE, FoE, & EoE protocols and the EtherCAT State Machine
• With Energy Harvesting Technology
• Multiple mechanical and electrical options
Suitable for the following models:
EXM58, EXM58S EC
•
EXM58C, EXM59C EC
•
EXO58, EXO58S EC
•
EXO58C, EXO59C EC
•
Lika Electronic

User's guide

•
Tel. +39 0445 806600
in compliance with ETG.1000
General Contents
Preliminary information
1 - Safety summary
2 - Identification
3 - Mechanical installation
4 - Electrical connections
5 - Getting started
6 - Quick reference with TwinCAT
7 - EtherCAT® interface
8 – Integrated Web Server
9 – Default parameters list
•
info@lika.biz
20
22
23
27
34
37
63
107
121
•
www.lika.biz
9

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Summary of Contents for Lika EXM58 EC

  • Page 1: User's Guide

    User's guide Smart encoders & actuators EXM58 EC EXO58 EC in compliance with ETG.1000 • EXM58 up to 30-bit multiturn encoder for standard purposes • EXO58 up to 30-bit multiturn encoder for high end applications • Complies with ETG.1000 specifications •...
  • Page 2 Tous droits réservés. This document and information contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial modification (photostat copies, film and microfilm included and any other means) are forbidden without written authorisation of Lika Electronic s.r.l.

  • Page 3: Table Of Contents

    General contents User's guide......................................1 General contents.....................................3 Subject Index.....................................7 Typographic and iconographic conventions........................8 Preliminary information................................9 Glossary of EtherCAT terms..............................10 List of abbreviations...................................17 References......................................19 1 - Safety summary..................................20 1.1 Safety......................................20 1.2 Electrical safety..................................20 1.3 Mechanical safety................................21 2 - Identification..................................22 3 - Mechanical installation..............................23 3.1 Solid shaft encoders................................23 3.1.1 Customary installation............................23 3.1.2 Installation using fixing clamps (code LKM386)..................24...
  • Page 4 6.4.3 Adding an I/O module (Box)..........................45 6.4.4 Tabbed pages................................48 6.5 Setting the communication mode..........................52 6.5.1 Synchronous with SM3............................52 6.5.2 Synchronous with DC (SYNC0)...........................53 6.6 Process Data Objects................................54 6.7 CoE Object Dictionary................................56 6.8 Online Data....................................57 6.9 Firmware update..................................58 7 - EtherCAT® interface................................63 7.1 Basic Information on EtherCAT®...
  • Page 5 03 SM PDO output (SM2)..............................82 04 SM PDO input (SM3)..............................82 1C12-00 Sync Manager 1 RxPDO Assignment....................82 01 Subindex 001..................................82 1C13-00 Sync Manager 1 TxPDO Assignment....................82 01 Subindex 001..................................82 1C33-00 SM Sync Manager input parameter....................83 01 Sync mode..................................83 02 Cycle time..................................83 03 Shift Time..................................83 04 Sync modes supported...............................83 05 Minimum cycle time..............................84...
  • Page 6 7.2.8 AL Status Error Codes............................100 7.3 File Over EtherCAT (FoE)..............................101 7.3.1 Downloading files..............................101 7.3.2 Improvements for better FoE performance....................106 8 – Integrated Web Server..............................107 8.1 Integrated web server – Preliminary information....................107 8.2 Web server Home page..............................108 8.3 Encoder position and speed............................111 8.3.1 Specific notes on using Internet Explorer....................112 8.4 Setting the objects................................113 8.5 Encoder information (EtherCAT objects)........................115...

  • Page 7: Subject Index

    Subject Index 1000-00 Device Type............78 Hardware error...............100 1008-00 Manufacturer Device Name.....78 1009-00 Manufacturer Hardware Version...78 INIT..................33, 71 100A-00 Manufacturer Software Version....78 1010-01 Store parameters..........79 Machine data not valid..........98 1011-01 Restore default parameters......79 Mapped Object 001............81 1018 Identity Object............80 Mapped Object 002............81 10F8-00 Timestamp Object..........81 Mask Upgrade Firmware..........89 1A00-00 TxPDO mapping parameter......81...

  • Page 8: Typographic And Iconographic Conventions

    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 GREEN; • alarms are coloured in RED;...

  • Page 9: Preliminary Information

    Preliminary information This guide is designed to provide the most complete information the operator needs to correctly and safely install and operate the following encoders equipped with EtherCAT interface: EXMxxx-13-14-EC4-... (multiturn encoder 13 + 14 bits) EXMxxx-18-12-EC4-... (multiturn encoder 18 + 12 bits) EXOxxx-18-00-EC4-...

  • Page 10: Glossary Of Ethercat Terms

    Glossary of EtherCAT terms EtherCAT, like many other networking systems, has a set of unique terminology. Table below contains a few of the technical terms used in this guide to describe the EtherCAT interface. They are listed in alphabetical order. Acknowledge telegram Telegram, in which each Slave inserts its data.
  • Page 11 CANopen Application layer protocol as defined in EN 50325-4. Channel Representation of a single physical or logical management object of a Slave to control conveyance of data. CIP™ Common Industrial Protocol (see IEC 61158 Type 2, IEC 61784- 1 and IEC 61784-2 CPF2). Class Description of a set of objects that share the same attributes, operations, methods, relationships, and semantics.
  • Page 12 fieldbus. Data consistency Means for coherent transmission and access of the input-or output-data object between and within Client and Server. Demand dependent; non cyclic transmission (service channel). Data exchange Data type Relation between values and encoding for data of that type according to the definitions of IEC 61131-3.
  • Page 13 device. Event Instance of a change of conditions. Event data Medium priority real-time data that is transferred by a CIP Motion connection only after a specified event occurs. Feed forward Command value used to compensate the lag in the control loop.
  • Page 14 Master Device that controls the data transfer on the network and initiates the media access of the Slaves by sending messages and that constitutes the interface to the control system. Node, which assigns the other nodes the right to transmit. Master data telegram Telegram, in which the Master inserts its data.
  • Page 15 Output data Data originating in a device, resource or functional element and transferred from them to external systems. P-Device Field device and the host for the Drive Objects. Parameter Data element that represents device information that can be read from or written to a device, for example through the network or a local HMI.
  • Page 16 Subindex Sub-address of an object within the object dictionary. Supervisor Engineering device which manages provisions of configuration data (parameter sets) and collections of diagnosis data from P-Devices and/or controllers. Switch MAC bridge as defined in IEEE 802.1D. Sync Manager Sync Manager has the task of synchronizing data transfer between Master and Slave and prevents the same memory area from being written by different events.

  • Page 17: List Of Abbreviations

    List of abbreviations Table below contains a list of abbreviations (in alphabetical order) which may be used in this guide to describe the EtherCAT interface. Term Description Automation Device Specification Application layer ADS over EtherCAT AP (-task) Application (-task) on top of the stack Application Programming Interface ASCII American Standard Code for Information Interchange...
  • Page 18 Term Description Remote Transmission Request RxPDO Receive PDO Service Data Object (representing an acyclic data channel) Shared memory Sync Manager Servo Profile over EtherCAT SoE Service Channel TxPDO Transmit PDO Vendor Profile over EtherCAT eXtensible Markup Language...

  • Page 19: References

    References IEC 61158 Part 2-6 Type 12 documents (also available for members of EtherCAT Technology Group as specification documents ETG-1000) Proceedings of EtherCAT Technical Committee Meeting from February 9th, 2005. IEC 61800-7 EtherCAT Specification Part 5 – Application Layer services specification. ETG.1000.5. EtherCAT Specification Part 6 –...

  • Page 20: Safety Summary

    • elsewhere in this manual violates safety standards of design, manufacture, and intended use of the equipment; Lika Electronic assumes no liability for the customer's failure to comply • with these requirements. 1.2 Electrical safety Turn off the power supply before connecting the device;...

  • Page 21: Mechanical Safety

    EXM58 • EXO58 EtherCAT using the ground point provided in the connection cap (use one TCEI UNI M3 x 6 cylindrical head screw with two tooth lock washers). 1.3 Mechanical safety Install the device following strictly the information in the “3 - •...

  • Page 22: Identification

    Information is listed in the delivery document too. Please always quote the order code and the serial number when reaching Lika Electronic for purchasing spare parts or needing assistance. For any information on the technical characteristics of the product refer to the technical catalogue.

  • Page 23: Mechanical Installation

    EXM58 • EXO58 EtherCAT 3 - Mechanical installation WARNING Installation and maintenance operations have to be carried out by qualified personnel only, with power supply disconnected. Shaft and mechanical components must be in stop. For any information on the mechanical data and the electrical characteristics of the encoder please refer to the technical catalogue.

  • Page 24: Installation Using Fixing Clamps (Code Lkm386)

    EXM58 • EXO58 EtherCAT 3.1.2 Installation using fixing clamps (code LKM386) a [mm] b [mm] c [mm] d [mm] EXM58, EXO58 50 F7 EXM58S, EXO58S 36 H7 3.1.3 Installation using a mounting bell (code PF4256) EXM58S, EXO58S encoders only NOTE In order to guarantee reliability over time of the encoder mechanical parts, we recommend a flexible coupling to be installed between the encoder and the motor shaft.

  • Page 25: Hollow Shaft Encoders

    • insert the M4 anti-rotation pin 1 into the slot on the flange of the encoder; this secures it in place by grub screw 2, preset at Lika; • fix the collar to the encoder shaft (apply threadlocker to M2.5 screw 3).

  • Page 26: Exm59C, Exo59C

    EXM58 • EXO58 EtherCAT 3.2.2 EXM59C, EXO59C • Mount the encoder on the motor shaft using the reducing sleeve 6 (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 27: Electrical Connections

    EXM58 • EXO58 EtherCAT 4 - Electrical connections WARNING Power supply must be turned off before performing any electrical connection! Installation, electrical connection, and maintenance operations must be carried out by qualified personnel only, with power supply disconnected. Mechanical components must be in stop. Do not remove the plug on the rear of the encoder.

  • Page 28: Pwr Power Supply Connector (Figure 1)

    EXM58 • EXO58 EtherCAT 4.1 PWR Power supply connector (Figure 1) M12 4-pin male connector with A coding is used for power supply. Description +5Vdc +30Vdc n.c. 0Vdc n.c. n.c. = not connected WARNING Connect +Vdc and 0Vdc and check the power supply is correct first before connecting the communication ports.

  • Page 29: Network Configuration: Topologies, Cables, Hubs, Switches - Recommendations

    EXM58 • EXO58 EtherCAT 4.3 Network configuration: topologies, cables, hubs, switches - Recommendations Cables and connectors comply with the EtherCAT specifications. Cables are CAT- 5 shielded cables. Line, tree or star: EtherCAT supports almost any topology. The bus or line structure known from the fieldbuses thus also becomes available for Ethernet, without the quantity limitations implied by cascaded switches or hubs.

  • Page 30: Ground Connection

    Lika's EC- pre-assembled cables are fitted with shield connection to the connector ring nut in order to allow grounding through the body of the device. Lika's E- connectors have a plastic gland, thus grounding is not possible. If metal connectors are used, connect the cable shield properly as recommended by the manufacturer.
  • Page 31 EXM58 • EXO58 EtherCAT Local error (see ETG1000.6, “EtherCAT Specification – Part 6”). Slave device application has changed the EtherCAT SINGLE FLASH state autonomously. Possible reason 1: a host watchdog timeout has occurred. Possible reason 2: synchronization error, the encoder enters SAFE-OPERATIONAL state automatically.
  • Page 32 EXM58 • EXO58 EtherCAT L/A OUT Link/Activity LED for port BUS OUT (green / yellow) It shows the state and the activity of the physical link (port BUS OUT). L/A LED Description Meaning The device has no link to the Ethernet, the link through port BUS OUT is not No link active.

  • Page 33: Ethercat States

    EXM58 • EXO58 EtherCAT 4.8 EtherCAT states EtherCAT Slave is a state machine; the communication and the operating characteristics depend on the current state of the device:  INIT: it is the default state after power-on; in this state there is not direct communication between the Master and the Slave on the Application Layer;...

  • Page 34: Getting Started

    ◦ Lika_EXM_EXO_EC_vx_x.xml: it is intended for installation of all EXM58 and EXO58 encoders (“EXM_EXO” is the general identification of the encoder series; “EC” is the Lika code that identifies the EtherCAT protocol; “vx_x” is the version of the XML file);...

  • Page 35: Setting The Scaling Function And Custom Resolution

    EXM58 • EXO58 EtherCAT if needed, you can enter the Preset value next to the 6003-00 Preset • Value object and then set it in the desired position; see on page 93; 1010-01 Store parameters save the new setting values (use the object;...

  • Page 36: Reading The Velocity Value

    EXM58 • EXO58 EtherCAT 5.1.3 Reading the velocity value To read the velocity value you can choose among the following methods. To read the velocity value of the encoder see the 3006-00 Velocity • Value 3006-00 Velocity Value object on page 85; the object is 1A00-00 TxPDO mapping parameter mapped in the...

  • Page 37: Quick Reference With Twincat

    EXM58 • EXO58 EtherCAT 6 - Quick reference with TwinCAT Lika encoders are Slave devices and support “CANopen over EtherCAT” (CoE) mode for data transfer. In particular, they support the “CANopen DS 301 Communication profile”. For any omitted specification on EtherCAT® protocol, please refer to “ETG.1000 EtherCAT Specification”...

  • Page 38: User Interface Components

    EXM58 • EXO58 EtherCAT More freedom in selecting programming languages • Support for the object-oriented extension of IEC 61131-3 • Use of C/C++ as the programming language for real time applications • Link to MATLAB®/Simulink® • Integrated motion control solution – from NC PTP, robotics to CNC •...

  • Page 39: Adding The Xml File

    6.3 Adding the XML file The .xml file can be downloaded from Lika Electronic web page. After TwinCAT installation is complete, copy the .xml file in the default location: C: \ TwinCAT \ 3.1 \Config \ Io \ EtherCAT. TwinCAT will need a restart in order to load the new file.

  • Page 40: System Configuration Using Twincat Software System From Beckhoff

    EXM58 • EXO58 EtherCAT 6.4 System configuration using TwinCAT software system from Beckhoff 6.4.1 Creating a project Launch TwinCAT program. You must create your own project first. To do this, on the File menu, point to New, and then click Project..Figure 3 - Creating a new project MAN EXM58_EXO58 EC E 1.0.odt 6 - Quick reference with TwinCAT 40 of 124...
  • Page 41 EXM58 • EXO58 EtherCAT The New project page will be displayed. Select the TwinCAT Projects under the Templates list, type the name of the project and browse to the location where the project file has to be saved by means of the BROWSE... button. Finally press the OK button to confirm. Figure 4 - Name and location of the project The new TwinCAT project will be listed in the tree view.

  • Page 42: Adding An I/O Device (Network Card)

    EXM58 • EXO58 EtherCAT 6.4.2 Adding an I/O device (network card) Now you must add an I/O device and set the network card (i.e. your Master). In the left navigation bar extend the devices tree and select the Devices item under the I/O directory;...
  • Page 43 EXM58 • EXO58 EtherCAT If a network card has been already installed properly, double click the installed Device 1 (EtherCAT) item under Devices, select the Adapter tabbed page and press the SEARCH... button. The Device Found At dialog box will appear and show the list of the installed devices.
  • Page 44 EXM58 • EXO58 EtherCAT The Installation of TwinCAT RT – Ethernet Adapters dialog box will appear. Figure 10 - Selecting the network card Now expand the Compatible Devices list and choose the network card you want to install; finally press the Install button to confirm your choice. As an alternative, you can right-click the Devices item in the tree view and press the SCAN command.

  • Page 45: Adding An I/O Module (Box)

    Figure 12 - Adding a new I/O module The Insert EtherCAT device dialog box will be displayed. Scroll to the Lika Electronic srl directory, expand the list and select the encoder you want to install (EXM5XX-13-14, i.e. EXM58 27-bit multiturn encoder in the example).
  • Page 46 EXM58 • EXO58 EtherCAT The Box 1 device will be listed under Device 1 (EtherCAT), Lika EXM5XX-13-14 in the example. Figure 14 - Encoder installed As an alternative, you can right-click the Device item in the tree view and press the SCAN command.
  • Page 47 The correct XML file supplied with the encoder must be available inside the TwinCAT \ 3.1 \ Config \ Io \ EtherCAT directory: Lika_EXM_EXO_EC_Vx_x.xml (see at www.lika.biz). Figure 17 - XML files folder MAN EXM58_EXO58 EC E 1.0.odt 6 - Quick reference with TwinCAT 47 of 124...

  • Page 48: Tabbed

    EXM58 • EXO58 EtherCAT 6.4.4 Tabbed pages Double click the Box 1 (Lika EXM5XX-13-14) item, the tabbed pages that describe the encoder and its operation will be displayed. For complete information please refer to the I/O TwinCAT 3 manual from Beckhoff.
  • Page 49 EXM58 • EXO58 EtherCAT The DC tabbed page allows the operator to select the operation mode of the Slave device. For complete information please refer to the “6.5 Setting the communication mode” section on page 52. Figure 20 - DC tabbed page The Process Data tabbed page shows the configuration of the process data.
  • Page 50 EXM58 • EXO58 EtherCAT The Startup tabbed page is displayed as the EtherCAT Slave has a mailbox and supports the mailbox protocol "CAN application protocol over EtherCAT" (CoE). This tab indicates which download requests are sent to the mailbox during startup.
  • Page 51 EXM58 • EXO58 EtherCAT The Online tabbed page allows the user to check and set the state of the encoder and also to update the firmware by using the File Access over EtherCAT protocol. Refer also to the “6.8 Online Data” section on page 57; and to the “6.9 Firmware update”...

  • Page 52: Setting The Communication Mode

    EXM58 • EXO58 EtherCAT 6.5 Setting the communication mode 6.5.1 Synchronous with SM3 The DC tabbed page allows the operator to select the operation mode of the Slave device. To enter the DC tabbed page select the Box item and the DC tab among the available pages.

  • Page 53: Synchronous With Dc (Sync0)

    EXM58 • EXO58 EtherCAT 6.5.2 Synchronous with DC (SYNC0) If you need to select the Synchronous with DC operation mode enter the DC tabbed page by selecting the Box item and the DC tab among the available tabbed pages. The Operation Mode drop-down menu allows the user to select among the operation modes available in the EtherCAT Slave: Synchronous with SM3 (Inputs) and Synchronous with DC (SYNC0).

  • Page 54: Process Data Objects

    EXM58 • EXO58 EtherCAT 6.6 Process Data Objects If you select the Box item and expand it, you can see the list of the Process Data Outputs (TxPDO). Then enter the Process Data tabbed page. The Process Data tab shows the process data objects (TxPDO Mapping), i.e. the configuration of the process data.
  • Page 55 EXM58 • EXO58 EtherCAT 1A00-00 TxPDO mapping parameter object (see the PDO Content table) contains the mapping parameters for the PDOs the EtherCAT device is able to transmit. Sub-index 001 01 Mapped Object 001 contains the information of 6004-00 Position Value the mapped application object 001: object.

  • Page 56: Coe Object Dictionary

    EXM58 • EXO58 EtherCAT 6.7 CoE Object Dictionary The CoE - Online tab lists the contents of the Object Dictionary of the Slave device and allows the user to change the contents of an object of this dictionary. This is the offline version of the object dictionary as read from the XML file.

  • Page 57: Online Data

    EXM58 • EXO58 EtherCAT 6.8 Online Data The Online tabbed page allows the user to check and set the state of the encoder and also to update the firmware by using the File Access over EtherCAT protocol. To enter the Online tabbed page, select the installed Box and press the Online tab.

  • Page 58: Firmware Update

    The firmware is a software program which controls the functions and operation of a device; the firmware program, sometimes referred to as “user program”, is stored in the flash memory integrated inside the unit. Lika encoders are designed so that the firmware can be easily updated by the user himself. This allows Lika Electronic to make new improved firmware programs available during the lifetime of the product.
  • Page 59 EXM58 • EXO58 EtherCAT 4. In the same page refer to the File Access over EtherCAT group box. If the DOWNLOAD / UPLOAD buttons are greyed out (disabled), make sure the File Access over EtherCAT (FoE) checkbox is selected. 5. To do this, enter the EtherCAT tabbed page first and then press the ADVANCED SETTINGS...
  • Page 60 EXM58 • EXO58 EtherCAT 8. Browse for the firmware file (select “All Files (*.*)” as extension) and then click OPEN and OK to download the file. The name of the file to be downloaded must be compulso rily FWUPDATE.ZIP. ZIP files with different name are not accepted.
  • Page 61 EXM58 • EXO58 EtherCAT 10. Or, in the same CoE - Online tabbed page, press the ADVANCED... button and then press the OK button in the Advanced Settings page that appears. Figure 40 - Updating the object list 11. Scroll through the objects and double click on the object 6000 (see the 6000-00 Operating parameters object on page 88).
  • Page 62 EXM58 • EXO58 EtherCAT 12. To check whether the firmware update procedure has been completed successfully enter the CoE - Online tabbed page and check the value next to the object 100A Manufacturer Software Version. Figure 42 - Manufacturer Software Version 13.

  • Page 63: Ethercat® Interface

    EXM58 • EXO58 EtherCAT 7 - EtherCAT® interface 7.1 Basic Information on EtherCAT® Protocol EtherCAT is the ETHERnet for Control Automation Technology. It is a real-time Industrial Ethernet technology originally developed by Beckhoff Automation. The EtherCAT protocol which is disclosed in the IEC standard IEC61158 is suitable for hard and soft real-time requirements in automation technology, in test and measurement and many other applications.

  • Page 64: Data Transfer

    EXM58 • EXO58 EtherCAT Inside the Ethernet frames, data is transmitted among Master and Slaves using PDO (Process Data Objects) protocol. Each PDO message has inside one or more addresses for issuing data to the Slaves; data + address/es (and additional elements such as a validation checksum) joined together form an EtherCAT telegram (Datagram).

  • Page 65: Iso/Osi Layer Model

    EXM58 • EXO58 EtherCAT 7.1.2 ISO/OSI Layer model * “Empty” means that the layer behaviour exists, but is not shown explicitly. 7.1.3 Topology Several topologies of connection are supported by the EtherCAT networks: Line, Tree, Daisy chain, Star, …). EtherCAT networks can be configured in almost any topology in the same structure.

  • Page 66: Line Termination

    EXM58 • EXO58 EtherCAT TREE topology: DAISY CHAIN with drop lines topology: 7.1.4 Line Termination The EtherCAT network needs no line termination because the line is terminated automatically; in fact every Slave is able to detect the presence of downstream Slaves.

  • Page 67: Addressing

    EXM58 • EXO58 EtherCAT 7.1.5 Addressing It is not necessary to assign a physical address to the device (for instance using a DIP switch) because the addressing of the Slave is automatic at power on during the initial scanning of the hardware configuration. The field for addressing is 32-bit long;...

  • Page 68: Communication Mode

    EXM58 • EXO58 EtherCAT 7.1.6 Communication mode Lika encoders with EtherCAT interface support the following operating modes:  FreeRun: asynchronous mode;  SM3 event: synchronous mode;  DC: distributed clock synchronization mode (synchronous mode). For a system that requires high performances in real time (closed-loop applications) we suggest using DC mode;...

  • Page 69: Synchronous With Sm3

    EXM58 • EXO58 EtherCAT Description Jitter µs Cycle Time 64000 µs See the 1C33-00 SM Sync Manager input parameter entry on page 83. Synchronous with SM3 In this mode data is sampled and then copied into the Sync Manager buffer as soon as previous data was read from the Master (SM event);...

  • Page 70: Synchronous With Dc Sync0

    EXM58 • EXO58 EtherCAT Synchronous with DC SYNC0 In this operating mode data is sampled and then copied into the Sync Manager buffer simultaneously at SYNC0 event generated by the ESC capture/compare unit. 1C33-00 SM Time required for accomplishing these operations is set in object Sync Manager input parameter object;...

  • Page 71: Slave Configuration

    EXM58 • EXO58 EtherCAT EtherCAT Slave is a state machine; the communication and the operating characteristics depend on the current state of the device:  INIT: it is the default state after power-on; in this state there is not direct communication between the Master and the Slave on the Application Layer;...

  • Page 72: Timing And Synchronization

    EXM58 • EXO58 EtherCAT 7.1.9 Timing and Synchronization The main feature of EtherCAT is its almost ideal representation of a real-time system. Hence the Master has to synchronize all the Slaves at the same time in order to build a system where all nodes have the same reference time, this goal can be achieved by using “distributed clocks”.
  • Page 73 EXM58 • EXO58 EtherCAT writing the data buffer. The mailbox mode is typically used for application layer protocols and exchange of acyclic data (e.g. parameter settings). 1C00-00 Sync Manager The encoder features four Sync Managers, see the Communication Type object on page 82: Sync Manager 0 - 01 SM MailBox Receive (SM0) •...

  • Page 74: Canopen Over Ethercat (Coe)

    EXM58 • EXO58 EtherCAT 7.2 CANopen Over EtherCAT (CoE) Lika encoders are Slave devices and support the “CanOpen Over EtherCAT” (CoE) mode for data transfer. In particular, they support the “CANopen DS 301 Communication profile”, Class 2 and the “CANopen DS 406 Device profile for encoders”.

  • Page 75: Communication Messages

    EXM58 • EXO58 EtherCAT 7.2.2 Communication messages EtherCAT Datagram of CoE mode has the following structure: Cmd specific Mbx Header CoE Cmd data type = 3 Number Type 6 bytes 9 bits 3 bits 3 bits 0 … 1478 bytes Mbx Header = 3 CoE mode Number...

  • Page 76: Service Data Objects (Sdo)

    EXM58 • EXO58 EtherCAT 7.2.4 Service Data Objects (SDO) SDO messages are issued via Mailbox (low priority data); Segmented SDO Service and SDO Complete Access are not supported (transfer of low size data and one sub-index at a time). “CoE Cmd type” = 2 or 3 Structure of “Cmd specific data”: Cmd specific data SDO control...
  • Page 77 EXM58 • EXO58 EtherCAT 406 CANopen Device profile for encoders”. Refer to the “Standardised Profile Area objects (DS406)” section on page 88. In the following pages the objects implemented are listed and described as follows: Index-subindex Object name [data types, attribute] Index and sub-index are expressed in hexadecimal notation.

  • Page 78: Communication Profile Area Objects (Ds301)

    EXM58 • EXO58 EtherCAT Communication Profile Area objects (DS301) 1000-00 Device Type [Unsigned32, ro] It contains the information about the device type. The object describes the type of device and its functionality. Default = 0001 0196h = singleturn encoder, in compliance with DS 406 0002 0196h = multiturn encoder, in compliance with DS 406 1008-00 Manufacturer Device Name [String, ro]...

  • Page 79: 1010-01 Store Parameters

    This object allows the operator to restore all parameters to default values. The default parameters are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode. A list of machine data and relevant default parameters preset by Lika Electronic engineers is available on page 121.

  • Page 80: 1018 Identity Object

    The Serial Number is shown in the following format: YYwwnnnnn. YY = Year ww = week nnnnn = unique number in ascending order assigned by Lika Electronic Default = device dependent EXAMPLE 234100544 has to be intended as follows:...

  • Page 81: 10F8-00 Timestamp Object

    EXM58 • EXO58 EtherCAT 00544 = unique number in ascending order assigned by Lika Electronic Default = device dependent 10F8-00 Timestamp Object [Unsigned64, ro] This optional attribute specifies the timestamp in units of ns of the local time at the send/receipt of a frame.

  • Page 82: 1C00-00 Sync Manager Communication Type

    EXM58 • EXO58 EtherCAT 1C00-00 Sync Manager Communication Type [Unsigned8, ro] This object contains the number and type of Sync Manager Communication Types supported by the encoder. Sub-index 00 specifies the number of Sync Manager channels. Refer also to the “Sync Manager” section on page 72. Default = 4 01 SM MailBox Receive (SM0) [Unsigned8, ro]...

  • Page 83: 1C33-00 Sm Sync Manager Input Parameter

    EXM58 • EXO58 EtherCAT Default = 0000 1A00h = 1A00-00 TxPDO mapping parameter object 1C33-00 SM Sync Manager input parameter 1C33-00 SM Sync Manager input parameter object contains the input synchronization parameters. Some of them are calculated dynamically and depend on both the encoder configuration (programmed resolution, counting direction, …) and the synchronization mode (SM or DC).

  • Page 84: Minimum Cycle Time

    EXM58 • EXO58 EtherCAT 05 Minimum cycle time [Unsigned32, ro] Minimum duration of the encoder internal cycle time. This parameter is calculated dynamically and depends on the operating parameters and the position value. It is expressed in nanoseconds (ns). Default = 125,000 06 Calc and copy time [Unsigned32, ro] Time the internal micro-controller (DSP) needs to make calculations on latched...

  • Page 85: Manufacturer Specific Profile Area Objects

    EXM58 • EXO58 EtherCAT Manufacturer Specific Profile Area objects 3005-00 Velocity Format [Unsigned16, rw] It sets the engineering unit of the velocity value provided in the 3006-00 Velocity Value object, according to the following table. Value Measuring unit Speed is expressed in counts per second Speed is expressed in RPM Default = 0 3006-00 Velocity Value...

  • Page 86: Units Per Revolution Exceeded

    EXM58 • EXO58 EtherCAT Byte 0 Units per revolution exceeded 6001-00 Units per bit 0 Wrong data has been set next to the revolution object. The tolerances for the parameter have been exceeded. Set proper values to restore the normal work condition.
  • Page 87 EXM58 • EXO58 EtherCAT NOTE Always save the new values after setting in order to store them in the non- volatile memory permanently. Use the 1010-01 Store parameters object, see on page 79. Should the power supply be turned off all data that has not been saved previously will be lost! MAN EXM58_EXO58 EC E 1.0.odt 7 - EtherCAT®...

  • Page 88: Standardised Profile Area Objects (Ds406)

    EXM58 • EXO58 EtherCAT Standardised Profile Area objects (DS406) 6000-00 Operating parameters [Unsigned16, rw] Function bit = 0 bit = 1 Count up Count up information information with CCW with CW Code sequence counter- clockwise clockwise rotation rotation not used Scaling function Disabled Enabled...

  • Page 89: Mask Upgrade Firmware

    EXM58 • EXO58 EtherCAT On the contrary, when the scaling function is enabled (bit 2 = 1), the user is 6001-00 Units per allowed to enter the custom singleturn resolution in the revolution object and the custom total resolution in the 6002-00 Total measuring range object and these values are used to calculate the position...
  • Page 90 EXM58 • EXO58 EtherCAT of measuring units per revolution is forced to the physical singleturn resolution 6505-00 Warnings Machine data not valid) as and the object (see the bit 12 well as the 3007-00 Wrong parameters list object (see the bit 0 Units per revolution exceeded) signal the error.

  • Page 91: 6002-00 Total Measuring Range

    EXM58 • EXO58 EtherCAT case of inconsistent values, the system will warn about the wrong parametrization and fault condition by means of the dedicated objects. WARNING 6001-00 Units per Every time you change the scaled values (see the revolution 6002-00 Total measuring range objects), then you are 6003-00 Preset Value required to activate a new preset (see the...
  • Page 92 EXM58 • EXO58 EtherCAT Default = 134,217,728 (min. = 1, max. = 134,217,728) for EXM58-13-14-... encoder 262,144 (min. = 1, max. = 262,144) for EXO58-18-00-... encoder 1,073,741,824 (min. = 1, max. = 1,073,741,824) for EXM58-18-12-... and EXO58-16-14-... encoders WARNING When you set a new value next to the 6002-00 Total measuring range object, 6001-00 Units per revolution...

  • Page 93: 6003-00 Preset Value

    EXM58 • EXO58 EtherCAT NOTE We suggest setting values which are a power of 2 (2 : 2, 4, …, 2048, 4096, 8192, …) to be set in the 6001-00 Units per revolution 6002-00 Total measuring range objects to avoid counting errors. WARNING 6001-00 Units per revolution 6002-00 Total measuring range...

  • Page 94: 6004-00 Position Value

    EXM58 • EXO58 EtherCAT We will obtain the following information sequence: Transmitted value = read position (=”1000”) + 6003-00 Preset Value (=”50”) - 6509-00 Offset (=”1000”) = 50. The following transmitted value will be: Transmitted value = read position (=”1001”) + 6003-00 Preset Value 6509-00 Offset (=”1000”) = 51.

  • Page 95: 6500-00 Operating Status

    EXM58 • EXO58 EtherCAT 1A00-00 TxPDO mapping parameter object, sub-index 001 01 Mapped Object 001, see on page 81. 6500-00 Operating Status [Unsigned16, ro] Function bit = 0 bit = 1 Count up Count up information information Code sequence with CW with CCW rotation rotation...

  • Page 96: 6502-00 Hardware Number Of Turns

    EXM58 • EXO58 EtherCAT This object is intended to show the number of physical distinguishable steps provided per each turn by the hardware (physical singleturn resolution, see the hardware counts per revolution in the encoder identification label). 6001-00 Units per If you want to set a custom singleturn resolution see the revolution object.

  • Page 97: Position Error

    EXM58 • EXO58 EtherCAT Position error Error bit of the position read system. Fault and malfunction of the encoder position measurement system or the measured value processing unit. This error causes an invalid position and speed actual value, it may be due to the hardware or the signal quality.

  • Page 98: Machine Data Not Valid

    EXM58 • EXO58 EtherCAT Machine data not valid An out-of-tolerance parameter has been set. For more details about the specific out-of-tolerance parameter refer to the 3007-00 Wrong parameters list object, see on page 85. Position Warning Warning bit of the position read system. Fault and malfunction of the encoder position measurement system or the measured value processing unit.

  • Page 99: Sdo Abort Codes

    EXM58 • EXO58 EtherCAT 7.2.6 SDO Abort codes SDO transfer could be unsuccessful; causes of error are listed and described in the SDO Abort Codes. Here follows the list of the available SDO Abort Codes. For complete information see ETG1000.6 “EtherCAT Specification – Part 6. Application Layer protocol specification”, par.

  • Page 100: Emergency Error Codes

    EXM58 • EXO58 EtherCAT 7.2.7 Emergency Error Codes Emergency Service is used by the Server for transmitting diagnostic messages to the client using MailBox; Error Codes are listed and described in the ETG1000.6 “EtherCAT Specification – Part 6. Application Layer protocol specification”, par. 5.6.4.2 table 50.

  • Page 101: File Over Ethercat (Foe)

    EXM58 • EXO58 EtherCAT 7.3 File Over EtherCAT (FoE) Lika encoders are devices that allow the firmware update using the "File Access over EtherCAT (FoE)" protocol. 7.3.1 Downloading files To download files using Beckhoff TwinCAT 3 proceed as follows: 1. Connect to the Slave.
  • Page 102 EXM58 • EXO58 EtherCAT 6. In the Advanced Settings page open the Mailbox list and then press the FoE command: the FoE group box will be displayed. Check the File Access over EtherCAT (FoE) checkbox is selected. Figure 46 - Enabling the File Access over EtherCAT (FoE) 7.
  • Page 103 EXM58 • EXO58 EtherCAT WARNING After selecting the FWUPDATE.ZIP file in the Open page and confirming by pressing the OPEN button, the Edit FoE Name dialog box will appear on the screen. In the String field the file extension will be omitted. Please add the .ZIP extension to the file name.
  • Page 104 EXM58 • EXO58 EtherCAT 10. Or, in the same CoE - Online tabbed page, press the ADVANCED... button and then press the OK button in the Advanced Settings page that appears. Figure 50 - Updating the object list 11. Scroll through the objects and double click on the object 6000 (see the 6000-00 Operating parameters object on page 88).
  • Page 105 EXM58 • EXO58 EtherCAT 13. To check whether the firmware upgrade procedure has been completed successfully enter the CoE - Online tabbed page and check the value next to the object 100A Manufacturer Software Version. Figure 52 - Manufacturer Software Version 14.

  • Page 106: Improvements For Better Foe Performance

    EXM58 • EXO58 EtherCAT 7.3.2 Improvements for better FoE performance If required it is possible to increase the Mailbox sizes on the Slave. To do this press the ADVANCED SETTINGS button under the EtherCAT tabbed page and navigate to Mailbox. Edit the value in the Out Size (hex) field and/or the In Size (hex) field.

  • Page 107: Integrated Web Server

    8 – Integrated Web Server 8.1 Integrated web server – Preliminary information EtherCAT encoders from Lika Electronic integrate a web server. This web-based user interface is designed to offer helpful functions and deliver complete information on the device that can be accessed through the Internet.

  • Page 108: Web Server Home Page

    EXM58 • EXO58 EtherCAT WARNING Pre-Operational The web server can be accessed only if the encoder is in the Operational Safe-Operational states. Enter the Online tabbed page to check the current state of the encoder (see the Current State information field in the State machine group box).
  • Page 109 EXM58 • EXO58 EtherCAT 2. In the Advanced Settings page open the Mailbox list and then press the EoE command: the EoE group box will be displayed. Check the assigned IP address next to the IP Address item (192.168.1.10 in Figure 57).
  • Page 110 Figure 59 - Web server Home page Some commands are available in the menu bar of the Home page. Press the Lika logo to enter Lika's web site (www.lika.biz). Press the DOCUMENTATION button to enter the EtherCAT encoder technical documentation...

  • Page 111: Encoder Position And Speed

    EXM58 • EXO58 EtherCAT 8.3 Encoder position and speed Press the ENCODER POSITION-SPEED button in the left navigation bar of the Web server Home page to enter the page where the current encoder position and the current encoder speed are displayed. Figure 60 - Encoder position and speed page The first value (under the Position item) is the absolute position calculated considering scaling and preset functions, if activated;...

  • Page 112: Specific Notes On Using Internet Explorer

    EXM58 • EXO58 EtherCAT 8.3.1 Specific notes on using Internet Explorer The following options must be set properly on Internet Explorer in order to get the Encoder position and speed page to be updated continuously. Open the Settings menu; • open the Internet Options property sheet;...

  • Page 113: Setting The Objects

    EXM58 • EXO58 EtherCAT 8.4 Setting the objects Press the SETTINGS button in the left navigation bar of the Web server Home page to enter the Set Encoder Objects page. In this page the read-write access objects available in the Manufacturer Specific Profile Area and in the Standardised Profile Area of the EtherCAT encoder are displayed and their value can be changed.
  • Page 114 Press the LOAD button next to the Load Default item to restore all parameters to default values. Default values are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode.

  • Page 115: Encoder Information (Ethercat Objects)

    EXM58 • EXO58 EtherCAT 8.5 Encoder information (EtherCAT objects) Press the ENCODER INFORMATION button in the left navigation bar of the Web server Home page to enter the Encoder Information page. In this page the list of the most useful EtherCAT objects available for the encoder is displayed.

  • Page 116: Firmware Update

    Home page to enter the Firmware Update page. Please note that this is a password protected page, thus a password is requested to access the page. Password: LiKa (“L” and “K” in uppercase letters; “i” and “a” in lowercase letters) WARNING Firmware updating process has to be accomplished by skilled and competent personnel.
  • Page 117 2. The operator is requested to submit a password before starting the firmware update procedure. Figure 63 - Firmware Update page 3. In the Insert password text box type the password LiKa (“L” and “K” in uppercase letters; “i” and “a” in lowercase letters) and then press the SEND button.
  • Page 118 6. Press the SELECT FIRMWARE FILE button; once you press the SELECT FIRMWARE FILE button an OPEN dialog box appears on the screen: open the folder where the firmware updating .ZIP file released by Lika Electronic is located, select the file and confirm. Please check the file properties and ascertain that you are installing the correct update file.
  • Page 119 EXM58 • EXO58 EtherCAT WARNING Before installation always ascertain that the firmware program is compatible with the hardware and software of the device. Never turn the power supply off during the flash update operation. 7. Press the SEND FILE button to start the upload of the firmware program.
  • Page 120 EXM58 • EXO58 EtherCAT NOTE While downloading the firmware updating program, unexpected conditions may arise which could lead to a failure of the installation process. When such a matter occurs, the download process cannot be carried out successfully and thus the operation is aborted. In case of flash update error, please switch the encoder off and then on again and retry the operation.

  • Page 121: Default Parameters List

    0000 0065 = EXM58 30 bit multiturn encoder 0000 0066 = EXO58 18 bit singleturn encoder 0000 0067 = EXO58 30 bit multiturn encoder 03 Revision Number 0001 0000 = Lika EtherCAT EXM58/EXO58 series encoder 04 Serial Number device dependent 1A00-00 TxPDO mapping parameter...
  • Page 122 EXM58 • EXO58 EtherCAT 3005-00 Velocity 0 = counts per second Format 6000-00 Operating 0000 parameters Bit 0 Code sequence 0 = disabled Bit 2 Scaling function 0 = CW Bit 15 Mask Upgrade 0 = disabled Firmware 0000 2000 (8,192) for EXM58-13-14-...
  • Page 123 This page intentionally left blank...
  • Page 124 Ce dispositif doit être alimenté par un circuit de Classe 2 ou à très basse tension ou bien en appliquant une tension maxi de 30Vcc. Voir le code de commande pour la tension d'alimentation. Lika Electronic Via S. Lorenzo, 25 • 36010 Carrè (VI) •...

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